openpilot v0.8.12 release
Vehicle Researcher
parent
ce9e739428
commit
bc7d21687a
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@ -58,6 +58,7 @@ one
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openpilot
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notebooks
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xx
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yy
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hyperthneed
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panda_jungle
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provisioning
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@ -1,7 +1,7 @@
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def phone(String ip, String step_label, String cmd) {
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withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
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def ssh_cmd = """
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ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
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ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
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set -e
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@ -29,7 +29,7 @@ cd ${env.TEST_DIR} || true
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${cmd}
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exit 0
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EOF"""
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END"""
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sh script: ssh_cmd, label: step_label
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}
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@ -57,38 +57,29 @@ pipeline {
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}
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stages {
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stage('Build release2') {
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agent {
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docker {
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image 'python:3.7.3'
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args '--user=root'
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}
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}
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stage('build releases') {
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when {
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branch 'devel-staging'
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}
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steps {
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phone_steps("eon-build", [
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["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
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])
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}
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}
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stage('Build release3') {
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agent {
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docker {
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image 'python:3.7.3'
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args '--user=root'
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parallel {
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stage('release2') {
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agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
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steps {
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phone_steps("eon-build", [
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["build release2-staging & dashcam-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
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])
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}
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}
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stage('release3') {
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agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
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steps {
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phone_steps("tici", [
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["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
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])
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}
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}
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}
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when {
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branch 'devel-staging'
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}
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steps {
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phone_steps("tici", [
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["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
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])
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}
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}
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@ -105,43 +96,8 @@ pipeline {
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}
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stages {
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/*
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stage('PC tests') {
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agent {
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dockerfile {
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filename 'Dockerfile.openpilotci'
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args '--privileged --shm-size=1G --user=root'
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}
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}
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stages {
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stage('Build') {
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steps {
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sh 'scons -j$(nproc)'
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}
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}
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}
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post {
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always {
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// fix permissions since docker runs as another user
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sh "chmod -R 777 ."
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}
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}
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}
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*/
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stage('On-device Tests') {
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agent {
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docker {
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/*
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filename 'Dockerfile.ondevice_ci'
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args "--privileged -v /dev:/dev --shm-size=1G --user=root"
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*/
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image 'python:3.7.3'
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args '--user=root'
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}
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}
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agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
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stages {
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stage('parallel tests') {
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parallel {
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@ -247,6 +203,15 @@ pipeline {
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}
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}
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stage('C3: replay') {
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steps {
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phone_steps("tici-party", [
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["build", "cd selfdrive/manager && ./build.py"],
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["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
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])
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}
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}
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}
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}
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20
README.md
20
README.md
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@ -1,4 +1,4 @@
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Table of Contents
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=======================
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@ -21,16 +21,16 @@ What is openpilot?
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<table>
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<tr>
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<td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
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<td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
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<td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
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<td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
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<td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://i.imgur.com/1w8c6d2.jpg"></a></td>
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<td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://i.imgur.com/LnBucik.jpg"></a></td>
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<td><a href="https://youtu.be/VxiR4iyBruo" title="Video By Charlie Kim"><img src="https://i.imgur.com/4Qoy48c.jpg"></a></td>
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<td><a href="https://youtu.be/-IkImTe1NYE" title="Video By Aragon"><img src="https://i.imgur.com/04VNzPf.jpg"></a></td>
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</tr>
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<tr>
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<td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
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<td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
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<td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
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<td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
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<td><a href="https://youtu.be/iIUICQkdwFQ" title="Video By Logan LeGrand"><img src="https://i.imgur.com/b1LHQTy.jpg"></a></td>
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<td><a href="https://youtu.be/XOsa0FsVIsg" title="Video By PinoyDrives"><img src="https://i.imgur.com/6FG0Bd8.jpg"></a></td>
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<td><a href="https://youtu.be/bCwcJ98R_Xw" title="Video By JS"><img src="https://i.imgur.com/zO18CbW.jpg"></a></td>
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<td><a href="https://youtu.be/BQ0tF3MTyyc" title="Video By Tsai-Fi"><img src="https://i.imgur.com/eZzelq3.jpg"></a></td>
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</tr>
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</table>
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@ -40,7 +40,7 @@ Running in a car
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To use openpilot in a car, you need four things
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* This software. It's free and available right here.
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* One of [the 140+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
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* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported, but has adaptive cruise control and lane keeping assist, it's likely able to run openpilot.
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* A supported device to run this software. This can be a [comma two](https://comma.ai/shop/products/two), [comma three](https://comma.ai/shop/products/three), or if you like to experiment, a [Ubuntu computer with webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
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* A way to connect to your car. With a comma two or three, you need only a [car harness](https://comma.ai/shop/products/car-harness). With an EON Gold or PC, you also need a [black panda](https://comma.ai/shop/products/panda).
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19
RELEASES.md
19
RELEASES.md
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@ -1,3 +1,22 @@
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Version 0.8.12 (2021-12-15)
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========================
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* New driving model
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* Improved behavior around exits
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* Better pose accuracy at high speeds, allowing max speed of 90mph
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* Fully incorporated comma three data into all parts of training stack
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* Improved follow distance
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* Better longitudinal policy, especially in low speed traffic
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* New alert sounds
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* AGNOS 3
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* Display burn in mitigation
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* Improved audio amplifier configuration
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* System reliability improvements
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* Update Python to 3.8.10
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* Raw logs upload moved to connect.comma.ai
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* Fixed HUD alerts on newer Honda Bosch thanks to csouers!
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* Audi Q3 2020-21 support thanks to jyoung8607!
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* Lexus RC 2020 support thanks to ErichMoraga!
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Version 0.8.11 (2021-11-29)
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========================
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* Support for CAN FD on the red panda
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@ -60,7 +60,6 @@ if arch == "aarch64" and TICI:
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arch = "larch64"
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USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
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USE_FRAME_STREAM = os.getenv("USE_FRAME_STREAM") is not None
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lenv = {
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"PATH": os.environ['PATH'],
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@ -91,7 +90,6 @@ if arch == "aarch64" or arch == "larch64":
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"/usr/lib",
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"/system/vendor/lib64",
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"/system/comma/usr/lib",
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"#third_party/nanovg",
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f"#third_party/acados/{arch}/lib",
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]
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@ -210,7 +208,6 @@ env = Environment(
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"#third_party/linux/include",
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"#third_party/snpe/include",
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"#third_party/mapbox-gl-native-qt/include",
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"#third_party/nanovg",
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"#third_party/qrcode",
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"#third_party",
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"#cereal",
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@ -352,7 +349,7 @@ if GetOption("clazy"):
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qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
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qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
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Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'USE_FRAME_STREAM')
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Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
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SConscript(['selfdrive/common/SConscript'])
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Import('_common', '_gpucommon', '_gpu_libs')
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@ -387,7 +384,7 @@ rednose_config = {
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},
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}
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if arch != "aarch64":
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if arch not in ["aarch64", "larch64"]:
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rednose_config['to_build'].update({
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'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
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'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
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@ -351,14 +351,17 @@ struct CarControl {
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enum AudibleAlert {
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none @0;
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chimeEngage @1;
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chimeDisengage @2;
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chimeError @3;
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chimeWarning1 @4; # unused
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chimeWarningRepeat @5;
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chimeWarningRepeatInfinite @6;
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chimePrompt @7;
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chimeWarning2RepeatInfinite @8;
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engage @1;
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disengage @2;
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refuse @3;
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warningSoft @4;
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warningImmediate @5;
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prompt @6;
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promptRepeat @7;
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promptDistracted @8;
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}
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}
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@ -379,6 +382,7 @@ struct CarParams {
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enableDsu @5 :Bool; # driving support unit
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enableApgs @6 :Bool; # advanced parking guidance system
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enableBsm @56 :Bool; # blind spot monitoring
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flags @64 :UInt32; # flags for car specific quirks
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minEnableSpeed @7 :Float32;
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minSteerSpeed @8 :Float32;
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@ -442,6 +446,8 @@ struct CarParams {
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fingerprintSource @49: FingerprintSource;
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networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
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wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
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struct SafetyConfig {
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safetyModel @0 :SafetyModel;
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safetyParam @1 :Int16;
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@ -520,7 +526,7 @@ struct CarParams {
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allOutput @17;
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gmAscm @18;
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noOutput @19; # like silent but without silent CAN TXs
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hondaBoschHarness @20;
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hondaBosch @20;
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volkswagenPq @21;
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subaruLegacy @22; # pre-Global platform
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hyundaiLegacy @23;
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@ -611,6 +611,8 @@ struct ControlsState @0x97ff69c53601abf1 {
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delta @8 :Float32;
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output @9 :Float32;
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saturated @10 :Bool;
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steeringAngleDesiredDeg @11 :Float32;
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steeringRateDesiredDeg @12 :Float32;
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}
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struct LateralPIDState {
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@ -623,6 +625,7 @@ struct ControlsState @0x97ff69c53601abf1 {
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f @6 :Float32;
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output @7 :Float32;
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saturated @8 :Bool;
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steeringAngleDesiredDeg @9 :Float32;
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}
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struct LateralLQRState {
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@ -632,6 +635,7 @@ struct ControlsState @0x97ff69c53601abf1 {
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output @3 :Float32;
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lqrOutput @4 :Float32;
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saturated @5 :Bool;
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steeringAngleDesiredDeg @6 :Float32;
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}
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struct LateralAngleState {
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@ -639,6 +643,7 @@ struct ControlsState @0x97ff69c53601abf1 {
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steeringAngleDeg @1 :Float32;
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output @2 :Float32;
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saturated @3 :Bool;
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steeringAngleDesiredDeg @4 :Float32;
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}
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struct LateralDebugState {
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@ -1480,6 +1485,7 @@ struct Event {
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# navigation
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navInstruction @82 :NavInstruction;
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navRoute @83 :NavRoute;
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navThumbnail @84: Thumbnail;
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# *********** debug ***********
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testJoystick @52 :Joystick;
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@ -64,6 +64,7 @@ services = {
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"uploaderState": (True, 0., 1),
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"navInstruction": (True, 0.),
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"navRoute": (True, 0.),
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"navThumbnail": (True, 0.),
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# debug
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"testJoystick": (False, 0.),
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@ -15,9 +15,9 @@ enum VisionStreamType {
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VISION_STREAM_RGB_BACK,
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VISION_STREAM_RGB_FRONT,
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VISION_STREAM_RGB_WIDE,
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VISION_STREAM_YUV_BACK,
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VISION_STREAM_YUV_FRONT,
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VISION_STREAM_YUV_WIDE,
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VISION_STREAM_ROAD,
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VISION_STREAM_DRIVER,
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VISION_STREAM_WIDE_ROAD,
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VISION_STREAM_RGB_MAP,
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VISION_STREAM_MAX,
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};
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@ -55,7 +55,7 @@ bool VisionIpcClient::connect(bool blocking){
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VisionBuf bufs[VISIONIPC_MAX_FDS];
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r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers);
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assert(num_buffers > 0);
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assert(num_buffers >= 0);
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assert(r == sizeof(VisionBuf) * num_buffers);
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// Import buffers
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@ -19,9 +19,9 @@ cpdef enum VisionStreamType:
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VISION_STREAM_RGB_BACK
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VISION_STREAM_RGB_FRONT
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VISION_STREAM_RGB_WIDE
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VISION_STREAM_YUV_BACK
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VISION_STREAM_YUV_FRONT
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VISION_STREAM_YUV_WIDE
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VISION_STREAM_ROAD
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VISION_STREAM_DRIVER
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VISION_STREAM_WIDE_ROAD
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cdef class VisionIpcServer:
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@ -13,10 +13,10 @@ static void zmq_sleep(int milliseconds=1000){
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TEST_CASE("Connecting"){
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VisionIpcServer server("camerad");
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server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
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server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
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server.start_listener();
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VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
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VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
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REQUIRE(client.connect());
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REQUIRE(client.connected);
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@ -25,10 +25,10 @@ TEST_CASE("Connecting"){
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TEST_CASE("Check buffers"){
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size_t width = 100, height = 200, num_buffers = 5;
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VisionIpcServer server("camerad");
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server.create_buffers(VISION_STREAM_YUV_BACK, num_buffers, false, width, height);
|
||||
server.create_buffers(VISION_STREAM_ROAD, num_buffers, false, width, height);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
REQUIRE(client.connect());
|
||||
|
||||
REQUIRE(client.buffers[0].width == width);
|
||||
|
|
@ -39,11 +39,11 @@ TEST_CASE("Check buffers"){
|
|||
|
||||
TEST_CASE("Check yuv/rgb"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, false, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
|
||||
client_yuv.connect();
|
||||
client_rgb.connect();
|
||||
|
|
@ -54,14 +54,14 @@ TEST_CASE("Check yuv/rgb"){
|
|||
|
||||
TEST_CASE("Send single buffer"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
*((uint64_t*)buf->addr) = 1234;
|
||||
|
|
@ -83,14 +83,14 @@ TEST_CASE("Send single buffer"){
|
|||
|
||||
TEST_CASE("Test no conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, false);
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
|
|
@ -111,14 +111,14 @@ TEST_CASE("Test no conflate"){
|
|||
|
||||
TEST_CASE("Test conflate"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_YUV_BACK, 1, true, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_YUV_BACK, true);
|
||||
VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true);
|
||||
REQUIRE(client.connect());
|
||||
zmq_sleep();
|
||||
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_YUV_BACK);
|
||||
VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD);
|
||||
REQUIRE(buf != nullptr);
|
||||
|
||||
VisionIpcBufExtra extra = {0};
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@ import os
|
|||
import requests
|
||||
from datetime import datetime, timedelta
|
||||
from common.basedir import PERSIST
|
||||
from selfdrive.version import version
|
||||
from selfdrive.version import get_version
|
||||
|
||||
API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
|
||||
|
||||
|
|
@ -34,13 +34,13 @@ class Api():
|
|||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
headers = {}
|
||||
if access_token is not None:
|
||||
headers['Authorization'] = "JWT "+access_token
|
||||
headers['Authorization'] = "JWT " + access_token
|
||||
|
||||
headers['User-Agent'] = "openpilot-" + version
|
||||
headers['User-Agent'] = "openpilot-" + get_version()
|
||||
|
||||
return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
|
|
|||
|
|
@ -1,23 +0,0 @@
|
|||
import os
|
||||
import sysconfig
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
|
|
@ -84,6 +84,12 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
|
|||
bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
|
||||
get_view_frame_from_calib_frame(0, 0, 0, 0))
|
||||
|
||||
medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
|
||||
get_view_frame_from_road_frame(0, 0, 0, model_height))
|
||||
|
||||
|
|
|
|||
12
docs/CARS.md
12
docs/CARS.md
|
|
@ -7,8 +7,8 @@
|
|||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
|
|
@ -34,9 +34,10 @@
|
|||
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2018-2019 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RC 2020 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
|
@ -49,7 +50,7 @@
|
|||
| Toyota | Camry 2021-22 | All | openpilot | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-21 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
|
|
@ -82,6 +83,7 @@
|
|||
| Audi | A3 2014-19 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | Q2 2018 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | Q3 2020-21 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | S3 2015 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
|
|
@ -120,7 +122,7 @@
|
|||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | K5 2021 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Kia | K5 2021-22 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2019-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
|
||||
|
|
|
|||
|
|
@ -1,16 +1,35 @@
|
|||
# How to contribute
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
|
||||
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [blog](https://blog.comma.ai/).
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available at https://docs.comma.ai and on our [blog](https://blog.comma.ai/).
|
||||
|
||||
## Getting Started
|
||||
### Getting Started
|
||||
|
||||
* Setup your [development environment](../tools/)
|
||||
* Join our [Discord](https://discord.comma.ai)
|
||||
* Make sure you have a [GitHub account](https://github.com/signup/free)
|
||||
* Fork [our repositories](https://github.com/commaai) on GitHub
|
||||
|
||||
## Pull Requests
|
||||
|
||||
Pull requests should be against the master branch. Welcomed contributions include bug reports, car ports, and any [open issue](https://github.com/commaai/openpilot/issues). If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
|
||||
|
||||
A good pull request has all of the following:
|
||||
* a clearly stated purpose
|
||||
* every line changed directly contributes to the stated purpose
|
||||
* verification, i.e. how did you test your PR?
|
||||
* justification
|
||||
* if you've optimized something, post benchmarks to prove it's better
|
||||
* if you've improved your car's tuning, post before and after plots
|
||||
* passes the CI tests
|
||||
|
||||
### Car Ports
|
||||
|
||||
We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
|
||||
|
||||
## Testing
|
||||
|
||||
### Automated Testing
|
||||
|
|
@ -20,27 +39,3 @@ All PRs and commits are automatically checked by GitHub Actions. Check out `.git
|
|||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
|
||||
## Car Ports
|
||||
|
||||
We've released a [Model Port guide](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/).
|
||||
|
||||
## Pull Requests
|
||||
|
||||
Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
|
||||
```
|
||||
git clone https://github.com/commaai/openpilot.git --recursive
|
||||
```
|
||||
Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule update --init
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
|
||||
Modules that are in seperate repositories include:
|
||||
* cereal
|
||||
* laika
|
||||
* opendbc
|
||||
* panda
|
||||
* rednose
|
||||
|
|
|
|||
|
|
@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
|
|||
fi
|
||||
|
||||
if [ -z "$AGNOS_VERSION" ]; then
|
||||
export AGNOS_VERSION="2"
|
||||
export AGNOS_VERSION="3"
|
||||
fi
|
||||
|
||||
if [ -z "$PASSIVE" ]; then
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -323,4 +323,3 @@ VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
|
|||
VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -310,4 +310,3 @@ VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
|
|||
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
|
||||
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -432,4 +432,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
|||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -489,4 +489,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
|||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -490,4 +490,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
|||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -485,4 +485,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
|||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -394,4 +394,3 @@ VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not
|
|||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -496,4 +496,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
|||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -316,4 +316,3 @@ VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
|||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -478,4 +478,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
|||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -320,4 +320,3 @@ VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
|||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -345,4 +345,3 @@ VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "c
|
|||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -474,4 +474,3 @@ BO_ 1029 DOORS_STATUS: 8 BDY
|
|||
VAL_ 419 GEAR 10 "R" 1 "D" 0 "P";
|
||||
VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -357,4 +357,3 @@ VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
|
|||
VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
|
||||
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -313,4 +313,3 @@ VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "c
|
|||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -308,4 +308,3 @@ VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "c
|
|||
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
|
||||
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
|
||||
|
||||
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -748,4 +748,3 @@ VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RES
|
|||
VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -370,7 +370,6 @@ VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highwa
|
|||
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
|
||||
|
||||
|
||||
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
|
||||
|
||||
|
||||
CM_ "Imported file _comma.dbc starts here";
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@ NS_ :
|
|||
|
||||
BS_:
|
||||
|
||||
BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_Hybrid_MQB Getriebe_DQ_MQB LEH_MQB Motor_Diesel_MQB Motor_Hybrid_MQB Motor_Otto_MQB SAK_MQB Waehlhebel_MQB Vector__XXX 9 l c i XXX
|
||||
BU_: Airbag_MQB BAP_Tester_MQB BMS_MQB Datenlogger_MQB Gateway_MQB Getriebe_DQ_Hybrid_MQB Getriebe_DQ_MQB LEH_MQB Motor_Diesel_MQB Motor_Hybrid_MQB Motor_Otto_MQB SAK_MQB Waehlhebel_MQB Vector__XXX l c i XXX
|
||||
|
||||
|
||||
BO_ 290 ACC_06: 8 Gateway_MQB
|
||||
|
|
@ -1253,19 +1253,17 @@ BO_ 780 ACC_02: 8 XXX
|
|||
SG_ ACC_Status_Anzeige : 61|3@1+ (1.0,0.0) [0.0|7] "" XXX
|
||||
|
||||
BO_ 302 ACC_07: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ XXX_Maybe_Engine_Start_Request : 12|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ XXX_Always_1 : 14|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ XXX_Maybe_Engine_Stop_Release : 15|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ XXX_Unknown : 16|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ ACC_Engaged : 27|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ ACC_Anhalten : 28|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ ACC_Anhaltevorgang : 29|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ ACC_Anfahrvorgang : 30|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ ACC_Anfahren : 31|1@1+ (1,0) [0|1] "Boolean" XXX
|
||||
SG_ XXX_Lead_Car_Relative_Speed : 32|8@1+ (1,-153) [0|255] "" XXX
|
||||
SG_ ACC_Sollbeschleunigung_01 : 53|11@1+ (0.005,-7.22) [-7.22|3.005] "Unit_MeterPerSeconSquar" XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ ACC_Distance_to_Stop : 12|11@1+ (0.01,0) [0|1] "m" XXX
|
||||
SG_ ACC_Hold_Request : 23|1@1+ (1,0) [0|1] "x" XXX
|
||||
SG_ ACC_Boost_Request : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Freewheel_Request : 25|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Freewheel_Type : 26|2@1+ (1,0) [0|3] "enum" XXX
|
||||
SG_ ACC_Hold_Type : 28|3@1+ (1,0) [0|15] "enum" XXX
|
||||
SG_ ACC_Hold_Release : 31|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ACC_Accel_Secondary : 32|8@1+ (0.03,-4.6) [-4.6|2.99] "m/s2" XXX
|
||||
SG_ ACC_Accel_TSK : 53|11@1+ (0.005,-7.22) [-7.22|3.005] "m/s2" XXX
|
||||
|
||||
BO_ 264 Fahrwerk_01: 8 XXX
|
||||
SG_ Fahrwerk_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
|
|
@ -1371,25 +1369,24 @@ BO_ 391 EV_Gearshift: 8 XXX
|
|||
SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX
|
||||
|
||||
CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included";
|
||||
CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature"
|
||||
CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature";
|
||||
CM_ SG_ 159 EPS_Lenkmoment "Steering input by driver, torque";
|
||||
CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction";
|
||||
CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees";
|
||||
CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction"
|
||||
CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction";
|
||||
CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
|
||||
CM_ SG_ 294 3 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 7 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 254 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 SET_ME_0X3 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 SET_ME_0X07 "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 SET_ME_0XFE "May be zero when sent by older cameras";
|
||||
CM_ SG_ 294 Assist_Torque "Heading control input, torque";
|
||||
CM_ SG_ 294 Assist_VZ "Heading control input, direction (sign)";
|
||||
CM_ SG_ 294 HCA_Available "Must be 1 for steering rack to accept HCA commands";
|
||||
CM_ SG_ 302 XXX_Unknown "Weird format but changes with some other bits, maybe a data-level checksum?";
|
||||
CM_ SG_ 302 ACC_Engaged "ACC engaged and regulating speed";
|
||||
CM_ SG_ 302 ACC_Sollbeschleunigung_01 "Requested acceleration, mirrors ACC_06.ACC_Sollbeschleunigung_02";
|
||||
CM_ SG_ 302 ACC_Anfahren "Start up, mirrors ACC_06.Anfahren";
|
||||
CM_ SG_ 302 ACC_Anhaltevorgang "Triggers/requests ESP standstill, reflected in ESP_Anhaltevorgang_ACC_aktiv";
|
||||
CM_ SG_ 302 ACC_Anfahrvorgang "Releases ESP hold";
|
||||
CM_ SG_ 302 ACC_Anhalten "Halt, mirrors ACC_06.Anhalten";
|
||||
CM_ SG_ 302 ACC_Hold_Request "Active request for ABS brake hold in ACC_Hold_Type";
|
||||
CM_ SG_ 302 ACC_Boost_Request "Hybrid engine start related";
|
||||
CM_ SG_ 302 ACC_Freewheel_Request "Active request for DSG sailing/coasting in ACC_Freewheel_Type";
|
||||
CM_ SG_ 302 ACC_Hold_Release "Request to ABS to release brake hold";
|
||||
CM_ SG_ 302 ACC_Accel_Secondary "Target acceleration of the secondary controller";
|
||||
CM_ SG_ 302 ACC_Accel_TSK "Mirror of request to TSK to implement a target acceleration";
|
||||
CM_ SG_ 870 Hazard_Switch "Four-way flashers active";
|
||||
CM_ SG_ 870 Comfort_Signal_Left "Comfort turn signal active, left";
|
||||
CM_ SG_ 870 Comfort_Signal_Right "Comfort turn signal active, right";
|
||||
|
|
@ -1415,6 +1412,9 @@ CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode
|
|||
CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on";
|
||||
VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
|
||||
VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T";
|
||||
VAL_ 288 TSK_Status 0 "init" 1 "disabled" 2 "enabled" 3 "regulating" 4 "accel_pedal_override" 5 "brake_only" 6 "temp_fault" 7 "perm_fault";
|
||||
VAL_ 302 ACC_Freewheel_Type 0 "freewheel_released" 1 "freewheel_not_permitted" 2 "freewheel_not_released" 3 "freewheel_requested" ;
|
||||
VAL_ 302 ACC_Hold_Type 0 "no_request" 1 "hold" 2 "park" 3 "hold_standby" 4 "startup" 5 "loosen_over_ramp" ;
|
||||
VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D";
|
||||
VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3";
|
||||
VAL_ 870 Fast_Send_Rate_Active 0 "1 Hz" 1 "50 Hz";
|
||||
|
|
|
|||
|
|
@ -25,5 +25,5 @@ typedef struct {
|
|||
|
||||
#define CANPACKET_HEAD_SIZE 5U
|
||||
|
||||
#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFF); 1[dst8] = (((src32) >> 8) & 0xFF); 2[dst8] = (((src32) >> 16) & 0xFF); 3[dst8] = (((src32) >> 24) & 0xFF)
|
||||
#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8) | (2[src8] << 16) | (3[src8] << 24))
|
||||
#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFFU); 1[dst8] = (((src32) >> 8U) & 0xFFU); 2[dst8] = (((src32) >> 16U) & 0xFFU); 3[dst8] = (((src32) >> 24U) & 0xFFU)
|
||||
#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U))
|
||||
|
|
|
|||
|
|
@ -112,7 +112,7 @@ void process_can(uint8_t can_number) {
|
|||
to_push.returned = 1U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = (CAN->sTxMailBox[0].TIR >> 2) & 0x1U;
|
||||
to_push.addr = (to_push.extended != 0) ? (CAN->sTxMailBox[0].TIR >> 3) : (CAN->sTxMailBox[0].TIR >> 21);
|
||||
to_push.addr = (to_push.extended != 0U) ? (CAN->sTxMailBox[0].TIR >> 3) : (CAN->sTxMailBox[0].TIR >> 21);
|
||||
to_push.data_len_code = CAN->sTxMailBox[0].TDTR & 0xFU;
|
||||
to_push.bus = bus_number;
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sTxMailBox[0].TDLR);
|
||||
|
|
@ -141,7 +141,7 @@ void process_can(uint8_t can_number) {
|
|||
if (can_pop(can_queues[bus_number], &to_send)) {
|
||||
can_tx_cnt += 1;
|
||||
// only send if we have received a packet
|
||||
CAN->sTxMailBox[0].TIR = ((to_send.extended != 0) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
|
||||
CAN->sTxMailBox[0].TIR = ((to_send.extended != 0U) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2);
|
||||
CAN->sTxMailBox[0].TDTR = to_send.data_len_code;
|
||||
BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDLR, &to_send.data[0]);
|
||||
BYTE_ARRAY_TO_WORD(CAN->sTxMailBox[0].TDHR, &to_send.data[4]);
|
||||
|
|
@ -173,7 +173,7 @@ void can_rx(uint8_t can_number) {
|
|||
to_push.returned = 0U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = (CAN->sFIFOMailBox[0].RIR >> 2) & 0x1U;
|
||||
to_push.addr = (to_push.extended != 0) ? (CAN->sFIFOMailBox[0].RIR >> 3) : (CAN->sFIFOMailBox[0].RIR >> 21);
|
||||
to_push.addr = (to_push.extended != 0U) ? (CAN->sFIFOMailBox[0].RIR >> 3) : (CAN->sFIFOMailBox[0].RIR >> 21);
|
||||
to_push.data_len_code = CAN->sFIFOMailBox[0].RDTR & 0xFU;
|
||||
to_push.bus = bus_number;
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[0], CAN->sFIFOMailBox[0].RDLR);
|
||||
|
|
|
|||
|
|
@ -206,18 +206,18 @@ void ignition_can_hook(CANPacket_t *to_push) {
|
|||
// since the 0x1F1 signal can briefly go low immediately after ignition
|
||||
if ((addr == 0x160) && (len == 5)) {
|
||||
// this message isn't all zeros when ignition is on
|
||||
ignition_cadillac = GET_BYTES_04(to_push) != 0;
|
||||
ignition_cadillac = GET_BYTES_04(to_push) != 0U;
|
||||
}
|
||||
if ((addr == 0x1F1) && (len == 8)) {
|
||||
// Bit 5 is ignition "on"
|
||||
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
|
||||
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20U) != 0U);
|
||||
ignition_can = ignition_gm || ignition_cadillac;
|
||||
}
|
||||
|
||||
// Tesla exception
|
||||
if ((addr == 0x348) && (len == 8)) {
|
||||
// GTW_status
|
||||
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
|
||||
ignition_can = (GET_BYTE(to_push, 0) & 0x1U) != 0U;
|
||||
}
|
||||
|
||||
// Mazda exception
|
||||
|
|
|
|||
|
|
@ -60,13 +60,13 @@ void process_can(uint8_t can_number) {
|
|||
canfd_fifo *fifo;
|
||||
fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
|
||||
|
||||
fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0) ? (to_send.addr) : (to_send.addr << 18));
|
||||
fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18));
|
||||
fifo->header[1] = (to_send.data_len_code << 16) | (bus_config[can_number].canfd_enabled << 21) | (bus_config[can_number].brs_enabled << 20);
|
||||
|
||||
uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U);
|
||||
data_len_w += ((dlc_to_len[to_send.data_len_code] % 4) > 0) ? 1U : 0U;
|
||||
data_len_w += ((dlc_to_len[to_send.data_len_code] % 4U) > 0U) ? 1U : 0U;
|
||||
for (unsigned int i = 0; i < data_len_w; i++) {
|
||||
BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4]);
|
||||
BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4U]);
|
||||
}
|
||||
|
||||
CANx->TXBAR = (1UL << tx_index);
|
||||
|
|
@ -142,14 +142,14 @@ void can_rx(uint8_t can_number) {
|
|||
to_push.returned = 0U;
|
||||
to_push.rejected = 0U;
|
||||
to_push.extended = (fifo->header[0] >> 30) & 0x1U;
|
||||
to_push.addr = ((to_push.extended != 0) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
|
||||
to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU));
|
||||
to_push.bus = bus_number;
|
||||
to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
|
||||
|
||||
uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
|
||||
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4) > 0) ? 1U : 0U;
|
||||
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
|
||||
for (unsigned int i = 0; i < data_len_w; i++) {
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[i*4], fifo->data_word[i]);
|
||||
WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]);
|
||||
}
|
||||
|
||||
// forwarding (panda only)
|
||||
|
|
|
|||
|
|
@ -91,7 +91,7 @@ int get_bit_message(char *out, CANPacket_t *to_bang) {
|
|||
int dlc_len = GET_LEN(to_bang);
|
||||
len = append_int(pkt, len, 0, 1); // Start-of-frame
|
||||
|
||||
if (to_bang->extended != 0) {
|
||||
if (to_bang->extended != 0U) {
|
||||
// extended identifier
|
||||
len = append_int(pkt, len, GET_ADDR(to_bang) >> 18, 11); // Identifier
|
||||
len = append_int(pkt, len, 3, 2); // SRR+IDE
|
||||
|
|
|
|||
|
|
@ -38,9 +38,9 @@ void early_initialization(void) {
|
|||
|
||||
// if wrong chip, reboot
|
||||
volatile unsigned int id = DBGMCU->IDCODE;
|
||||
if ((id & 0xFFFU) != MCU_IDCODE) {
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
}
|
||||
if ((id & 0xFFFU) != MCU_IDCODE) {
|
||||
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
|
||||
}
|
||||
|
||||
// setup interrupt table
|
||||
SCB->VTOR = (uint32_t)&g_pfnVectors;
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
This is the firmware for the comma pedal. It borrows a lot from panda.
|
||||
# pedal
|
||||
|
||||
The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
|
||||
This is the firmware for the comma pedal.
|
||||
|
||||
This is the open source software. Note that it is not ready to use yet.
|
||||
The comma pedal is a gas pedal interceptor for Honda/Acura and Toyota/Lexus. It allows you to "virtually" press the pedal and borrows a lot from panda.
|
||||
|
||||
== Test Plan ==
|
||||
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@
|
|||
#define SAFETY_ALLOUTPUT 17U
|
||||
#define SAFETY_GM_ASCM 18U
|
||||
#define SAFETY_NOOUTPUT 19U
|
||||
#define SAFETY_HONDA_BOSCH_HARNESS 20U
|
||||
#define SAFETY_HONDA_BOSCH 20U
|
||||
#define SAFETY_VOLKSWAGEN_PQ 21U
|
||||
#define SAFETY_SUBARU_LEGACY 22U
|
||||
#define SAFETY_HYUNDAI_LEGACY 23U
|
||||
|
|
@ -241,7 +241,7 @@ const safety_hook_config safety_hook_registry[] = {
|
|||
{SAFETY_TOYOTA, &toyota_hooks},
|
||||
{SAFETY_ELM327, &elm327_hooks},
|
||||
{SAFETY_GM, &gm_hooks},
|
||||
{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
|
||||
{SAFETY_HONDA_BOSCH, &honda_bosch_hooks},
|
||||
{SAFETY_HYUNDAI, &hyundai_hooks},
|
||||
{SAFETY_CHRYSLER, &chrysler_hooks},
|
||||
{SAFETY_SUBARU, &subaru_hooks},
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@ AddrCheckStruct chrysler_addr_checks[] = {
|
|||
addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
|
||||
|
||||
static uint8_t chrysler_get_checksum(CANPacket_t *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1;
|
||||
int checksum_byte = GET_LEN(to_push) - 1U;
|
||||
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
|
||||
}
|
||||
|
||||
|
|
@ -67,7 +67,7 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
|
|||
chrysler_get_checksum, chrysler_compute_checksum,
|
||||
chrysler_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Measured eps torque
|
||||
|
|
@ -80,7 +80,7 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 500) {
|
||||
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38) >> 3) == 7;
|
||||
int cruise_engaged = ((GET_BYTE(to_push, 2) & 0x38U) >> 3) == 7U;
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
|
|
@ -100,12 +100,12 @@ static int chrysler_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 308) {
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) & 0x7F) != 0) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) & 0x7FU) != 0U) && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD);
|
||||
}
|
||||
|
||||
// exit controls on rising edge of brake press
|
||||
if (addr == 320) {
|
||||
brake_pressed = (GET_BYTE(to_push, 0) & 0x7) == 5;
|
||||
brake_pressed = (GET_BYTE(to_push, 0) & 0x7U) == 5U;
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
|
@ -174,7 +174,7 @@ static int chrysler_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
// FORCE CANCEL: only the cancel button press is allowed
|
||||
if (addr == 571) {
|
||||
if ((GET_BYTE(to_send, 0) != 1) || ((GET_BYTE(to_send, 1) & 1) == 1)) {
|
||||
if ((GET_BYTE(to_send, 0) != 1U) || ((GET_BYTE(to_send, 1) & 1U) == 1U)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -24,8 +24,8 @@ static int ford_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// state machine to enter and exit controls
|
||||
if (addr == 0x83) {
|
||||
bool cancel = GET_BYTE(to_push, 1) & 0x1;
|
||||
bool set_or_resume = GET_BYTE(to_push, 3) & 0x30;
|
||||
bool cancel = GET_BYTE(to_push, 1) & 0x1U;
|
||||
bool set_or_resume = GET_BYTE(to_push, 3) & 0x30U;
|
||||
if (cancel) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
|
@ -37,7 +37,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
|
|||
// exit controls on rising edge of brake press or on brake press when
|
||||
// speed > 0
|
||||
if (addr == 0x165) {
|
||||
brake_pressed = GET_BYTE(to_push, 0) & 0x20;
|
||||
brake_pressed = GET_BYTE(to_push, 0) & 0x20U;
|
||||
if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
|
@ -46,7 +46,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x204) {
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) & 0x03) | GET_BYTE(to_push, 1)) != 0;
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) & 0x03U) | GET_BYTE(to_push, 1)) != 0U;
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
|
@ -83,7 +83,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
|
|||
if (addr == 0x3CA) {
|
||||
if (!current_controls_allowed) {
|
||||
// bits 7-4 need to be 0xF to disallow lkas commands
|
||||
if ((GET_BYTE(to_send, 0) & 0xF0) != 0xF0) {
|
||||
if ((GET_BYTE(to_send, 0) & 0xF0U) != 0xF0U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -92,7 +92,7 @@ static int ford_tx_hook(CANPacket_t *to_send) {
|
|||
// FORCE CANCEL: safety check only relevant when spamming the cancel button
|
||||
// ensuring that set and resume aren't sent
|
||||
if (addr == 0x83) {
|
||||
if ((GET_BYTE(to_send, 3) & 0x30) != 0) {
|
||||
if ((GET_BYTE(to_send, 3) & 0x30U) != 0U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -38,11 +38,11 @@ static int gm_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == 388) {
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7) << 8) | GET_BYTE(to_push, 7);
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
|
|
@ -56,7 +56,7 @@ static int gm_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// ACC steering wheel buttons
|
||||
if (addr == 481) {
|
||||
int button = (GET_BYTE(to_push, 5) & 0x70) >> 4;
|
||||
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
|
||||
switch (button) {
|
||||
case 2: // resume
|
||||
case 3: // set
|
||||
|
|
@ -74,16 +74,16 @@ static int gm_rx_hook(CANPacket_t *to_push) {
|
|||
if (addr == 241) {
|
||||
// Brake pedal's potentiometer returns near-zero reading
|
||||
// even when pedal is not pressed
|
||||
brake_pressed = GET_BYTE(to_push, 1) >= 10;
|
||||
brake_pressed = GET_BYTE(to_push, 1) >= 10U;
|
||||
}
|
||||
|
||||
if (addr == 417) {
|
||||
gas_pressed = GET_BYTE(to_push, 6) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 6) != 0U;
|
||||
}
|
||||
|
||||
// exit controls on regen paddle
|
||||
if (addr == 189) {
|
||||
bool regen = GET_BYTE(to_push, 0) & 0x20;
|
||||
bool regen = GET_BYTE(to_push, 0) & 0x20U;
|
||||
if (regen) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -7,8 +7,8 @@
|
|||
// brake rising edge
|
||||
// brake > 0mph
|
||||
const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}};
|
||||
const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}}; // Bosch Harness
|
||||
const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch Harness w/ gas and brakes
|
||||
const CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch
|
||||
const CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes
|
||||
|
||||
// Roughly calculated using the offsets in openpilot +5%:
|
||||
// In openpilot: ((gas1_norm + gas2_norm)/2) > 15
|
||||
|
|
@ -17,7 +17,7 @@ const CanMsg HONDA_BH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1,
|
|||
// assuming that 2*(gain_dbc1*gas1) == (gain_dbc2*gas2)
|
||||
// In this safety: ((gas1 + (gas2/2))/2) > THRESHOLD
|
||||
const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 344;
|
||||
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2) // avg between 2 tracks
|
||||
#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U ) / 2U) // avg between 2 tracks
|
||||
const int HONDA_BOSCH_NO_GAS_VALUE = -30000; // value sent when not requesting gas
|
||||
const int HONDA_BOSCH_GAS_MAX = 2000;
|
||||
const int HONDA_BOSCH_ACCEL_MIN = -350; // max braking == -3.5m/s2
|
||||
|
|
@ -28,28 +28,28 @@ AddrCheckStruct honda_nidec_addr_checks[] = {
|
|||
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }}},
|
||||
{.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x326, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
#define HONDA_NIDEC_ADDR_CHECKS_LEN (sizeof(honda_nidec_addr_checks) / sizeof(honda_nidec_addr_checks[0]))
|
||||
|
||||
// For Nidecs with main on signal on 0x326
|
||||
// For Nidecs with main on signal on an alternate msg
|
||||
AddrCheckStruct honda_nidec_alt_addr_checks[] = {
|
||||
{.msg = {{0x1A6, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U},
|
||||
{0x296, 0, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }}},
|
||||
{.msg = {{0x158, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x17C, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x326, 0, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
#define HONDA_NIDEC_ALT_ADDR_CHECKS_LEN (sizeof(honda_nidec_alt_addr_checks) / sizeof(honda_nidec_alt_addr_checks[0]))
|
||||
|
||||
// Bosch harness has pt on bus 1
|
||||
AddrCheckStruct honda_bh_addr_checks[] = {
|
||||
// Bosch has pt on bus 1
|
||||
AddrCheckStruct honda_bosch_addr_checks[] = {
|
||||
{.msg = {{0x296, 1, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x158, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U},
|
||||
{0x1BE, 1, 3, .check_checksum = true, .max_counter = 3U, .expected_timestep = 20000U}, { 0 }}},
|
||||
{.msg = {{0x326, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 100000U}, { 0 }, { 0 }}},
|
||||
};
|
||||
#define HONDA_BH_ADDR_CHECKS_LEN (sizeof(honda_bh_addr_checks) / sizeof(honda_bh_addr_checks[0]))
|
||||
#define HONDA_BOSCH_ADDR_CHECKS_LEN (sizeof(honda_bosch_addr_checks) / sizeof(honda_bosch_addr_checks[0]))
|
||||
|
||||
const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
|
||||
const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
|
||||
|
|
@ -59,12 +59,12 @@ int honda_brake = 0;
|
|||
bool honda_alt_brake_msg = false;
|
||||
bool honda_fwd_brake = false;
|
||||
bool honda_bosch_long = false;
|
||||
enum {HONDA_N_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
|
||||
enum {HONDA_NIDEC, HONDA_BOSCH} honda_hw = HONDA_NIDEC;
|
||||
addr_checks honda_rx_checks = {honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
|
||||
|
||||
|
||||
static uint8_t honda_get_checksum(CANPacket_t *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1;
|
||||
int checksum_byte = GET_LEN(to_push) - 1U;
|
||||
return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU;
|
||||
}
|
||||
|
||||
|
|
@ -86,7 +86,7 @@ static uint8_t honda_compute_checksum(CANPacket_t *to_push) {
|
|||
}
|
||||
|
||||
static uint8_t honda_get_counter(CANPacket_t *to_push) {
|
||||
int counter_byte = GET_LEN(to_push) - 1;
|
||||
int counter_byte = GET_LEN(to_push) - 1U;
|
||||
return ((uint8_t)(GET_BYTE(to_push, counter_byte)) >> 4U) & 0x3U;
|
||||
}
|
||||
|
||||
|
|
@ -109,7 +109,7 @@ static int honda_rx_hook(CANPacket_t *to_push) {
|
|||
// check ACC main state
|
||||
// 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec
|
||||
if ((addr == 0x326) || (addr == 0x1A6)) {
|
||||
acc_main_on = GET_BIT(to_push, (addr == 0x326) ? 28 : 47);
|
||||
acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U));
|
||||
if (!acc_main_on) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
|
@ -119,7 +119,7 @@ static int honda_rx_hook(CANPacket_t *to_push) {
|
|||
// 0x1A6 for the ILX, 0x296 for the Civic Touring
|
||||
if ((addr == 0x1A6) || (addr == 0x296)) {
|
||||
// check for button presses
|
||||
int button = (GET_BYTE(to_push, 0) & 0xE0) >> 5;
|
||||
int button = (GET_BYTE(to_push, 0) & 0xE0U) >> 5;
|
||||
switch (button) {
|
||||
case 1: // main
|
||||
case 2: // cancel
|
||||
|
|
@ -144,7 +144,7 @@ static int honda_rx_hook(CANPacket_t *to_push) {
|
|||
// accord, crv: 0x1BE bit 4
|
||||
bool is_user_brake_msg = honda_alt_brake_msg ? ((addr) == 0x1BE) : ((addr) == 0x17C);
|
||||
if (is_user_brake_msg) {
|
||||
brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10) : (GET_BYTE((to_push), 6) & 0x20);
|
||||
brake_pressed = honda_alt_brake_msg ? (GET_BYTE((to_push), 0) & 0x10U) : (GET_BYTE((to_push), 6) & 0x20U);
|
||||
}
|
||||
|
||||
// length check because bosch hardware also uses this id (0x201 w/ len = 8)
|
||||
|
|
@ -157,15 +157,15 @@ static int honda_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
if (!gas_interceptor_detected) {
|
||||
if (addr == 0x17C) {
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0U;
|
||||
}
|
||||
}
|
||||
|
||||
// disable stock Honda AEB in unsafe mode
|
||||
if ( !(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB) ) {
|
||||
if ((bus == 2) && (addr == 0x1FA)) {
|
||||
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20;
|
||||
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3);
|
||||
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20U;
|
||||
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3U);
|
||||
|
||||
// Forward AEB when stock braking is higher than openpilot braking
|
||||
// only stop forwarding when AEB event is over
|
||||
|
|
@ -180,14 +180,14 @@ static int honda_rx_hook(CANPacket_t *to_push) {
|
|||
}
|
||||
|
||||
bool stock_ecu_detected = false;
|
||||
int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2; // radar bus, car side
|
||||
int pt_bus = (honda_hw == HONDA_BH_HW) ? 1 : 0;
|
||||
int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2; // radar bus, car side
|
||||
int pt_bus = (honda_hw == HONDA_BOSCH) ? 1 : 0;
|
||||
|
||||
if (safety_mode_cnt > RELAY_TRNS_TIMEOUT) {
|
||||
// If steering controls messages are received on the destination bus, it's an indication
|
||||
// that the relay might be malfunctioning
|
||||
if ((addr == 0xE4) || (addr == 0x194)) {
|
||||
if (((honda_hw != HONDA_N_HW) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_N_HW) && (bus == 0))) {
|
||||
if (((honda_hw != HONDA_NIDEC) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_NIDEC) && (bus == 0))) {
|
||||
stock_ecu_detected = true;
|
||||
}
|
||||
}
|
||||
|
|
@ -215,10 +215,10 @@ static int honda_tx_hook(CANPacket_t *to_send) {
|
|||
int addr = GET_ADDR(to_send);
|
||||
int bus = GET_BUS(to_send);
|
||||
|
||||
if ((honda_hw == HONDA_BH_HW) && !honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BH_TX_MSGS, sizeof(HONDA_BH_TX_MSGS)/sizeof(HONDA_BH_TX_MSGS[0]));
|
||||
} else if ((honda_hw == HONDA_BH_HW) && honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BH_LONG_TX_MSGS, sizeof(HONDA_BH_LONG_TX_MSGS)/sizeof(HONDA_BH_LONG_TX_MSGS[0]));
|
||||
if ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BOSCH_TX_MSGS, sizeof(HONDA_BOSCH_TX_MSGS)/sizeof(HONDA_BOSCH_TX_MSGS[0]));
|
||||
} else if ((honda_hw == HONDA_BOSCH) && honda_bosch_long) {
|
||||
tx = msg_allowed(to_send, HONDA_BOSCH_LONG_TX_MSGS, sizeof(HONDA_BOSCH_LONG_TX_MSGS)/sizeof(HONDA_BOSCH_LONG_TX_MSGS[0]));
|
||||
} else {
|
||||
tx = msg_allowed(to_send, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
|
||||
}
|
||||
|
|
@ -231,11 +231,11 @@ static int honda_tx_hook(CANPacket_t *to_send) {
|
|||
pedal_pressed = pedal_pressed || gas_pressed_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD);
|
||||
}
|
||||
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
|
||||
int bus_pt = (honda_hw == HONDA_BH_HW)? 1 : 0;
|
||||
int bus_pt = (honda_hw == HONDA_BOSCH) ? 1 : 0;
|
||||
|
||||
// BRAKE: safety check (nidec)
|
||||
if ((addr == 0x1FA) && (bus == bus_pt)) {
|
||||
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3);
|
||||
honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U);
|
||||
if (!current_controls_allowed) {
|
||||
if (honda_brake != 0) {
|
||||
tx = 0;
|
||||
|
|
@ -251,7 +251,7 @@ static int honda_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
// BRAKE/GAS: safety check (bosch)
|
||||
if ((addr == 0x1DF) && (bus == bus_pt)) {
|
||||
int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7);
|
||||
int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7U);
|
||||
accel = to_signed(accel, 11);
|
||||
if (!current_controls_allowed) {
|
||||
if (accel != 0) {
|
||||
|
|
@ -284,9 +284,9 @@ static int honda_tx_hook(CANPacket_t *to_send) {
|
|||
}
|
||||
}
|
||||
|
||||
// Bosch supplemental control check
|
||||
// Bosch supplemental control check
|
||||
if (addr == 0xE5) {
|
||||
if ((GET_BYTES_04(to_send) != 0x10800004) || ((GET_BYTES_48(to_send) & 0x00FFFFFF) != 0x0)) {
|
||||
if ((GET_BYTES_04(to_send) != 0x10800004U) || ((GET_BYTES_48(to_send) & 0x00FFFFFFU) != 0x0U)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -304,14 +304,14 @@ static int honda_tx_hook(CANPacket_t *to_send) {
|
|||
// ensuring that only the cancel button press is sent (VAL 2) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == 0x296) && !current_controls_allowed && (bus == bus_pt)) {
|
||||
if (((GET_BYTE(to_send, 0) >> 5) & 0x7) != 2) {
|
||||
if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (addr == 0x18DAB0F1) {
|
||||
if ((GET_BYTES_04(to_send) != 0x00803E02) || (GET_BYTES_48(to_send) != 0x0)) {
|
||||
if ((GET_BYTES_04(to_send) != 0x00803E02U) || (GET_BYTES_48(to_send) != 0x0U)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -325,26 +325,22 @@ static const addr_checks* honda_nidec_init(int16_t param) {
|
|||
controls_allowed = false;
|
||||
relay_malfunction_reset();
|
||||
gas_interceptor_detected = 0;
|
||||
honda_hw = HONDA_N_HW;
|
||||
honda_hw = HONDA_NIDEC;
|
||||
honda_alt_brake_msg = false;
|
||||
honda_bosch_long = false;
|
||||
|
||||
honda_rx_checks = (addr_checks){honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
|
||||
|
||||
/*
|
||||
if (GET_FLAG(param, HONDA_PARAM_NIDEC_ALT)) {
|
||||
honda_rx_checks = (addr_checks){honda_nidec_alt_addr_checks, HONDA_NIDEC_ALT_ADDR_CHECKS_LEN};
|
||||
} else {
|
||||
honda_rx_checks = (addr_checks){honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
|
||||
}
|
||||
*/
|
||||
return &honda_rx_checks;
|
||||
}
|
||||
|
||||
static const addr_checks* honda_bosch_harness_init(int16_t param) {
|
||||
static const addr_checks* honda_bosch_init(int16_t param) {
|
||||
controls_allowed = false;
|
||||
relay_malfunction_reset();
|
||||
honda_hw = HONDA_BH_HW;
|
||||
honda_hw = HONDA_BOSCH;
|
||||
// Checking for alternate brake override from safety parameter
|
||||
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
|
||||
|
||||
|
|
@ -353,7 +349,7 @@ static const addr_checks* honda_bosch_harness_init(int16_t param) {
|
|||
honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
|
||||
#endif
|
||||
|
||||
honda_rx_checks = (addr_checks){honda_bh_addr_checks, HONDA_BH_ADDR_CHECKS_LEN};
|
||||
honda_rx_checks = (addr_checks){honda_bosch_addr_checks, HONDA_BOSCH_ADDR_CHECKS_LEN};
|
||||
return &honda_rx_checks;
|
||||
}
|
||||
|
||||
|
|
@ -384,17 +380,15 @@ static int honda_nidec_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
|||
|
||||
static int honda_bosch_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
|
||||
int bus_fwd = -1;
|
||||
int bus_rdr_cam = (honda_hw == HONDA_BH_HW) ? 2 : 1; // radar bus, camera side
|
||||
int bus_rdr_car = (honda_hw == HONDA_BH_HW) ? 0 : 2; // radar bus, car side
|
||||
|
||||
if (bus_num == bus_rdr_car) {
|
||||
bus_fwd = bus_rdr_cam;
|
||||
if (bus_num == 0) {
|
||||
bus_fwd = 2;
|
||||
}
|
||||
if (bus_num == bus_rdr_cam) {
|
||||
if (bus_num == 2) {
|
||||
int addr = GET_ADDR(to_fwd);
|
||||
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
|
||||
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB);
|
||||
if (!is_lkas_msg) {
|
||||
bus_fwd = bus_rdr_car;
|
||||
bus_fwd = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -409,8 +403,8 @@ const safety_hooks honda_nidec_hooks = {
|
|||
.fwd = honda_nidec_fwd_hook,
|
||||
};
|
||||
|
||||
const safety_hooks honda_bosch_harness_hooks = {
|
||||
.init = honda_bosch_harness_init,
|
||||
const safety_hooks honda_bosch_hooks = {
|
||||
.init = honda_bosch_init,
|
||||
.rx = honda_rx_hook,
|
||||
.tx = honda_tx_hook,
|
||||
.tx_lin = nooutput_tx_lin_hook,
|
||||
|
|
|
|||
|
|
@ -74,15 +74,15 @@ static uint8_t hyundai_get_counter(CANPacket_t *to_push) {
|
|||
|
||||
uint8_t cnt;
|
||||
if (addr == 608) {
|
||||
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3;
|
||||
cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U;
|
||||
} else if (addr == 902) {
|
||||
cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6);
|
||||
} else if (addr == 916) {
|
||||
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7;
|
||||
cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U;
|
||||
} else if (addr == 1057) {
|
||||
cnt = GET_BYTE(to_push, 7) & 0xF;
|
||||
cnt = GET_BYTE(to_push, 7) & 0xFU;
|
||||
} else if (addr == 1265) {
|
||||
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xF;
|
||||
cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU;
|
||||
} else {
|
||||
cnt = 0;
|
||||
}
|
||||
|
|
@ -94,11 +94,11 @@ static uint8_t hyundai_get_checksum(CANPacket_t *to_push) {
|
|||
|
||||
uint8_t chksum;
|
||||
if (addr == 608) {
|
||||
chksum = GET_BYTE(to_push, 7) & 0xF;
|
||||
chksum = GET_BYTE(to_push, 7) & 0xFU;
|
||||
} else if (addr == 902) {
|
||||
chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6);
|
||||
} else if (addr == 916) {
|
||||
chksum = GET_BYTE(to_push, 6) & 0xF;
|
||||
chksum = GET_BYTE(to_push, 6) & 0xFU;
|
||||
} else if (addr == 1057) {
|
||||
chksum = GET_BYTE(to_push, 7) >> 4;
|
||||
} else {
|
||||
|
|
@ -149,11 +149,11 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
|
|||
hyundai_get_checksum, hyundai_compute_checksum,
|
||||
hyundai_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == 593) {
|
||||
int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ff) * 0.79) - 808; // scale down new driver torque signal to match previous one
|
||||
int torque_driver_new = ((GET_BYTES_04(to_push) & 0x7ffU) * 0.79) - 808; // scale down new driver torque signal to match previous one
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
|
@ -161,7 +161,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
|
|||
if (hyundai_longitudinal) {
|
||||
// ACC steering wheel buttons
|
||||
if (addr == 1265) {
|
||||
int button = GET_BYTE(to_push, 0) & 0x7;
|
||||
int button = GET_BYTE(to_push, 0) & 0x7U;
|
||||
switch (button) {
|
||||
case 1: // resume
|
||||
case 2: // set
|
||||
|
|
@ -178,7 +178,7 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
|
|||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 1057) {
|
||||
// 2 bits: 13-14
|
||||
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3;
|
||||
int cruise_engaged = (GET_BYTES_04(to_push) >> 13) & 0x3U;
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
|
|
@ -191,24 +191,23 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// read gas pressed signal
|
||||
if ((addr == 881) && hyundai_ev_gas_signal) {
|
||||
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7F) << 1) | GET_BYTE(to_push, 3) >> 7) != 0;
|
||||
gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U;
|
||||
} else if ((addr == 881) && hyundai_hybrid_gas_signal) {
|
||||
gas_pressed = GET_BYTE(to_push, 7) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 7) != 0U;
|
||||
} else if (addr == 608) { // ICE
|
||||
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
|
||||
gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U;
|
||||
} else {
|
||||
}
|
||||
|
||||
// sample wheel speed, averaging opposite corners
|
||||
if (addr == 902) {
|
||||
int hyundai_speed = GET_BYTES_04(to_push) & 0x3FFF; // FL
|
||||
hyundai_speed += (GET_BYTES_48(to_push) >> 16) & 0x3FFF; // RL
|
||||
int hyundai_speed = (GET_BYTES_04(to_push) & 0x3FFFU) + ((GET_BYTES_48(to_push) >> 16) & 0x3FFFU); // FL + RR
|
||||
hyundai_speed /= 2;
|
||||
vehicle_moving = hyundai_speed > HYUNDAI_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
if (addr == 916) {
|
||||
brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0;
|
||||
brake_pressed = (GET_BYTE(to_push, 6) >> 7) != 0U;
|
||||
}
|
||||
|
||||
bool stock_ecu_detected = (addr == 832);
|
||||
|
|
@ -237,8 +236,8 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
|
|||
// FCA11: Block any potential actuation
|
||||
if (addr == 909) {
|
||||
int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
|
||||
int FCA_CmdAct = (GET_BYTE(to_send, 2) >> 5) & 1;
|
||||
int CF_VSM_DecCmdAct = (GET_BYTE(to_send, 3) >> 7) & 1;
|
||||
int FCA_CmdAct = (GET_BYTE(to_send, 2) >> 5) & 1U;
|
||||
int CF_VSM_DecCmdAct = (GET_BYTE(to_send, 3) >> 7) & 1U;
|
||||
|
||||
if ((CR_VSM_DecCmd != 0) || (FCA_CmdAct != 0) || (CF_VSM_DecCmdAct != 0)) {
|
||||
tx = 0;
|
||||
|
|
@ -247,11 +246,11 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
// ACCEL: safety check
|
||||
if (addr == 1057) {
|
||||
int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7) << 8) | GET_BYTE(to_send, 3)) - 1023;
|
||||
int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023;
|
||||
int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) - 1023U;
|
||||
int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U;
|
||||
|
||||
int aeb_decel_cmd = GET_BYTE(to_send, 2);
|
||||
int aeb_req = (GET_BYTE(to_send, 6) >> 6) & 1;
|
||||
int aeb_req = (GET_BYTE(to_send, 6) >> 6) & 1U;
|
||||
|
||||
bool violation = 0;
|
||||
|
||||
|
|
@ -273,7 +272,7 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
// LKA STEER: safety check
|
||||
if (addr == 832) {
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ff) - 1024;
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ffU) - 1024U;
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
bool violation = 0;
|
||||
|
||||
|
|
@ -320,7 +319,7 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
// UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
|
||||
if (addr == 2000) {
|
||||
if ((GET_BYTES_04(to_send) != 0x00803E02) || (GET_BYTES_48(to_send) != 0x0)) {
|
||||
if ((GET_BYTES_04(to_send) != 0x00803E02U) || (GET_BYTES_48(to_send) != 0x0U)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -329,7 +328,7 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
|
|||
// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == 1265) && !controls_allowed) {
|
||||
if ((GET_BYTES_04(to_send) & 0x7) != 4) {
|
||||
if ((GET_BYTES_04(to_send) & 0x7U) != 4U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -9,10 +9,10 @@
|
|||
|
||||
// CAN bus numbers
|
||||
#define MAZDA_MAIN 0
|
||||
#define MAZDA_AUX 1
|
||||
#define MAZDA_CAM 2
|
||||
#define MAZDA_AUX 1
|
||||
#define MAZDA_CAM 2
|
||||
|
||||
#define MAZDA_MAX_STEER 2048
|
||||
#define MAZDA_MAX_STEER 2048U
|
||||
|
||||
// max delta torque allowed for real time checks
|
||||
#define MAZDA_MAX_RT_DELTA 940
|
||||
|
|
@ -39,7 +39,7 @@ addr_checks mazda_rx_checks = {mazda_addr_checks, MAZDA_ADDR_CHECKS_LEN};
|
|||
// track msgs coming from OP so that we know what CAM msgs to drop and what to forward
|
||||
static int mazda_rx_hook(CANPacket_t *to_push) {
|
||||
bool valid = addr_safety_check(to_push, &mazda_rx_checks, NULL, NULL, NULL);
|
||||
if (valid && (GET_BUS(to_push) == MAZDA_MAIN)) {
|
||||
if (valid && ((int)GET_BUS(to_push) == MAZDA_MAIN)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == MAZDA_ENGINE_DATA) {
|
||||
|
|
@ -49,14 +49,14 @@ static int mazda_rx_hook(CANPacket_t *to_push) {
|
|||
}
|
||||
|
||||
if (addr == MAZDA_STEER_TORQUE) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 0) - 127;
|
||||
int torque_driver_new = GET_BYTE(to_push, 0) - 127U;
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == MAZDA_CRZ_CTRL) {
|
||||
bool cruise_engaged = GET_BYTE(to_push, 0) & 8;
|
||||
bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U;
|
||||
if (cruise_engaged) {
|
||||
if (!cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
|
|
@ -68,11 +68,11 @@ static int mazda_rx_hook(CANPacket_t *to_push) {
|
|||
}
|
||||
|
||||
if (addr == MAZDA_ENGINE_DATA) {
|
||||
gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0));
|
||||
gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0U));
|
||||
}
|
||||
|
||||
if (addr == MAZDA_PEDALS) {
|
||||
brake_pressed = (GET_BYTE(to_push, 0) & 0x10);
|
||||
brake_pressed = (GET_BYTE(to_push, 0) & 0x10U);
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == MAZDA_LKAS));
|
||||
|
|
@ -94,7 +94,7 @@ static int mazda_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
// steer cmd checks
|
||||
if (addr == MAZDA_LKAS) {
|
||||
int desired_torque = (((GET_BYTE(to_send, 0) & 0x0f) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
|
||||
int desired_torque = (((GET_BYTE(to_send, 0) & 0x0FU) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
|
||||
bool violation = 0;
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
|
||||
|
|
|
|||
|
|
@ -53,7 +53,7 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
|
|||
if (addr == 0x2) {
|
||||
// Current steering angle
|
||||
// Factor -0.1, little endian
|
||||
int angle_meas_new = (GET_BYTES_04(to_push) & 0xFFFF);
|
||||
int angle_meas_new = (GET_BYTES_04(to_push) & 0xFFFFU);
|
||||
// Need to multiply by 10 here as LKAS and Steering wheel are different base unit
|
||||
angle_meas_new = to_signed(angle_meas_new, 16) * 10;
|
||||
|
||||
|
|
@ -71,9 +71,9 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
|
|||
// X-Trail 0x15c, Leaf 0x239
|
||||
if ((addr == 0x15c) || (addr == 0x239)) {
|
||||
if (addr == 0x15c){
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3)) > 3;
|
||||
gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U;
|
||||
} else {
|
||||
gas_pressed = GET_BYTE(to_push, 0) > 3;
|
||||
gas_pressed = GET_BYTE(to_push, 0) > 3U;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -81,15 +81,15 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
|
|||
// X-trail 0x454, Leaf 0x239
|
||||
if ((addr == 0x454) || (addr == 0x239)) {
|
||||
if (addr == 0x454){
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x80U) != 0U;
|
||||
} else {
|
||||
brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1) != 0;
|
||||
brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1U) != 0U;
|
||||
}
|
||||
}
|
||||
|
||||
// Handle cruise enabled
|
||||
if ((addr == 0x30f) && (((bus == 2) && (!nissan_alt_eps)) || ((bus == 1) && (nissan_alt_eps)))) {
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1;
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1U;
|
||||
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
|
|
@ -117,8 +117,8 @@ static int nissan_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
// steer cmd checks
|
||||
if (addr == 0x169) {
|
||||
int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3));
|
||||
bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1;
|
||||
int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3U));
|
||||
bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1U;
|
||||
|
||||
// offeset 1310 * NISSAN_DEG_TO_CAN
|
||||
desired_angle = desired_angle - 131000;
|
||||
|
|
@ -154,7 +154,7 @@ static int nissan_tx_hook(CANPacket_t *to_send) {
|
|||
// acc button check, only allow cancel button to be sent
|
||||
if (addr == 0x20b) {
|
||||
// Violation of any button other than cancel is pressed
|
||||
violation |= ((GET_BYTE(to_send, 1) & 0x3d) > 0);
|
||||
violation |= ((GET_BYTE(to_send, 1) & 0x3dU) > 0U);
|
||||
}
|
||||
|
||||
if (violation) {
|
||||
|
|
|
|||
|
|
@ -42,7 +42,7 @@ static uint8_t subaru_get_checksum(CANPacket_t *to_push) {
|
|||
}
|
||||
|
||||
static uint8_t subaru_get_counter(CANPacket_t *to_push) {
|
||||
return (uint8_t)(GET_BYTE(to_push, 1) & 0xF);
|
||||
return (uint8_t)(GET_BYTE(to_push, 1) & 0xFU);
|
||||
}
|
||||
|
||||
static uint8_t subaru_compute_checksum(CANPacket_t *to_push) {
|
||||
|
|
@ -60,18 +60,18 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
|
|||
bool valid = addr_safety_check(to_push, &subaru_rx_checks,
|
||||
subaru_get_checksum, subaru_compute_checksum, subaru_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
if (addr == 0x119) {
|
||||
int torque_driver_new;
|
||||
torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FF);
|
||||
torque_driver_new = ((GET_BYTES_04(to_push) >> 16) & 0x7FFU);
|
||||
torque_driver_new = -1 * to_signed(torque_driver_new, 11);
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 0x240) {
|
||||
int cruise_engaged = ((GET_BYTES_48(to_push) >> 9) & 1);
|
||||
int cruise_engaged = ((GET_BYTES_48(to_push) >> 9) & 1U);
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
|
|
@ -83,18 +83,17 @@ static int subaru_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// sample wheel speed, averaging opposite corners
|
||||
if (addr == 0x13a) {
|
||||
int subaru_speed = (GET_BYTES_04(to_push) >> 12) & 0x1FFF; // FR
|
||||
subaru_speed += (GET_BYTES_48(to_push) >> 6) & 0x1FFF; // RL
|
||||
int subaru_speed = ((GET_BYTES_04(to_push) >> 12) & 0x1FFFU) + ((GET_BYTES_48(to_push) >> 6) & 0x1FFFU); // FR + RL
|
||||
subaru_speed /= 2;
|
||||
vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
if (addr == 0x13c) {
|
||||
brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1);
|
||||
brake_pressed = ((GET_BYTE(to_push, 7) >> 6) & 1U);
|
||||
}
|
||||
|
||||
if (addr == 0x40) {
|
||||
gas_pressed = GET_BYTE(to_push, 4) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 4) != 0U;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == 0x122));
|
||||
|
|
@ -106,7 +105,7 @@ static int subaru_legacy_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
bool valid = addr_safety_check(to_push, &subaru_l_rx_checks, NULL, NULL, NULL);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
if (addr == 0x371) {
|
||||
int torque_driver_new;
|
||||
|
|
@ -117,7 +116,7 @@ static int subaru_legacy_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
if (addr == 0x144) {
|
||||
int cruise_engaged = ((GET_BYTES_48(to_push) >> 17) & 1);
|
||||
int cruise_engaged = ((GET_BYTES_48(to_push) >> 17) & 1U);
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
|
|
@ -129,18 +128,17 @@ static int subaru_legacy_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// sample wheel speed, averaging opposite corners
|
||||
if (addr == 0xD4) {
|
||||
int subaru_speed = (GET_BYTES_04(to_push) >> 16) & 0xFFFF; // FR
|
||||
subaru_speed += GET_BYTES_48(to_push) & 0xFFFF; // RL
|
||||
int subaru_speed = ((GET_BYTES_04(to_push) >> 16) & 0xFFFFU) + (GET_BYTES_48(to_push) & 0xFFFFU); // FR + RL
|
||||
subaru_speed /= 2;
|
||||
vehicle_moving = subaru_speed > SUBARU_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
||||
if (addr == 0xD1) {
|
||||
brake_pressed = ((GET_BYTES_04(to_push) >> 16) & 0xFF) > 0;
|
||||
brake_pressed = ((GET_BYTES_04(to_push) >> 16) & 0xFFU) > 0U;
|
||||
}
|
||||
|
||||
if (addr == 0x140) {
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0;
|
||||
gas_pressed = GET_BYTE(to_push, 0) != 0U;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == 0x164));
|
||||
|
|
@ -158,7 +156,7 @@ static int subaru_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
// steer cmd checks
|
||||
if (addr == 0x122) {
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFFU);
|
||||
bool violation = 0;
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
|
||||
|
|
@ -218,7 +216,7 @@ static int subaru_legacy_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
// steer cmd checks
|
||||
if (addr == 0x164) {
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 8) & 0x1FFF);
|
||||
int desired_torque = ((GET_BYTES_04(to_send) >> 8) & 0x1FFFU);
|
||||
bool violation = 0;
|
||||
uint32_t ts = microsecond_timer_get();
|
||||
|
||||
|
|
|
|||
|
|
@ -62,25 +62,25 @@ static int tesla_rx_hook(CANPacket_t *to_push) {
|
|||
if(addr == 0x370) {
|
||||
// Steering angle: (0.1 * val) - 819.2 in deg.
|
||||
// Store it 1/10 deg to match steering request
|
||||
int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3F) << 8) | GET_BYTE(to_push, 5)) - 8192;
|
||||
int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U;
|
||||
update_sample(&angle_meas, angle_meas_new);
|
||||
}
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
|
||||
// Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
|
||||
vehicle_speed = (((((GET_BYTE(to_push, 3) & 0x0F) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
|
||||
vehicle_speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
|
||||
vehicle_moving = ABS(vehicle_speed) > 0.1;
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
|
||||
// Gas pressed
|
||||
gas_pressed = (GET_BYTE(to_push, 6) != 0);
|
||||
gas_pressed = (GET_BYTE(to_push, 6) != 0U);
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x1f8 : 0x20a)) {
|
||||
// Brake pressed
|
||||
brake_pressed = (((GET_BYTE(to_push, 0) & 0x0C) >> 2) != 1);
|
||||
brake_pressed = (((GET_BYTE(to_push, 0) & 0x0CU) >> 2) != 1U);
|
||||
}
|
||||
|
||||
if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
|
||||
|
|
@ -129,7 +129,7 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
|
|||
if(!tesla_powertrain && (addr == 0x488)) {
|
||||
// Steering control: (0.1 * val) - 1638.35 in deg.
|
||||
// We use 1/10 deg as a unit here
|
||||
int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7F) << 8) | GET_BYTE(to_send, 1));
|
||||
int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7FU) << 8) | GET_BYTE(to_send, 1));
|
||||
int desired_angle = raw_angle_can - 16384;
|
||||
int steer_control_type = GET_BYTE(to_send, 2) >> 6;
|
||||
bool steer_control_enabled = (steer_control_type != 0) && // NONE
|
||||
|
|
@ -164,7 +164,7 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
|
|||
|
||||
if(!tesla_powertrain && (addr == 0x45)) {
|
||||
// No button other than cancel can be sent by us
|
||||
int control_lever_status = (GET_BYTE(to_send, 0) & 0x3F);
|
||||
int control_lever_status = (GET_BYTE(to_send, 0) & 0x3FU);
|
||||
if((control_lever_status != 0) && (control_lever_status != 1)) {
|
||||
violation = true;
|
||||
}
|
||||
|
|
@ -174,14 +174,14 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
|
|||
// DAS_control: longitudinal control message
|
||||
if (tesla_longitudinal) {
|
||||
// No AEB events may be sent by openpilot
|
||||
int aeb_event = GET_BYTE(to_send, 2) & 0x03;
|
||||
int aeb_event = GET_BYTE(to_send, 2) & 0x03U;
|
||||
if (aeb_event != 0) {
|
||||
violation = true;
|
||||
}
|
||||
|
||||
// Don't allow any acceleration limits above the safety limits
|
||||
int raw_accel_max = ((GET_BYTE(to_send, 6) & 0x1F) << 4) | (GET_BYTE(to_send, 5) >> 4);
|
||||
int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0F) << 5) | (GET_BYTE(to_send, 4) >> 3);
|
||||
int raw_accel_max = ((GET_BYTE(to_send, 6) & 0x1FU) << 4) | (GET_BYTE(to_send, 5) >> 4);
|
||||
int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0FU) << 5) | (GET_BYTE(to_send, 4) >> 3);
|
||||
float accel_max = (0.04 * raw_accel_max) - 15;
|
||||
float accel_min = (0.04 * raw_accel_min) - 15;
|
||||
|
||||
|
|
|
|||
|
|
@ -24,7 +24,7 @@ const int TOYOTA_STANDSTILL_THRSLD = 100; // 1kph
|
|||
// gas_norm2 = ((gain_dbc*gas2) + offset2_dbc)
|
||||
// In this safety: ((gas1 + gas2)/2) > THRESHOLD
|
||||
const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 845;
|
||||
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2) // avg between 2 tracks
|
||||
#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
|
||||
|
||||
const CanMsg TOYOTA_TX_MSGS[] = {{0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, // DSU bus 0
|
||||
{0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, // DSU bus 1
|
||||
|
|
@ -55,7 +55,7 @@ static uint8_t toyota_compute_checksum(CANPacket_t *to_push) {
|
|||
}
|
||||
|
||||
static uint8_t toyota_get_checksum(CANPacket_t *to_push) {
|
||||
int checksum_byte = GET_LEN(to_push) - 1;
|
||||
int checksum_byte = GET_LEN(to_push) - 1U;
|
||||
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
|
||||
}
|
||||
|
||||
|
|
@ -64,7 +64,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
|
|||
bool valid = addr_safety_check(to_push, &toyota_rx_checks,
|
||||
toyota_get_checksum, toyota_compute_checksum, NULL);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// get eps motor torque (0.66 factor in dbc)
|
||||
|
|
@ -87,7 +87,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
|
|||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x1D2) {
|
||||
// 5th bit is CRUISE_ACTIVE
|
||||
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
|
||||
int cruise_engaged = GET_BYTE(to_push, 0) & 0x20U;
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
|
@ -98,7 +98,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// sample gas pedal
|
||||
if (!gas_interceptor_detected) {
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1) == 0;
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) >> 4) & 1U) == 0U;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -106,9 +106,9 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
|
|||
if (addr == 0xaa) {
|
||||
int speed = 0;
|
||||
// sum 4 wheel speeds
|
||||
for (int i=0; i<8; i+=2) {
|
||||
int next_byte = i + 1; // hack to deal with misra 10.8
|
||||
speed += (GET_BYTE(to_push, i) << 8) + GET_BYTE(to_push, next_byte) - 0x1a6f;
|
||||
for (uint8_t i=0U; i<8U; i+=2U) {
|
||||
int wheel_speed = (GET_BYTE(to_push, i) << 8U) + GET_BYTE(to_push, (i+1U));
|
||||
speed += wheel_speed - 0x1a6f;
|
||||
}
|
||||
vehicle_moving = ABS(speed / 4) > TOYOTA_STANDSTILL_THRSLD;
|
||||
}
|
||||
|
|
@ -116,7 +116,7 @@ static int toyota_rx_hook(CANPacket_t *to_push) {
|
|||
// most cars have brake_pressed on 0x226, corolla and rav4 on 0x224
|
||||
if ((addr == 0x224) || (addr == 0x226)) {
|
||||
int byte = (addr == 0x224) ? 0 : 4;
|
||||
brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
|
||||
brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1U) != 0U;
|
||||
}
|
||||
|
||||
// sample gas interceptor
|
||||
|
|
@ -176,8 +176,8 @@ static int toyota_tx_hook(CANPacket_t *to_send) {
|
|||
// only sent to prevent dash errors, no actuation is accepted
|
||||
if (addr == 0x191) {
|
||||
// check the STEER_REQUEST, STEER_REQUEST_2, and STEER_ANGLE_CMD signals
|
||||
bool lta_request = (GET_BYTE(to_send, 0) & 1) != 0;
|
||||
bool lta_request2 = ((GET_BYTE(to_send, 3) >> 1) & 1) != 0;
|
||||
bool lta_request = (GET_BYTE(to_send, 0) & 1U) != 0U;
|
||||
bool lta_request2 = ((GET_BYTE(to_send, 3) >> 1) & 1U) != 0U;
|
||||
int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2);
|
||||
lta_angle = to_signed(lta_angle, 16);
|
||||
|
||||
|
|
|
|||
|
|
@ -145,7 +145,7 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
|
|||
bool valid = addr_safety_check(to_push, &volkswagen_mqb_rx_checks,
|
||||
volkswagen_get_checksum, volkswagen_mqb_compute_crc, volkswagen_mqb_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Update in-motion state by sampling front wheel speeds
|
||||
|
|
@ -163,8 +163,8 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
|
|||
// Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque)
|
||||
// Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction)
|
||||
if (addr == MSG_LH_EPS_03) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1F) << 8);
|
||||
int sign = (GET_BYTE(to_push, 6) & 0x80) >> 7;
|
||||
int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1FU) << 8);
|
||||
int sign = (GET_BYTE(to_push, 6) & 0x80U) >> 7;
|
||||
if (sign == 1) {
|
||||
torque_driver_new *= -1;
|
||||
}
|
||||
|
|
@ -174,7 +174,7 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
|
|||
// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
|
||||
// Signal: TSK_06.TSK_Status
|
||||
if (addr == MSG_TSK_06) {
|
||||
int acc_status = (GET_BYTE(to_push, 3) & 0x7);
|
||||
int acc_status = (GET_BYTE(to_push, 3) & 0x7U);
|
||||
int cruise_engaged = ((acc_status == 3) || (acc_status == 4) || (acc_status == 5)) ? 1 : 0;
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
|
|
@ -187,12 +187,12 @@ static int volkswagen_mqb_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// Signal: Motor_20.MO_Fahrpedalrohwert_01
|
||||
if (addr == MSG_MOTOR_20) {
|
||||
gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
|
||||
gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFFU) != 0U;
|
||||
}
|
||||
|
||||
// Signal: ESP_05.ESP_Fahrer_bremst
|
||||
if (addr == MSG_ESP_05) {
|
||||
brake_pressed = (GET_BYTE(to_push, 3) & 0x4) >> 2;
|
||||
brake_pressed = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == MSG_HCA_01));
|
||||
|
|
@ -205,13 +205,13 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
|
|||
bool valid = addr_safety_check(to_push, &volkswagen_pq_rx_checks,
|
||||
volkswagen_get_checksum, volkswagen_pq_compute_checksum, volkswagen_pq_get_counter);
|
||||
|
||||
if (valid && (GET_BUS(to_push) == 0)) {
|
||||
if (valid && (GET_BUS(to_push) == 0U)) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
// Update in-motion state from speed value.
|
||||
// Signal: Bremse_1.Geschwindigkeit_neu__Bremse_1_
|
||||
if (addr == MSG_BREMSE_1) {
|
||||
int speed = ((GET_BYTE(to_push, 2) & 0xFE) >> 1) | (GET_BYTE(to_push, 3) << 7);
|
||||
int speed = ((GET_BYTE(to_push, 2) & 0xFEU) >> 1) | (GET_BYTE(to_push, 3) << 7);
|
||||
// DBC speed scale 0.01: 0.3m/s = 108.
|
||||
vehicle_moving = speed > 108;
|
||||
}
|
||||
|
|
@ -220,8 +220,8 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
|
|||
// Signal: Lenkhilfe_3.LH3_LM (absolute torque)
|
||||
// Signal: Lenkhilfe_3.LH3_LMSign (direction)
|
||||
if (addr == MSG_LENKHILFE_3) {
|
||||
int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3) << 8);
|
||||
int sign = (GET_BYTE(to_push, 3) & 0x4) >> 2;
|
||||
int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3U) << 8);
|
||||
int sign = (GET_BYTE(to_push, 3) & 0x4U) >> 2;
|
||||
if (sign == 1) {
|
||||
torque_driver_new *= -1;
|
||||
}
|
||||
|
|
@ -231,7 +231,7 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
|
|||
// Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
|
||||
// Signal: Motor_2.GRA_Status
|
||||
if (addr == MSG_MOTOR_2) {
|
||||
int acc_status = (GET_BYTE(to_push, 2) & 0xC0) >> 6;
|
||||
int acc_status = (GET_BYTE(to_push, 2) & 0xC0U) >> 6;
|
||||
int cruise_engaged = ((acc_status == 1) || (acc_status == 2)) ? 1 : 0;
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
|
|
@ -249,7 +249,7 @@ static int volkswagen_pq_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
// Signal: Motor_2.Bremslichtschalter
|
||||
if (addr == MSG_MOTOR_2) {
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x1);
|
||||
brake_pressed = (GET_BYTE(to_push, 2) & 0x1U);
|
||||
}
|
||||
|
||||
generic_rx_checks((addr == MSG_HCA_1));
|
||||
|
|
@ -309,8 +309,8 @@ static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
|
|||
// Signal: HCA_01.Assist_Torque (absolute torque)
|
||||
// Signal: HCA_01.Assist_VZ (direction)
|
||||
if (addr == MSG_HCA_01) {
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3F) << 8);
|
||||
int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x3FU) << 8);
|
||||
int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7;
|
||||
if (sign == 1) {
|
||||
desired_torque *= -1;
|
||||
}
|
||||
|
|
@ -324,7 +324,7 @@ static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
|
|||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == MSG_GRA_ACC_01) && !controls_allowed) {
|
||||
// disallow resume and set: bits 16 and 19
|
||||
if ((GET_BYTE(to_send, 2) & 0x9) != 0) {
|
||||
if ((GET_BYTE(to_send, 2) & 0x9U) != 0U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -345,9 +345,9 @@ static int volkswagen_pq_tx_hook(CANPacket_t *to_send) {
|
|||
// Signal: HCA_1.LM_Offset (absolute torque)
|
||||
// Signal: HCA_1.LM_Offsign (direction)
|
||||
if (addr == MSG_HCA_1) {
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7F) << 8);
|
||||
int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7FU) << 8);
|
||||
desired_torque = desired_torque / 32; // DBC scale from PQ network to centi-Nm
|
||||
int sign = (GET_BYTE(to_send, 3) & 0x80) >> 7;
|
||||
int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7;
|
||||
if (sign == 1) {
|
||||
desired_torque *= -1;
|
||||
}
|
||||
|
|
@ -361,7 +361,7 @@ static int volkswagen_pq_tx_hook(CANPacket_t *to_send) {
|
|||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == MSG_GRA_NEU) && !controls_allowed) {
|
||||
// disallow resume and set: bits 16 and 17
|
||||
if ((GET_BYTE(to_send, 2) & 0x3) != 0) {
|
||||
if ((GET_BYTE(to_send, 2) & 0x3U) != 0U) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#define GET_BIT(msg, b) (((msg)->data[(int)((b) / 8)] >> ((b) % 8)) & 0x1)
|
||||
#define GET_BIT(msg, b) (((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U)
|
||||
#define GET_BYTE(msg, b) ((msg)->data[(b)])
|
||||
#define GET_BYTES_04(msg) ((msg)->data[0] | ((msg)->data[1] << 8) | ((msg)->data[2] << 16) | ((msg)->data[3] << 24))
|
||||
#define GET_BYTES_48(msg) ((msg)->data[4] | ((msg)->data[5] << 8) | ((msg)->data[6] << 16) | ((msg)->data[7] << 24))
|
||||
#define GET_BYTES_04(msg) ((msg)->data[0] | ((msg)->data[1] << 8U) | ((msg)->data[2] << 16U) | ((msg)->data[3] << 24U))
|
||||
#define GET_BYTES_48(msg) ((msg)->data[4] | ((msg)->data[5] << 8U) | ((msg)->data[6] << 16U) | ((msg)->data[7] << 24U))
|
||||
#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
|
||||
|
||||
const int MAX_WRONG_COUNTERS = 5;
|
||||
|
|
|
|||
|
|
@ -10,6 +10,9 @@ void clock_init(void) {
|
|||
// enable external oscillator HSE
|
||||
register_set_bits(&(RCC->CR), RCC_CR_HSEON);
|
||||
while ((RCC->CR & RCC_CR_HSERDY) == 0);
|
||||
// enable internal HSI48 for USB FS kernel
|
||||
register_set_bits(&(RCC->CR), RCC_CR_HSI48ON);
|
||||
while ((RCC->CR & RCC_CR_HSI48RDY) == 0);
|
||||
// Specify the frequency source for PLL1, divider for DIVM1, DIVM2, DIVM3 : HSE, 5, 5, 5
|
||||
register_set(&(RCC->PLLCKSELR), RCC_PLLCKSELR_PLLSRC_HSE | RCC_PLLCKSELR_DIVM1_0 | RCC_PLLCKSELR_DIVM1_2 | RCC_PLLCKSELR_DIVM2_0 | RCC_PLLCKSELR_DIVM2_2 | RCC_PLLCKSELR_DIVM3_0 | RCC_PLLCKSELR_DIVM3_2, 0x3F3F3F3U);
|
||||
|
||||
|
|
@ -23,16 +26,6 @@ void clock_init(void) {
|
|||
while((RCC->CR & RCC_CR_PLL1RDY) == 0);
|
||||
// *** PLL1 end ***
|
||||
|
||||
// *** PLL3 start ***
|
||||
// Specify multiplier N and dividers P, Q, R for PLL1 : 48, 2, 5, 2 (PLL3Q 48Mhz for USB FS)
|
||||
register_set(&(RCC->PLL3DIVR), 0x104022FU, 0x7F7FFFFFU);
|
||||
// Specify the input and output frequency ranges, enable dividers for PLL1
|
||||
register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLL3RGE_2 | RCC_PLLCFGR_DIVP3EN | RCC_PLLCFGR_DIVQ3EN | RCC_PLLCFGR_DIVR3EN, 0x1C00C00U);
|
||||
// Enable PLL1
|
||||
register_set_bits(&(RCC->CR), RCC_CR_PLL3ON);
|
||||
while((RCC->CR & RCC_CR_PLL3RDY) == 0);
|
||||
// *** PLL1 end ***
|
||||
|
||||
//////////////OTHER CLOCKS////////////////////
|
||||
// RCC HCLK Clock Source / RCC APB3 Clock Source / RCC SYS Clock Source
|
||||
register_set(&(RCC->D1CFGR), RCC_D1CFGR_HPRE_DIV2 | RCC_D1CFGR_D1PPRE_DIV2 | RCC_D1CFGR_D1CPRE_DIV1, 0xF7FU);
|
||||
|
|
@ -49,8 +42,8 @@ void clock_init(void) {
|
|||
register_set_bits(&(RCC->AHB4ENR), RCC_APB4ENR_SYSCFGEN);
|
||||
//////////////END OTHER CLOCKS////////////////////
|
||||
|
||||
// Configure clock source for USB (PLL3Q at 48Mhz)
|
||||
register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_1, RCC_D2CCIP2R_USBSEL);
|
||||
// Configure clock source for USB (HSI at 48Mhz)
|
||||
register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_1 | RCC_D2CCIP2R_USBSEL_0, RCC_D2CCIP2R_USBSEL);
|
||||
// Configure clock source for FDCAN (PLL1Q at 80Mhz)
|
||||
register_set(&(RCC->D2CCIP1R), RCC_D2CCIP1R_FDCANSEL_0, RCC_D2CCIP1R_FDCANSEL);
|
||||
// Configure clock source for ADC1,2,3 (per_ck(currently HSE))
|
||||
|
|
|
|||
|
|
@ -1,39 +1,39 @@
|
|||
typedef struct {
|
||||
uint8_t ptr;
|
||||
uint8_t tail_size;
|
||||
int ptr;
|
||||
int tail_size;
|
||||
uint8_t data[72];
|
||||
uint8_t counter;
|
||||
} usb_asm_buffer;
|
||||
|
||||
usb_asm_buffer ep1_buffer = {.ptr = 0, .tail_size = 0, .counter = 0};
|
||||
uint32_t total_rx_size = 0;
|
||||
int total_rx_size = 0;
|
||||
|
||||
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
|
||||
UNUSED(hardwired);
|
||||
uint8_t pos = 1;
|
||||
int pos = 1;
|
||||
uint8_t *usbdata8 = (uint8_t *)usbdata;
|
||||
usbdata8[0] = ep1_buffer.counter;
|
||||
// Send tail of previous message if it is in buffer
|
||||
if (ep1_buffer.ptr > 0) {
|
||||
if (ep1_buffer.ptr <= 63U) {
|
||||
if (ep1_buffer.ptr <= 63) {
|
||||
(void)memcpy(&usbdata8[pos], ep1_buffer.data, ep1_buffer.ptr);
|
||||
pos += ep1_buffer.ptr;
|
||||
ep1_buffer.ptr = 0;
|
||||
} else {
|
||||
(void)memcpy(&usbdata8[pos], ep1_buffer.data, 63U);
|
||||
ep1_buffer.ptr = ep1_buffer.ptr - 63U;
|
||||
(void)memcpy(ep1_buffer.data, &ep1_buffer.data[63U], ep1_buffer.ptr);
|
||||
pos += 63U;
|
||||
(void)memcpy(&usbdata8[pos], ep1_buffer.data, 63);
|
||||
ep1_buffer.ptr = ep1_buffer.ptr - 63;
|
||||
(void)memcpy(ep1_buffer.data, &ep1_buffer.data[63], ep1_buffer.ptr);
|
||||
pos += 63;
|
||||
}
|
||||
}
|
||||
|
||||
if (total_rx_size > MAX_EP1_CHUNK_PER_BULK_TRANSFER) {
|
||||
total_rx_size = 0;
|
||||
ep1_buffer.counter = 0;
|
||||
ep1_buffer.counter = 0U;
|
||||
} else {
|
||||
CANPacket_t can_packet;
|
||||
while ((pos < len) && can_pop(&can_rx_q, &can_packet)) {
|
||||
uint8_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[can_packet.data_len_code];
|
||||
int pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[can_packet.data_len_code];
|
||||
if ((pos + pckt_len) <= len) {
|
||||
(void)memcpy(&usbdata8[pos], &can_packet, pckt_len);
|
||||
pos += pckt_len;
|
||||
|
|
@ -50,7 +50,7 @@ int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
|
|||
total_rx_size += pos;
|
||||
}
|
||||
if (pos != len) {
|
||||
ep1_buffer.counter = 0;
|
||||
ep1_buffer.counter = 0U;
|
||||
total_rx_size = 0;
|
||||
}
|
||||
if (pos <= 1) { pos = 0; }
|
||||
|
|
@ -64,17 +64,17 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
|
|||
UNUSED(hardwired);
|
||||
uint8_t *usbdata8 = (uint8_t *)usbdata;
|
||||
// Got first packet from a stream, resetting buffer and counter
|
||||
if (usbdata8[0] == 0) {
|
||||
ep3_buffer.counter = 0;
|
||||
if (usbdata8[0] == 0U) {
|
||||
ep3_buffer.counter = 0U;
|
||||
ep3_buffer.ptr = 0;
|
||||
ep3_buffer.tail_size = 0;
|
||||
}
|
||||
// Assembling can message with data from buffer
|
||||
if (usbdata8[0] == ep3_buffer.counter) {
|
||||
uint8_t pos = 1;
|
||||
int pos = 1;
|
||||
ep3_buffer.counter++;
|
||||
if (ep3_buffer.ptr != 0) {
|
||||
if (ep3_buffer.tail_size <= 63U) {
|
||||
if (ep3_buffer.tail_size <= 63) {
|
||||
CANPacket_t to_push;
|
||||
(void)memcpy(&ep3_buffer.data[ep3_buffer.ptr], &usbdata8[pos], ep3_buffer.tail_size);
|
||||
(void)memcpy(&to_push, ep3_buffer.data, ep3_buffer.ptr + ep3_buffer.tail_size);
|
||||
|
|
@ -84,15 +84,15 @@ void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
|
|||
ep3_buffer.tail_size = 0;
|
||||
} else {
|
||||
(void)memcpy(&ep3_buffer.data[ep3_buffer.ptr], &usbdata8[pos], len - pos);
|
||||
ep3_buffer.tail_size -= 63U;
|
||||
ep3_buffer.ptr += 63U;
|
||||
pos += 63U;
|
||||
ep3_buffer.tail_size -= 63;
|
||||
ep3_buffer.ptr += 63;
|
||||
pos += 63;
|
||||
}
|
||||
}
|
||||
|
||||
while (pos < len) {
|
||||
uint8_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[(usbdata8[pos] >> 4U)];
|
||||
if ((pos + pckt_len) <= (uint8_t)len) {
|
||||
int pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[(usbdata8[pos] >> 4U)];
|
||||
if ((pos + pckt_len) <= len) {
|
||||
CANPacket_t to_push;
|
||||
(void)memcpy(&to_push, &usbdata8[pos], pckt_len);
|
||||
can_send(&to_push, to_push.bus, false);
|
||||
|
|
|
|||
|
|
@ -193,7 +193,7 @@ class Panda(object):
|
|||
SAFETY_ALLOUTPUT = 17
|
||||
SAFETY_GM_ASCM = 18
|
||||
SAFETY_NOOUTPUT = 19
|
||||
SAFETY_HONDA_BOSCH_HARNESS = 20
|
||||
SAFETY_HONDA_BOSCH = 20
|
||||
SAFETY_VOLKSWAGEN_PQ = 21
|
||||
SAFETY_SUBARU_LEGACY = 22
|
||||
SAFETY_HYUNDAI_LEGACY = 23
|
||||
|
|
|
|||
|
|
@ -36,7 +36,6 @@ common/filter_simple.py
|
|||
common/stat_live.py
|
||||
common/spinner.py
|
||||
common/text_window.py
|
||||
common/cython_hacks.py
|
||||
common/SConscript
|
||||
|
||||
common/kalman/.gitignore
|
||||
|
|
@ -306,6 +305,8 @@ selfdrive/loggerd/omx_encoder.h
|
|||
selfdrive/loggerd/logger.cc
|
||||
selfdrive/loggerd/logger.h
|
||||
selfdrive/loggerd/loggerd.cc
|
||||
selfdrive/loggerd/loggerd.h
|
||||
selfdrive/loggerd/main.cc
|
||||
selfdrive/loggerd/bootlog.cc
|
||||
selfdrive/loggerd/raw_logger.cc
|
||||
selfdrive/loggerd/raw_logger.h
|
||||
|
|
@ -366,8 +367,6 @@ selfdrive/camerad/snapshot/*
|
|||
selfdrive/camerad/include/*
|
||||
selfdrive/camerad/cameras/camera_common.h
|
||||
selfdrive/camerad/cameras/camera_common.cc
|
||||
selfdrive/camerad/cameras/camera_frame_stream.cc
|
||||
selfdrive/camerad/cameras/camera_frame_stream.h
|
||||
selfdrive/camerad/cameras/camera_qcom.cc
|
||||
selfdrive/camerad/cameras/camera_qcom.h
|
||||
selfdrive/camerad/cameras/camera_replay.cc
|
||||
|
|
@ -444,9 +443,6 @@ selfdrive/assets/training/*
|
|||
|
||||
third_party/SConscript
|
||||
|
||||
third_party/nanovg/*.c
|
||||
third_party/nanovg/*.h
|
||||
|
||||
third_party/libgralloc/**
|
||||
third_party/linux/**
|
||||
third_party/opencl/**
|
||||
|
|
|
|||
|
|
@ -4,7 +4,6 @@ selfdrive/timezoned.py
|
|||
|
||||
selfdrive/assets/navigation/*
|
||||
selfdrive/assets/training_wide/*
|
||||
selfdrive/assets/sounds_tici/*
|
||||
|
||||
selfdrive/camerad/cameras/camera_qcom2.cc
|
||||
selfdrive/camerad/cameras/camera_qcom2.h
|
||||
|
|
|
|||
|
|
@ -0,0 +1,16 @@
|
|||
#!/bin/bash
|
||||
|
||||
set -e
|
||||
|
||||
RED="\033[0;31m"
|
||||
GREEN="\033[0;32m"
|
||||
CLEAR="\033[0m"
|
||||
|
||||
BRANCHES="devel dashcam dashcam3 release2 release3"
|
||||
for b in $BRANCHES; do
|
||||
if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
|
||||
printf "%-10s $GREEN ok $CLEAR\n" "$b"
|
||||
else
|
||||
printf "%-10s $RED mismatch $CLEAR\n" "$b"
|
||||
fi
|
||||
done
|
||||
|
|
@ -11,7 +11,7 @@
|
|||
<p>FCC ID: 2AOHHTURBOXSOMD845</p>
|
||||
|
||||
<h5>Quectel/EG25-G</h5>
|
||||
<p>FCC ID: XMR201903EG25GM</p>
|
||||
<p>FCC ID: XMR201903EG25G</p>
|
||||
<p>
|
||||
This device complies with Part 15 of the FCC Rules.
|
||||
Operation is subject to the following two conditions:
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
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Binary file not shown.
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Binary file not shown.
Binary file not shown.
|
|
@ -30,7 +30,7 @@ from selfdrive.hardware import HARDWARE, PC
|
|||
from selfdrive.loggerd.config import ROOT
|
||||
from selfdrive.loggerd.xattr_cache import getxattr, setxattr
|
||||
from selfdrive.swaglog import cloudlog, SWAGLOG_DIR
|
||||
from selfdrive.version import version, get_version, get_git_remote, get_git_branch, get_git_commit
|
||||
from selfdrive.version import get_version, get_origin, get_short_branch, get_commit
|
||||
|
||||
ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
|
||||
HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
|
||||
|
|
@ -176,17 +176,19 @@ def getMessage(service=None, timeout=1000):
|
|||
def getVersion():
|
||||
return {
|
||||
"version": get_version(),
|
||||
"remote": get_git_remote(),
|
||||
"branch": get_git_branch(),
|
||||
"commit": get_git_commit(),
|
||||
"remote": get_origin(),
|
||||
"branch": get_short_branch(),
|
||||
"commit": get_commit(),
|
||||
}
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
def setNavDestination(latitude=0, longitude=0):
|
||||
def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=None):
|
||||
destination = {
|
||||
"latitude": latitude,
|
||||
"longitude": longitude,
|
||||
"place_name": place_name,
|
||||
"place_details": place_details,
|
||||
}
|
||||
Params().put("NavDestination", json.dumps(destination))
|
||||
|
||||
|
|
@ -551,7 +553,7 @@ def main():
|
|||
except socket.timeout:
|
||||
try:
|
||||
r = requests.get("http://api.commadotai.com/v1/me", allow_redirects=False,
|
||||
headers={"User-Agent": f"openpilot-{version}"}, timeout=15.0)
|
||||
headers={"User-Agent": f"openpilot-{get_version()}"}, timeout=15.0)
|
||||
if r.status_code == 302 and r.headers['Location'].startswith("http://u.web2go.com"):
|
||||
params.put_bool("PrimeRedirected", True)
|
||||
except Exception:
|
||||
|
|
|
|||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue