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openpilot v0.8.11 release

pull/23068/head
Vehicle Researcher 2021-11-19 15:24:51 -08:00
parent 93e8dbb8b5
commit bf338bf5e9
328 changed files with 9243 additions and 3954 deletions
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5
.gitignore vendored
View File

@ -42,7 +42,6 @@ selfdrive/logcatd/logcatd
selfdrive/mapd/default_speeds_by_region.json
selfdrive/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/ui/_soundd
selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/loggerd/loggerd
@ -78,3 +77,7 @@ selfdrive/modeld/thneed/compile
models/*.thneed
*.bz2
build/
!**/.gitkeep

26
Jenkinsfile vendored
View File

@ -37,7 +37,7 @@ EOF"""
def phone_steps(String device_type, steps) {
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 150, unit: 'MINUTES') {
timeout(time: 60, unit: 'MINUTES') {
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
steps.each { item ->
phone(device_ip, item[0], item[1])
@ -53,7 +53,7 @@ pipeline {
SOURCE_DIR = "/data/openpilot_source/"
}
options {
timeout(time: 3, unit: 'HOURS')
timeout(time: 4, unit: 'HOURS')
}
stages {
@ -145,10 +145,10 @@ pipeline {
stages {
stage('parallel tests') {
parallel {
stage('Devel Tests') {
stage('C2: build') {
steps {
phone_steps("eon-build", [
["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test manager", "python selfdrive/manager/test/test_manager.py"],
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@ -157,7 +157,7 @@ pipeline {
}
}
stage('Replay Tests') {
stage('C2: replay') {
steps {
phone_steps("eon2", [
["build", "cd selfdrive/manager && ./build.py"],
@ -166,7 +166,7 @@ pipeline {
}
}
stage('HW + Unit Tests') {
stage('C2: HW + Unit Tests') {
steps {
phone_steps("eon", [
["build", "cd selfdrive/manager && ./build.py"],
@ -201,29 +201,33 @@ pipeline {
}
*/
stage('tici Build') {
stage('C3: build') {
environment {
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
}
steps {
phone_steps("tici", [
["build", "cd selfdrive/manager && ./build.py"],
["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test manager", "python selfdrive/manager/test/test_manager.py"],
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
])
}
}
stage('Unit Tests (tici)') {
stage('C3: HW + Unit Tests') {
steps {
phone_steps("tici2", [
["build", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
])
}
}
stage('EON camerad') {
stage('C2: camerad') {
steps {
phone_steps("eon-party", [
["build", "cd selfdrive/manager && ./build.py"],
@ -233,7 +237,7 @@ pipeline {
}
}
stage('tici camerad') {
stage('C3: camerad') {
steps {
phone_steps("tici-party", [
["build", "cd selfdrive/manager && ./build.py"],

4
README.md
View File

@ -17,7 +17,7 @@ Table of Contents
What is openpilot?
------
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration and limitations here](docs/INTEGRATION.md).
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
<table>
<tr>
@ -61,6 +61,8 @@ Community and Contributing
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged. Check out [the contributing docs](docs/CONTRIBUTING.md).
Documentation related to openpilot development can be found on [docs.comma.ai](https://docs.comma.ai). Information about running openpilot (e.g. FAQ, fingerprinting, troubleshooting, custom forks, community hardware) should go on the [wiki](https://github.com/commaai/openpilot/wiki).
You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).

14
RELEASES.md
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@ -1,3 +1,17 @@
Version 0.8.11 (2021-11-29)
========================
* Support for CAN FD on the red panda
* Support for an external panda on the comma three
* Navigation: Show more detailed instructions when approaching maneuver
* Fixed occasional steering faults on GM cars thanks to jyoung8607!
* Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io!
* Cadillac Escalade ESV 2016 support thanks to Gibby!
* Genesis G70 2020 support thanks to tecandrew!
* Hyundai Santa Fe Hybrid 2022 support thanks to sunnyhaibin!
* Mazda CX-9 2021 support thanks to Jacar!
* Volkswagen Polo 2020 support thanks to jyoung8607!
* Volkswagen T-Roc 2021 support thanks to jyoung8607!
Version 0.8.10 (2021-11-01)
========================
* New driving model

12
SConstruct
View File

@ -13,9 +13,9 @@ AddOption('--test',
action='store_true',
help='build test files')
AddOption('--setup',
AddOption('--extras',
action='store_true',
help='build setup and installer files')
help='build misc extras, like setup and installer files')
AddOption('--kaitai',
action='store_true',
@ -68,6 +68,7 @@ lenv = {
"PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
"ACADOS_SOURCE_DIR": Dir("#third_party/acados/acados").abspath,
"ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
"TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
}
@ -181,12 +182,14 @@ env = Environment(
"-O2",
"-Wunused",
"-Werror",
"-Wshadow",
"-Wno-unknown-warning-option",
"-Wno-deprecated-register",
"-Wno-register",
"-Wno-inconsistent-missing-override",
"-Wno-c99-designator",
"-Wno-reorder-init-list",
"-Wno-error=unused-but-set-variable",
] + cflags + ccflags,
CPPPATH=cpppath + [
@ -267,7 +270,7 @@ def abspath(x):
py_include = sysconfig.get_paths()['include']
envCython = env.Clone()
envCython["CPPPATH"] += [py_include, np.get_include()]
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
envCython["LIBS"] = []
if arch == "Darwin":
@ -429,6 +432,9 @@ SConscript(['selfdrive/ui/SConscript'])
if arch != "Darwin":
SConscript(['selfdrive/logcatd/SConscript'])
if GetOption('test'):
SConscript('panda/tests/safety/SConscript')
external_sconscript = GetOption('external_sconscript')
if external_sconscript:
SConscript([external_sconscript])

12
cereal/car.capnp
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@ -104,6 +104,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
wideRoadCameraError @102;
localizerMalfunction @103;
highCpuUsage @105;
cruiseMismatch @106;
driverMonitorLowAccDEPRECATED @68;
radarCanErrorDEPRECATED @15;
@ -150,6 +151,7 @@ struct CarState {
# brake pedal, 0.0-1.0
brake @5 :Float32; # this is user pedal only
brakePressed @6 :Bool; # this is user pedal only
brakeHoldActive @38 :Bool;
# steering wheel
steeringAngleDeg @7 :Float32;
@ -289,6 +291,8 @@ struct CarControl {
active @7 :Bool;
actuators @6 :Actuators;
roll @8 :Float32;
pitch @9 :Float32;
cruiseControl @4 :CruiseControl;
hudControl @5 :HUDControl;
@ -350,11 +354,11 @@ struct CarControl {
chimeEngage @1;
chimeDisengage @2;
chimeError @3;
chimeWarning1 @4;
chimeWarning2 @5;
chimeWarningRepeat @6;
chimeWarning1 @4; # unused
chimeWarningRepeat @5;
chimeWarningRepeatInfinite @6;
chimePrompt @7;
chimeWarning2Repeat @8;
chimeWarning2RepeatInfinite @8;
}
}

51
cereal/log.capnp
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@ -307,6 +307,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
chargingDisabled @18 :Bool;
offroadPowerUsageUwh @23 :UInt32;
carBatteryCapacityUwh @25 :UInt32;
powerDrawW @40 :Float32;
# device thermals
cpuTempC @26 :List(Float32);
@ -315,11 +316,18 @@ struct DeviceState @0xa4d8b5af2aa492eb {
ambientTempC @30 :Float32;
nvmeTempC @35 :List(Float32);
modemTempC @36 :List(Float32);
pmicTempC @39 :List(Float32);
thermalZones @38 :List(ThermalZone);
thermalStatus @14 :ThermalStatus;
fanSpeedPercentDesired @10 :UInt16;
screenBrightnessPercent @37 :Int8;
struct ThermalZone {
name @0 :Text;
temp @1 :Float32;
}
enum ThermalStatus {
green @0;
yellow @1;
@ -685,6 +693,7 @@ struct ModelDataV2 {
orientation @5 :XYZTData;
velocity @6 :XYZTData;
orientationRate @7 :XYZTData;
acceleration @19 :XYZTData;
# prediction lanelines and road edges
laneLines @8 :List(XYZTData);
@ -1285,6 +1294,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
struct Boot {
wallTimeNanos @0 :UInt64;
pstore @4 :Map(Text, Data);
commands @5 :Map(Text, Data);
launchLog @3 :Text;
lastKmsgDEPRECATED @1 :Data;
@ -1372,6 +1382,44 @@ struct UploaderState {
lastFilename @6 :Text;
}
struct NavInstruction {
maneuverPrimaryText @0 :Text;
maneuverSecondaryText @1 :Text;
maneuverDistance @2 :Float32; # m
maneuverType @3 :Text; # TODO: Make Enum
maneuverModifier @4 :Text; # TODO: Make Enum
distanceRemaining @5 :Float32; # m
timeRemaining @6 :Float32; # s
timeRemainingTypical @7 :Float32; # s
lanes @8 :List(Lane);
showFull @9 :Bool;
struct Lane {
directions @0 :List(Direction);
active @1 :Bool;
activeDirection @2 :Direction;
}
enum Direction {
none @0;
left @1;
right @2;
straight @3;
}
}
struct NavRoute {
coordinates @0 :List(Coordinate);
struct Coordinate {
latitude @0 :Float32;
longitude @1 :Float32;
}
}
struct Event {
logMonoTime @0 :UInt64; # nanoseconds
valid @67 :Bool = true;
@ -1429,6 +1477,9 @@ struct Event {
deviceState @6 :DeviceState;
logMessage @18 :Text;
# navigation
navInstruction @82 :NavInstruction;
navRoute @83 :NavRoute;
# *********** debug ***********
testJoystick @52 :Joystick;

2
cereal/services.py
View File

@ -62,6 +62,8 @@ services = {
"modelV2": (True, 20., 40),
"managerState": (True, 2., 1),
"uploaderState": (True, 0., 1),
"navInstruction": (True, 0.),
"navRoute": (True, 0.),
# debug
"testJoystick": (False, 0.),

27
cereal/visionipc/visionbuf.cc
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@ -22,19 +22,28 @@ void visionbuf_compute_aligned_width_and_height(int width, int height, int *alig
#endif
}
void VisionBuf::init_rgb(size_t width, size_t height, size_t stride) {
void VisionBuf::init_rgb(size_t init_width, size_t init_height, size_t init_stride) {
this->rgb = true;
this->width = width;
this->height = height;
this->stride = stride;
this->width = init_width;
this->height = init_height;
this->stride = init_stride;
}
void VisionBuf::init_yuv(size_t width, size_t height){
void VisionBuf::init_yuv(size_t init_width, size_t init_height){
this->rgb = false;
this->width = width;
this->height = height;
this->width = init_width;
this->height = init_height;
this->y = (uint8_t *)this->addr;
this->u = this->y + (width * height);
this->v = this->u + (width / 2 * height / 2);
this->u = this->y + (this->width * this->height);
this->v = this->u + (this->width / 2 * this->height / 2);
}
uint64_t VisionBuf::get_frame_id() {
return *frame_id;
}
void VisionBuf::set_frame_id(uint64_t id) {
*frame_id = id;
}

5
cereal/visionipc/visionbuf.h
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@ -18,6 +18,7 @@ enum VisionStreamType {
VISION_STREAM_YUV_BACK,
VISION_STREAM_YUV_FRONT,
VISION_STREAM_YUV_WIDE,
VISION_STREAM_RGB_MAP,
VISION_STREAM_MAX,
};
@ -26,6 +27,7 @@ class VisionBuf {
size_t len = 0;
size_t mmap_len = 0;
void * addr = nullptr;
uint64_t *frame_id;
int fd = 0;
bool rgb = false;
@ -57,6 +59,9 @@ class VisionBuf {
void init_yuv(size_t width, size_t height);
int sync(int dir);
int free();
void set_frame_id(uint64_t id);
uint64_t get_frame_id();
};
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);

15
cereal/visionipc/visionbuf_cl.cc
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@ -32,14 +32,11 @@ static void *malloc_with_fd(size_t len, int *fd) {
return addr;
}
void VisionBuf::allocate(size_t len) {
int fd;
void *addr = malloc_with_fd(len, &fd);
this->len = len;
this->mmap_len = len;
this->addr = addr;
this->fd = fd;
void VisionBuf::allocate(size_t length) {
this->len = length;
this->mmap_len = this->len;
this->addr = malloc_with_fd(this->len, &this->fd);
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
}
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
@ -57,6 +54,8 @@ void VisionBuf::import(){
assert(this->fd >= 0);
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
assert(this->addr != MAP_FAILED);
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len);
}

21
cereal/visionipc/visionbuf_ion.cc
View File

@ -47,13 +47,13 @@ static void ion_init() {
}
}
void VisionBuf::allocate(size_t len) {
void VisionBuf::allocate(size_t length) {
int err;
ion_init();
struct ion_allocation_data ion_alloc = {0};
ion_alloc.len = len + PADDING_CL;
ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
ion_alloc.align = 4096;
ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
ion_alloc.flags = ION_FLAG_CACHED;
@ -66,18 +66,19 @@ void VisionBuf::allocate(size_t len) {
err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
assert(err == 0);
void *addr = mmap(NULL, ion_alloc.len,
PROT_READ | PROT_WRITE,
MAP_SHARED, ion_fd_data.fd, 0);
assert(addr != MAP_FAILED);
void *mmap_addr = mmap(NULL, ion_alloc.len,
PROT_READ | PROT_WRITE,
MAP_SHARED, ion_fd_data.fd, 0);
assert(mmap_addr != MAP_FAILED);
memset(addr, 0, ion_alloc.len);
memset(mmap_addr, 0, ion_alloc.len);
this->len = len;
this->len = length;
this->mmap_len = ion_alloc.len;
this->addr = addr;
this->addr = mmap_addr;
this->handle = ion_alloc.handle;
this->fd = ion_fd_data.fd;
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
}
void VisionBuf::import(){
@ -95,6 +96,8 @@ void VisionBuf::import(){
this->handle = fd_data.handle;
this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
assert(this->addr != MAP_FAILED);
this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
}
void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {

1
cereal/visionipc/visionipc_server.cc
View File

@ -45,7 +45,6 @@ void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers,
size = width * height * 3 / 2;
}
// Create map + alloc requested buffers
for (size_t i = 0; i < num_buffers; i++){
VisionBuf* buf = new VisionBuf();

2
cereal/visionipc/visionipc_tests.cc
View File

@ -68,6 +68,7 @@ TEST_CASE("Send single buffer"){
VisionIpcBufExtra extra = {0};
extra.frame_id = 1337;
buf->set_frame_id(extra.frame_id);
server.send(buf, &extra);
@ -76,6 +77,7 @@ TEST_CASE("Send single buffer"){
REQUIRE(recv_buf != nullptr);
REQUIRE(*(uint64_t*)recv_buf->addr == 1234);
REQUIRE(extra_recv.frame_id == extra.frame_id);
REQUIRE(recv_buf->get_frame_id() == extra.frame_id);
}

48
common/markdown.py 100755
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@ -0,0 +1,48 @@
from typing import List
HTML_REPLACEMENTS = [
(r'&', r'&amp;'),
(r'"', r'&quot;'),
]
def parse_markdown(text: str, tab_length: int = 2) -> str:
lines = text.split("\n")
output: List[str] = []
list_level = 0
def end_outstanding_lists(level: int, end_level: int) -> int:
while level > end_level:
level -= 1
output.append("</ul>")
if level > 0:
output.append("</li>")
return end_level
for i, line in enumerate(lines):
if i + 1 < len(lines) and lines[i + 1].startswith("==="): # heading
output.append(f"<h1>{line}</h1>")
elif line.startswith("==="):
pass
elif line.lstrip().startswith("* "): # list
line_level = 1 + line.count(" " * tab_length, 0, line.index("*"))
if list_level >= line_level:
list_level = end_outstanding_lists(list_level, line_level)
else:
list_level += 1
if list_level > 1:
output[-1] = output[-1].replace("</li>", "")
output.append("<ul>")
output.append(f"<li>{line.replace('*', '', 1).lstrip()}</li>")
else:
list_level = end_outstanding_lists(list_level, 0)
if len(line) > 0:
output.append(line)
end_outstanding_lists(list_level, 0)
output_str = "\n".join(output) + "\n"
for (fr, to) in HTML_REPLACEMENTS:
output_str = output_str.replace(fr, to)
return output_str

28
common/params_pxd.pxd
View File

@ -1,28 +0,0 @@
from libcpp.string cimport string
from libcpp cimport bool
cdef extern from "selfdrive/common/params.cc":
pass
cdef extern from "selfdrive/common/util.cc":
pass
cdef extern from "selfdrive/common/params.h":
cpdef enum ParamKeyType:
PERSISTENT
CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT
CLEAR_ON_IGNITION_ON
CLEAR_ON_IGNITION_OFF
ALL
cdef cppclass Params:
Params() nogil
Params(string) nogil
string get(string, bool) nogil
bool getBool(string) nogil
int remove(string) nogil
int put(string, string) nogil
int putBool(string, bool) nogil
bool checkKey(string) nogil
void clearAll(ParamKeyType)

64
common/params_pyx.pyx
View File

@ -2,27 +2,30 @@
# cython: language_level = 3
from libcpp cimport bool
from libcpp.string cimport string
from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
import os
import threading
from common.basedir import BASEDIR
cdef extern from "selfdrive/common/params.h":
cpdef enum ParamKeyType:
PERSISTENT
CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT
CLEAR_ON_IGNITION_ON
CLEAR_ON_IGNITION_OFF
ALL
cdef cppclass c_Params "Params":
c_Params(string) nogil
string get(string, bool) nogil
bool getBool(string) nogil
int remove(string) nogil
int put(string, string) nogil
int putBool(string, bool) nogil
bool checkKey(string) nogil
void clearAll(ParamKeyType)
cdef class ParamKeyType:
PERSISTENT = c_ParamKeyType.PERSISTENT
CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
CLEAR_ON_IGNITION_ON = c_ParamKeyType.CLEAR_ON_IGNITION_ON
CLEAR_ON_IGNITION_OFF = c_ParamKeyType.CLEAR_ON_IGNITION_OFF
ALL = c_ParamKeyType.ALL
def ensure_bytes(v):
if isinstance(v, str):
return v.encode()
else:
return v
return v.encode() if isinstance(v, str) else v;
class UnknownKeyName(Exception):
pass
@ -30,36 +33,25 @@ class UnknownKeyName(Exception):
cdef class Params:
cdef c_Params* p
def __cinit__(self, d=None):
cdef string path
if d is None:
with nogil:
self.p = new c_Params()
else:
path = <string>d.encode()
with nogil:
self.p = new c_Params(path)
def __cinit__(self, d=""):
cdef string path = <string>d.encode()
with nogil:
self.p = new c_Params(path)
def __dealloc__(self):
del self.p
def clear_all(self, tx_type=None):
if tx_type is None:
tx_type = ParamKeyType.ALL
def clear_all(self, tx_type=ParamKeyType.ALL):
self.p.clearAll(tx_type)
def check_key(self, key):
key = ensure_bytes(key)
if not self.p.checkKey(key):
raise UnknownKeyName(key)
return key
def get(self, key, bool block=False, encoding=None):
cdef string k = self.check_key(key)
cdef string val
with nogil:
val = self.p.get(k, block)
@ -72,10 +64,7 @@ cdef class Params:
else:
return None
if encoding is not None:
return val.decode(encoding)
else:
return val
return val if encoding is None else val.decode(encoding)
def get_bool(self, key):
cdef string k = self.check_key(key)
@ -106,8 +95,7 @@ cdef class Params:
with nogil:
self.p.remove(k)
def put_nonblocking(key, val, d=None):
def put_nonblocking(key, val, d=""):
def f(key, val):
params = Params(d)
cdef string k = ensure_bytes(key)

3
common/transformations/model.py
View File

@ -81,6 +81,9 @@ model_frame_from_road_frame = np.dot(model_intrinsics,
bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
get_view_frame_from_road_frame(0, 0, 0, model_height))
bigmodel_frame_from_calib_frame = np.dot(bigmodel_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))

28
docs/CARS.md
View File

@ -1,5 +1,6 @@
Supported Cars
------
# Supported Cars
## comma.ai supported cars
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
@ -23,11 +24,11 @@ Supported Cars
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Passport 2019-21 | All | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Pilot 2016-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2020-22 | All | Stock | 0mph | 0mph |
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
@ -45,7 +46,7 @@ Supported Cars
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
| Toyota | Camry 2021 | All | openpilot | 0mph<sup>4</sup> | 0mph |
| 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 |
@ -55,14 +56,14 @@ Supported Cars
| Toyota | Corolla Hatchback 2019-22 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander 2020-22 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
| Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
@ -74,8 +75,7 @@ Supported Cars
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
Community Maintained Cars and Features
------
## Community Maintained Cars and Features
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
@ -85,6 +85,7 @@ Community Maintained Cars and Features
| 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 |
| Cadillac | Escalade ESV 2016<sup>1</sup> | ACC + LKAS | openpilot | 0mph | 7mph |
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
@ -92,6 +93,7 @@ Community Maintained Cars and Features
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
| Genesis | G70 2020 | All | Stock | 0mph | 0mph |
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
@ -110,6 +112,7 @@ Community Maintained Cars and Features
| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe 2021-22 | All | Stock | 0mph | 0mph |
| Hyundai | Santa Fe Hybrid 2022 | All | Stock | 0mph | 0mph |
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Hyundai | Sonata Hybrid 2021-22 | All | Stock | 0mph | 0mph |
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
@ -127,6 +130,7 @@ Community Maintained Cars and Features
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
| Mazda | CX-9 2021 | All | Stock | 0mph | 28mph |
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-22 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
@ -158,7 +162,9 @@ Community Maintained Cars and Features
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Passat 2016-18<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Polo 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| T-Cross 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| T-Roc 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Taos 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
@ -169,7 +175,7 @@ Community Maintained Cars and Features
<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0

64
docs/INTEGRATION.md
View File

@ -1,5 +1,4 @@
Integration with Stock Features
------
# Integration with Stock Features
In all supported cars:
* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
@ -10,64 +9,3 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
* openpilot FCW operates in addition to stock FCW.
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
Limitations of openpilot ALC and LDW
------
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
* The device is mounted incorrectly.
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
* In the presence of restricted lanes or construction zones.
* When driving on highly banked roads or in presence of strong cross-wind.
* Extremely hot or cold temperatures.
* Bright light (due to oncoming headlights, direct sunlight, etc.).
* Driving on hills, narrow, or winding roads.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
Limitations of openpilot ACC and FCW
------
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
* The device is mounted incorrectly.
* Approaching a toll booth, a bridge or a large metal plate.
* When driving on roads with pedestrians, cyclists, etc...
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
* In presence of vehicles in the same lane that are not moving.
* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
* When surrounding vehicles perform close cut-ins from neighbor lanes.
* Driving on hills, narrow, or winding roads.
* Extremely hot or cold temperatures.
* Bright light (due to oncoming headlights, direct sunlight, etc.).
* Interference from other equipment that generates radar waves.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
Limitations of openpilot DM
------
openpilot DM should not be considered an exact measurement of the alertness of the driver.
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
* Low light conditions, such as driving at night or in dark tunnels.
* Bright light (due to oncoming headlights, direct sunlight, etc.).
* The driver's face is partially or completely outside field of view of the driver facing camera.
* The driver facing camera is obstructed, covered, or damaged.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

58
docs/LIMITATIONS.md 100644
View File

@ -0,0 +1,58 @@
# Limitations
## Limitations of openpilot ALC and LDW
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
* The device is mounted incorrectly.
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
* In the presence of restricted lanes or construction zones.
* When driving on highly banked roads or in presence of strong cross-wind.
* Extremely hot or cold temperatures.
* Bright light (due to oncoming headlights, direct sunlight, etc.).
* Driving on hills, narrow, or winding roads.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
## Limitations of openpilot ACC and FCW
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
* The device is mounted incorrectly.
* Approaching a toll booth, a bridge or a large metal plate.
* When driving on roads with pedestrians, cyclists, etc...
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
* In presence of vehicles in the same lane that are not moving.
* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
* When surrounding vehicles perform close cut-ins from neighbor lanes.
* Driving on hills, narrow, or winding roads.
* Extremely hot or cold temperatures.
* Bright light (due to oncoming headlights, direct sunlight, etc.).
* Interference from other equipment that generates radar waves.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
## Limitations of openpilot DM
openpilot DM should not be considered an exact measurement of the alertness of the driver.
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
* Low light conditions, such as driving at night or in dark tunnels.
* Bright light (due to oncoming headlights, direct sunlight, etc.).
* The driver's face is partially or completely outside field of view of the driver facing camera.
* The driver facing camera is obstructed, covered, or damaged.
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.

34
docs/SAFETY.md
View File

@ -1,34 +0,0 @@
openpilot Safety
======
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
driver to be alert and to pay attention at all times.
In order to enforce driver alertness, openpilot includes a driver monitoring feature
that alerts the driver when distracted.
However, even with an attentive driver, we must make further efforts for the system to be
safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
used safely** and openpilot is provided with no warranty of fitness for any purpose.
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/))
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
hardware-in-the-loop and in-vehicle tests before each software release.
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
ensuring two main safety requirements.
1. The driver must always be capable to immediately retake manual control of the vehicle,
by stepping on either pedal or by pressing the cancel button.
2. The vehicle must not alter its trajectory too quickly for the driver to safely
react. This means that while the system is engaged, the actuators are constrained
to operate within reasonable limits.
For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
not fully meeting the above requirements.

4
opendbc/can/common.cc
View File

@ -144,6 +144,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
break;
case 0x12E: // ACC_07 Automatic Cruise Control
crc ^= (uint8_t[]){0xF8,0xE5,0x97,0xC9,0xD6,0x07,0x47,0x21,0x66,0xDD,0xCF,0x6F,0xA1,0x94,0x74,0x63}[counter];
break;
case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
break;
@ -172,7 +175,6 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR
}
unsigned int pedal_checksum(uint64_t d, int l) {
uint8_t crc = 0xFF;
uint8_t poly = 0xD5; // standard crc8

17
opendbc/lexus_ct200h_2018_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/lexus_is_2018_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/lexus_nx300_2018_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/lexus_nx300h_2018_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/lexus_rx_350_2016_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

2
opendbc/nissan_leaf_2018.dbc
View File

@ -83,7 +83,7 @@ BO_ 569 CRUISE_THROTTLE: 8 XXX
SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX
SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
SG_ unsure4 : 39|6@0+ (1,0) [0|63] "" XXX
SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX
SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX
SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX

179
opendbc/tesla_powertrain.dbc 100644
View File

@ -0,0 +1,179 @@
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_:
NEO
MCU
GTW
EPAS
DI
ESP
SBW
STW
APP
DAS
XXX
BO_ 262 DI_torque1: 8 DI
SG_ DI_torqueDriver : 0|13@1- (0.25,0) [-750|750] "Nm" NEO
SG_ DI_torque1Counter : 13|3@1+ (1,0) [0|0] "" NEO
SG_ DI_torqueMotor : 16|13@1- (0.25,0) [-750|750] "Nm" NEO
SG_ DI_soptState : 29|3@1+ (1,0) [0|0] "" NEO
SG_ DI_motorRPM : 32|16@1- (1,0) [-17000|17000] "RPM" NEO
SG_ DI_pedalPos : 48|8@1+ (0.4,0) [0|100] "%" NEO
SG_ DI_torque1Checksum : 56|8@1+ (1,0) [0|0] "" NEO
BO_ 278 DI_torque2: 6 DI
SG_ DI_torqueEstimate : 0|12@1- (0.5,0) [-750|750] "Nm" NEO
SG_ DI_gear : 12|3@1+ (1,0) [0|0] "" NEO
SG_ DI_brakePedal : 15|1@1+ (1,0) [0|0] "" NEO
SG_ DI_vehicleSpeed : 16|12@1+ (0.05,-25) [-25|179.75] "MPH" NEO
SG_ DI_gearRequest : 28|3@1+ (1,0) [0|0] "" NEO
SG_ DI_torqueInterfaceFailure : 31|1@1+ (1,0) [0|0] "" NEO
SG_ DI_torque2Counter : 32|4@1+ (1,0) [0|0] "" NEO
SG_ DI_brakePedalState : 36|2@1+ (1,0) [0|0] "" NEO
SG_ DI_epbParkRequest : 38|1@1+ (1,0) [0|0] "" NEO
SG_ DI_epbInterfaceReady : 39|1@1+ (1,0) [0|0] "" NEO
SG_ DI_torque2Checksum : 40|8@1+ (1,0) [0|0] "" NEO
BO_ 504 BrakeMessage: 8 XXX
SG_ driverBrakeStatus : 2|2@1+ (1,0) [0|3] "" XXX
BO_ 568 STW_ACTN_RQ: 8 STW
SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO
SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO
SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO
SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO
SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO
SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO
SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO
SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO
SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO
SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO
SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO
SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO
SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO
SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO
SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO
BO_ 598 DI_state: 8 DI
SG_ DI_systemState : 0|3@1+ (1,0) [0|0] "" NEO
SG_ DI_vehicleHoldState : 3|3@1+ (1,0) [0|0] "" NEO
SG_ DI_proximity : 6|1@1+ (1,0) [0|0] "" NEO
SG_ DI_driveReady : 7|1@1+ (1,0) [0|0] "" NEO
SG_ DI_regenLight : 8|1@1+ (1,0) [0|0] "" NEO
SG_ DI_state : 9|3@1+ (1,0) [0|0] "" NEO
SG_ DI_cruiseState : 12|4@1+ (1,0) [0|0] "" NEO
SG_ DI_analogSpeed : 16|12@1+ (0.1,0) [0|150] "speed" NEO
SG_ DI_immobilizerState : 28|3@1+ (1,0) [0|0] "" NEO
SG_ DI_speedUnits : 31|1@1+ (1,0) [0|1] "" NEO
SG_ DI_cruiseSet : 32|9@1+ (0.5,0) [0|255.5] "speed" NEO
SG_ DI_aebState : 41|3@1+ (1,0) [0|0] "" NEO
SG_ DI_stateCounter : 44|4@1+ (1,0) [0|0] "" NEO
SG_ DI_digitalSpeed : 48|8@1+ (1,0) [0|250] "" NEO
SG_ DI_stateChecksum : 56|8@1+ (1,0) [0|0] "" NEO
BO_ 703 DAS_control: 8 GTW
SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" DI,PM,APS
SG_ DAS_accState : 12|4@1+ (1,0) [0|0] "" DI,PM,APS
SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" DI,PM,APS
SG_ DAS_jerkMin : 18|9@1+ (0.03,-15.232) [-15.232|0.098] "m/s^3" DI,PM,APS
SG_ DAS_jerkMax : 27|8@1+ (0.059,0) [0|15.045] "m/s^3" DI,PM,APS
SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS
SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" DI,PM,APS
SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" DI,PM,APS
SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" DI,PM,APS
VAL_ 262 DI_torqueDriver -4096 "SNA" ;
VAL_ 262 DI_torqueMotor -4096 "SNA" ;
VAL_ 262 DI_soptState 7 "SOPT_TEST_SNA" 4 "SOPT_TEST_NOT_RUN" 3 "SOPT_TEST_PASSED" 2 "SOPT_TEST_FAILED" 1 "SOPT_TEST_IN_PROGRESS" 0 "SOPT_PRE_TEST" ;
VAL_ 262 DI_motorRPM -32768 "SNA" ;
VAL_ 262 DI_pedalPos 255 "SNA" ;
VAL_ 278 DI_torqueEstimate -2048 "SNA" ;
VAL_ 278 DI_gear 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
VAL_ 278 DI_brakePedal 1 "Applied" 0 "Not_applied" ;
VAL_ 278 DI_vehicleSpeed 4095 "SNA" ;
VAL_ 278 DI_gearRequest 7 "DI_GEAR_SNA" 4 "DI_GEAR_D" 3 "DI_GEAR_N" 2 "DI_GEAR_R" 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" ;
VAL_ 278 DI_torqueInterfaceFailure 1 "TORQUE_INTERFACE_FAILED" 0 "TORQUE_INTERFACE_NORMAL" ;
VAL_ 278 DI_brakePedalState 3 "SNA" 2 "INVALID" 1 "ON" 0 "OFF" ;
VAL_ 278 DI_epbParkRequest 1 "Park_requested" 0 "No_request" ;
VAL_ 278 DI_epbInterfaceReady 1 "EPB_INTERFACE_READY" 0 "EPB_INTERFACE_NOT_READY" ;
VAL_ 504 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ;
VAL_ 568 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ;
VAL_ 568 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ;
VAL_ 568 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ;
VAL_ 568 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ;
VAL_ 568 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ;
VAL_ 568 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ;
VAL_ 568 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ;
VAL_ 568 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ;
VAL_ 568 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ;
VAL_ 568 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
VAL_ 568 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
VAL_ 568 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
VAL_ 568 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ;
VAL_ 568 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ;
VAL_ 598 DI_aebState 2 "ENABLED" 4 "FAULT" 7 "SNA" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
VAL_ 598 DI_analogSpeed 4095 "SNA" ;
VAL_ 598 DI_cruiseState 2 "ENABLED" 5 "FAULT" 0 "OFF" 4 "OVERRIDE" 7 "PRE_CANCEL" 6 "PRE_FAULT" 1 "STANDBY" 3 "STANDSTILL" ;
VAL_ 598 DI_digitalSpeed 255 "SNA" ;
VAL_ 598 DI_immobilizerState 2 "AUTHENTICATING" 3 "DISARMED" 6 "FAULT" 4 "IDLE" 0 "INIT_SNA" 1 "REQUEST" 5 "RESET" ;
VAL_ 598 DI_speedUnits 1 "KPH" 0 "MPH" ;
VAL_ 598 DI_state 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
VAL_ 598 DI_systemState 3 "ABORT" 4 "ENABLE" 2 "FAULT" 1 "STANDBY" 0 "UNAVAILABLE" ;
VAL_ 598 DI_vehicleHoldState 2 "BLEND_IN" 4 "BLEND_OUT" 6 "FAULT" 7 "INIT" 5 "PARK" 1 "STANDBY" 3 "STANDSTILL" 0 "UNAVAILABLE" ;
VAL_ 703 DAS_setSpeed 4095 "SNA" ;
VAL_ 703 DAS_accState 15 "FAULT_SNA" 13 "ACC_CANCEL_GENERIC_SILENT" 11 "APC_SELFPARK_START" 10 "APC_UNPARK_COMPLETE" 9 "APC_PAUSE" 8 "APC_ABORT" 7 "APC_COMPLETE" 6 "APC_FORWARD" 5 "APC_BACKWARD" 4 "ACC_ON" 3 "ACC_HOLD" 0 "ACC_CANCEL_GENERIC" ;
VAL_ 703 DAS_aebEvent 3 "AEB_SNA" 2 "AEB_FAULT" 1 "AEB_ACTIVE" 0 "AEB_NOT_ACTIVE" ;
VAL_ 703 DAS_jerkMin 511 "SNA" ;
VAL_ 703 DAS_jerkMax 255 "SNA" ;
VAL_ 703 DAS_accelMin 511 "SNA" ;
VAL_ 703 DAS_accelMax 511 "SNA" ;

17
opendbc/toyota_avalon_2017_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_corolla_2017_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_highlander_2017_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_nodsu_hybrid_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_nodsu_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_prius_2017_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_rav4_2017_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

17
opendbc/toyota_sienna_xle_2018_pt_generated.dbc
View File

@ -128,15 +128,18 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
BO_ 836 PRE_COLLISION_2: 8 DSU
SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
@ -160,6 +163,8 @@ BO_ 951 ESP_CONTROL: 8 ESP
SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
BO_ 1020 SOLAR_SENSOR: 8 XXX
SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
@ -288,7 +293,7 @@ BO_ 1163 RSA3: 8 FCM
SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
BO_ 1571 CENTRAL_GATEWAY_UNIT: 8 CGW
SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
@ -311,6 +316,11 @@ CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
CM_ SG_ 835 DISTANCE "Display Distance Bars on HUD Permanently";
CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
@ -341,6 +351,9 @@ VAL_ 614 STATE 3 "enabled" 1 "disabled";
VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";

22
opendbc/vw_mqb_2010.dbc
View File

@ -1253,8 +1253,19 @@ 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_ ACC_07_BZ : 8|4@1+ (1,0) [0|15] "" XXX
SG_ ACC_07_CRC : 0|8@1+ (1,0) [0|255] "" 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
BO_ 264 Fahrwerk_01: 8 XXX
SG_ Fahrwerk_01_BZ : 8|4@1+ (1,0) [0|15] "" XXX
@ -1372,6 +1383,13 @@ CM_ SG_ 294 254 "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_ 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";

4
panda/__init__.py
View File

@ -1,8 +1,8 @@
# flake8: noqa
# pylint: skip-file
from .python import Panda, PandaWifiStreaming, PandaDFU, flash_release, \
BASEDIR, ensure_st_up_to_date, PandaSerial, \
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4
BASEDIR, ensure_st_up_to_date, PandaSerial, pack_can_buffer, unpack_can_buffer, \
DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, MCU_TYPE_F4, DLC_TO_LEN, LEN_TO_DLC
from .python.config import BOOTSTUB_ADDRESS, BLOCK_SIZE_FX, APP_ADDRESS_FX, \
BLOCK_SIZE_H7, APP_ADDRESS_H7, DEVICE_SERIAL_NUMBER_ADDR_H7, \

29
panda/board/can_definitions.h 100644
View File

@ -0,0 +1,29 @@
#include "dlc_to_len.h"
#define CAN_PACKET_VERSION 2
typedef struct {
unsigned char reserved : 1;
unsigned char bus : 3;
unsigned char data_len_code : 4;
unsigned char rejected : 1;
unsigned char returned : 1;
unsigned char extended : 1;
unsigned int addr : 29;
unsigned char data[CANPACKET_DATA_SIZE_MAX];
} __attribute__((packed, aligned(4))) CANPacket_t;
#define GET_BUS(msg) ((msg)->bus)
#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code])
#define GET_ADDR(msg) ((msg)->addr)
// Flasher and pedal use raw mailbox access
#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR)
#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR)
#define CAN_INIT_TIMEOUT_MS 500U
#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))

10
panda/board/config.h
View File

@ -34,16 +34,6 @@
#define MAX_RESP_LEN 0x40U
#define GET_BUS(msg) (((msg)->RDTR >> 4) & 0xFF)
#define GET_LEN(msg) ((msg)->RDTR & 0xF)
#define GET_ADDR(msg) ((((msg)->RIR & 4) != 0) ? ((msg)->RIR >> 3) : ((msg)->RIR >> 21))
#define GET_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU))
#define GET_BYTES_04(msg) ((msg)->RDLR)
#define GET_BYTES_48(msg) ((msg)->RDHR)
#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
#define CAN_INIT_TIMEOUT_MS 500U
#include <stdbool.h>
#ifdef STM32H7
#include "stm32h7/stm32h7_config.h"

1
panda/board/dlc_to_len.h 100644
View File

@ -0,0 +1 @@
unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U};

75
panda/board/drivers/bxcan.h
View File

@ -9,7 +9,7 @@ bool can_set_speed(uint8_t can_number) {
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
ret &= llcan_set_speed(CAN, can_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
ret &= llcan_set_speed(CAN, bus_config[bus_number].can_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
return ret;
}
@ -17,7 +17,7 @@ bool can_set_speed(uint8_t can_number) {
void can_set_gmlan(uint8_t bus) {
if(current_board->has_hw_gmlan){
// first, disable GMLAN on prev bus
uint8_t prev_bus = can_num_lookup[3];
uint8_t prev_bus = bus_config[3].can_num_lookup;
if (bus != prev_bus) {
switch (prev_bus) {
case 1:
@ -26,9 +26,9 @@ void can_set_gmlan(uint8_t bus) {
puth(prev_bus + 1U);
puts("\n");
current_board->set_can_mode(CAN_MODE_NORMAL);
bus_lookup[prev_bus] = prev_bus;
can_num_lookup[prev_bus] = prev_bus;
can_num_lookup[3] = -1;
bus_config[prev_bus].bus_lookup = prev_bus;
bus_config[prev_bus].can_num_lookup = prev_bus;
bus_config[3].can_num_lookup = -1;
bool ret = can_init(prev_bus);
UNUSED(ret);
break;
@ -46,9 +46,9 @@ void can_set_gmlan(uint8_t bus) {
puth(bus + 1U);
puts("\n");
current_board->set_can_mode((bus == 1U) ? CAN_MODE_GMLAN_CAN2 : CAN_MODE_GMLAN_CAN3);
bus_lookup[bus] = 3;
can_num_lookup[bus] = -1;
can_num_lookup[3] = bus;
bus_config[bus].bus_lookup = 3;
bus_config[bus].can_num_lookup = -1;
bus_config[3].can_num_lookup = bus;
bool ret = can_init(bus);
UNUSED(ret);
break;
@ -101,18 +101,23 @@ void process_can(uint8_t can_number) {
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
// check for empty mailbox
CAN_FIFOMailBox_TypeDef to_send;
CANPacket_t to_send;
if ((CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
// add successfully transmitted message to my fifo
if ((CAN->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) {
can_txd_cnt += 1;
if ((CAN->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) {
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sTxMailBox[0].TIR;
to_push.RDTR = (CAN->sTxMailBox[0].TDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
to_push.RDLR = CAN->sTxMailBox[0].TDLR;
to_push.RDHR = CAN->sTxMailBox[0].TDHR;
CANPacket_t to_push;
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.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);
WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sTxMailBox[0].TDHR);
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
}
@ -136,10 +141,12 @@ 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].TDLR = to_send.RDLR;
CAN->sTxMailBox[0].TDHR = to_send.RDHR;
CAN->sTxMailBox[0].TDTR = to_send.RDTR;
CAN->sTxMailBox[0].TIR = to_send.RIR;
CAN->sTxMailBox[0].TIR = ((to_send.extended != 0) ? (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]);
// Send request TXRQ
CAN->sTxMailBox[0].TIR |= 0x1U;
usb_cb_ep3_out_complete();
}
@ -161,23 +168,29 @@ void can_rx(uint8_t can_number) {
pending_can_live = 1;
// add to my fifo
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = CAN->sFIFOMailBox[0].RIR;
to_push.RDTR = CAN->sFIFOMailBox[0].RDTR;
to_push.RDLR = CAN->sFIFOMailBox[0].RDLR;
to_push.RDHR = CAN->sFIFOMailBox[0].RDHR;
CANPacket_t to_push;
// modify RDTR for our API
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
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.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);
WORD_TO_BYTE_ARRAY(&to_push.data[4], CAN->sFIFOMailBox[0].RDHR);
// forwarding (panda only)
int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
if (bus_fwd_num != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR | 1; // TXRQ
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
CANPacket_t to_send;
to_send.returned = 0U;
to_send.rejected = 0U;
to_send.extended = to_push.extended; // TXRQ
to_send.addr = to_push.addr;
to_send.bus = to_push.bus;
to_send.data_len_code = to_push.data_len_code;
(void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
can_send(&to_send, bus_fwd_num, true);
}

86
panda/board/drivers/can_common.h
View File

@ -2,11 +2,19 @@ typedef struct {
volatile uint32_t w_ptr;
volatile uint32_t r_ptr;
uint32_t fifo_size;
CAN_FIFOMailBox_TypeDef *elems;
CANPacket_t *elems;
} can_ring;
#define CAN_BUS_RET_FLAG 0x80U
#define CAN_BUS_NUM_MASK 0x7FU
typedef struct {
uint8_t bus_lookup;
uint8_t can_num_lookup;
uint32_t can_speed;
uint32_t can_data_speed;
bool canfd_enabled;
bool brs_enabled;
} bus_config_t;
#define CAN_BUS_NUM_MASK 0x3FU
#define BUS_MAX 4U
@ -21,8 +29,6 @@ extern int pending_can_live;
// must reinit after changing these
extern int can_loopback;
extern int can_silent;
extern uint32_t can_speed[4];
extern uint32_t can_data_speed[3];
// Ignition detected from CAN meessages
bool ignition_can = false;
@ -43,14 +49,19 @@ void process_can(uint8_t can_number);
// ********************* instantiate queues *********************
#define can_buffer(x, size) \
CAN_FIFOMailBox_TypeDef elems_##x[size]; \
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) };
CANPacket_t elems_##x[size]; \
can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };
#ifdef STM32H7
__attribute__((section(".ram_d1"))) can_buffer(rx_q, 0x1000)
__attribute__((section(".ram_d1"))) can_buffer(txgmlan_q, 0x1A0)
#else
can_buffer(rx_q, 0x1000)
can_buffer(tx1_q, 0x100)
can_buffer(tx2_q, 0x100)
can_buffer(tx3_q, 0x100)
can_buffer(txgmlan_q, 0x100)
can_buffer(txgmlan_q, 0x1A0)
#endif
can_buffer(tx1_q, 0x1A0)
can_buffer(tx2_q, 0x1A0)
can_buffer(tx3_q, 0x1A0)
// FIXME:
// cppcheck-suppress misra-c2012-9.3
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q, &can_txgmlan_q};
@ -63,7 +74,7 @@ int can_err_cnt = 0;
int can_overflow_cnt = 0;
// ********************* interrupt safe queue *********************
bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
bool can_pop(can_ring *q, CANPacket_t *elem) {
bool ret = 0;
ENTER_CRITICAL();
@ -81,7 +92,7 @@ bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
return ret;
}
bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
bool can_push(can_ring *q, CANPacket_t *elem) {
bool ret = false;
uint32_t next_w_ptr;
@ -150,20 +161,21 @@ void can_clear(can_ring *q) {
// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc);
// bus_lookup: Translates from 'can number' to 'bus number'.
// can_num_lookup: Translates from 'bus number' to 'can number'.
// can_forwarding: Given a bus num, lookup bus num to forward to. -1 means no forward.
// Helpers
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
uint8_t bus_lookup[] = {0,1,2};
uint8_t can_num_lookup[] = {0,1,2,-1};
int8_t can_forwarding[] = {-1,-1,-1,-1};
uint32_t can_speed[] = {5000, 5000, 5000, 333};
uint32_t can_data_speed[] = {5000, 5000, 5000}; //For CAN FD with BRS only
bus_config_t bus_config[] = {
{ .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
{ .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
{ .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
{ .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false },
};
#define CAN_MAX 3U
#define CANIF_FROM_CAN_NUM(num) (cans[num])
#define BUS_NUM_FROM_CAN_NUM(num) (bus_lookup[num])
#define CAN_NUM_FROM_BUS_NUM(num) (can_num_lookup[num])
#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup)
#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup)
void can_init_all(void) {
bool ret = true;
@ -175,13 +187,13 @@ void can_init_all(void) {
}
void can_flip_buses(uint8_t bus1, uint8_t bus2){
bus_lookup[bus1] = bus2;
bus_lookup[bus2] = bus1;
can_num_lookup[bus1] = bus2;
can_num_lookup[bus2] = bus1;
bus_config[bus1].bus_lookup = bus2;
bus_config[bus2].bus_lookup = bus1;
bus_config[bus1].can_num_lookup = bus2;
bus_config[bus2].can_num_lookup = bus1;
}
void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
void ignition_can_hook(CANPacket_t *to_push) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
@ -189,23 +201,30 @@ void ignition_can_hook(CAN_FIFOMailBox_TypeDef *to_push) {
ignition_can_cnt = 0U; // reset counter
if (bus == 0) {
// GM exception
// TODO: verify on all supported GM models that we can reliably detect ignition using only this signal,
// 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;
}
// GM exception
if ((addr == 0x1F1) && (len == 8)) {
// Bit 5 is ignition "on"
bool ignition_gm = ((GET_BYTE(to_push, 0) & 0x20) != 0);
ignition_can = ignition_gm || ignition_cadillac;
}
// Tesla exception
if ((addr == 0x348) && (len == 8)) {
// GTW_status
ignition_can = (GET_BYTE(to_push, 0) & 0x1) != 0;
}
// Mazda exception
if ((addr == 0x9E) && (len == 8)) {
ignition_can = (GET_BYTE(to_push, 0) >> 4) == 0xDU;
}
}
}
@ -217,22 +236,19 @@ bool can_tx_check_min_slots_free(uint32_t min) {
(can_slots_empty(&can_txgmlan_q) >= min);
}
void can_send(CAN_FIFOMailBox_TypeDef *to_push, uint8_t bus_number, bool skip_tx_hook) {
void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
if (skip_tx_hook || safety_tx_hook(to_push) != 0) {
if (bus_number < BUS_MAX) {
// add CAN packet to send queue
// bus number isn't passed through
to_push->RDTR &= 0xF;
if ((bus_number == 3U) && (can_num_lookup[3] == 0xFFU)) {
if ((bus_number == 3U) && (bus_config[3].can_num_lookup == 0xFFU)) {
gmlan_send_errs += bitbang_gmlan(to_push) ? 0U : 1U;
} else {
can_fwd_errs += can_push(can_queues[bus_number], to_push) ? 0U : 1U;
process_can(CAN_NUM_FROM_BUS_NUM(bus_number));
}
}
} else {
to_push->rejected = 1U;
can_send_errs += can_push(&can_rx_q, to_push) ? 0U : 1U;
}
}
void can_set_forwarding(int from, int to) {
can_forwarding[from] = to;
}

95
panda/board/drivers/fdcan.h
View File

@ -5,6 +5,11 @@
#define BUS_OFF_FAIL_LIMIT 2U
uint8_t bus_off_err[] = {0U, 0U, 0U};
typedef struct {
volatile uint32_t header[2];
volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U];
} canfd_fifo;
FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3};
bool can_set_speed(uint8_t can_number) {
@ -12,7 +17,7 @@ bool can_set_speed(uint8_t can_number) {
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
ret &= llcan_set_speed(CANx, can_speed[bus_number], can_data_speed[bus_number], can_loopback, (unsigned int)(can_silent) & (1U << can_number));
ret &= llcan_set_speed(CANx, bus_config[bus_number].can_speed, bus_config[bus_number].can_data_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
return ret;
}
@ -42,36 +47,41 @@ void process_can(uint8_t can_number) {
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
CANx->IR |= FDCAN_IR_TFE; // Clear Tx FIFO Empty flag
if ((CANx->TXFQS & FDCAN_TXFQS_TFQF) == 0) {
CAN_FIFOMailBox_TypeDef to_send;
CANPacket_t to_send;
if (can_pop(can_queues[bus_number], &to_send)) {
can_tx_cnt += 1;
uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
uint8_t tx_index = (CANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1F;
// only send if we have received a packet
CAN_FIFOMailBox_TypeDef *fifo;
fifo = (CAN_FIFOMailBox_TypeDef *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
canfd_fifo *fifo;
fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE));
// Convert from "mailbox type"
fifo->RIR = ((to_send.RIR & 0x6) << 28) | (to_send.RIR >> 3); // identifier format and frame type | identifier
//REDEBUG: enable CAN FD and BRS for test purposes
//fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16) | (1U << 21) | (1U << 20); // DLC (length) | timestamp | enable CAN FD | enable BRS
fifo->RDTR = ((to_send.RDTR & 0xF) << 16) | ((to_send.RDTR) >> 16); // DLC (length) | timestamp
fifo->RDLR = to_send.RDLR;
fifo->RDHR = to_send.RDHR;
CANx->TXBAR = (1UL << tx_index);
fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0) ? (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;
for (unsigned int i = 0; i < data_len_w; i++) {
BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4]);
}
CANx->TXBAR = (1UL << tx_index);
// Send back to USB
can_txd_cnt += 1;
CAN_FIFOMailBox_TypeDef to_push;
to_push.RIR = to_send.RIR;
to_push.RDTR = (to_send.RDTR & 0xFFFF000FU) | ((CAN_BUS_RET_FLAG | bus_number) << 4);
to_push.RDLR = to_send.RDLR;
to_push.RDHR = to_send.RDHR;
CANPacket_t to_push;
to_push.returned = 1U;
to_push.rejected = 0U;
to_push.extended = to_send.extended;
to_push.addr = to_send.addr;
to_push.bus = to_send.bus;
to_push.data_len_code = to_send.data_len_code;
(void)memcpy(to_push.data, to_send.data, dlc_to_len[to_push.data_len_code]);
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
usb_cb_ep3_out_complete();
@ -123,29 +133,37 @@ void can_rx(uint8_t can_number) {
rx_fifo_idx = (uint8_t)((CANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3F);
uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET);
CAN_FIFOMailBox_TypeDef to_push;
CAN_FIFOMailBox_TypeDef *fifo;
CANPacket_t to_push;
canfd_fifo *fifo;
// getting address
fifo = (CAN_FIFOMailBox_TypeDef *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE));
// Need to convert real CAN frame format to mailbox "type"
to_push.RIR = ((fifo->RIR >> 28) & 0x6) | (fifo->RIR << 3); // identifier format and frame type | identifier
to_push.RDTR = ((fifo->RDTR >> 16) & 0xF) | (fifo->RDTR << 16); // DLC (length) | timestamp
to_push.RDLR = fifo->RDLR;
to_push.RDHR = fifo->RDHR;
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.bus = bus_number;
to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
// modify RDTR for our API
to_push.RDTR = (to_push.RDTR & 0xFFFF000F) | (bus_number << 4);
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;
for (unsigned int i = 0; i < data_len_w; i++) {
WORD_TO_BYTE_ARRAY(&to_push.data[i*4], fifo->data_word[i]);
}
// forwarding (panda only)
int bus_fwd_num = (can_forwarding[bus_number] != -1) ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
if (bus_fwd_num != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR;
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
CANPacket_t to_send;
to_send.returned = 0U;
to_send.rejected = 0U;
to_send.extended = to_push.extended;
to_send.addr = to_push.addr;
to_send.bus = to_push.bus;
to_send.data_len_code = to_push.data_len_code;
(void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]);
can_send(&to_send, bus_fwd_num, true);
}
@ -155,7 +173,7 @@ void can_rx(uint8_t can_number) {
current_board->set_led(LED_BLUE, true);
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
// update read index
// update read index
CANx->RXF0A = rx_fifo_idx;
}
@ -165,10 +183,9 @@ void can_rx(uint8_t can_number) {
#endif
CANx->IR |= (FDCAN_IR_PEA | FDCAN_IR_PED | FDCAN_IR_RF0L | FDCAN_IR_RF0F | FDCAN_IR_EW | FDCAN_IR_MRAF | FDCAN_IR_TOO); // Clean all error flags
can_err_cnt += 1;
} else {
} else {
}
}
void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); }

17
panda/board/drivers/gmlan_alt.h
View File

@ -75,7 +75,7 @@ int append_int(char *in, int in_len, int val, int val_len) {
return in_len_copy;
}
int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
int get_bit_message(char *out, CANPacket_t *to_bang) {
char pkt[MAX_BITS_CAN_PACKET];
char footer[] = {
1, // CRC delimiter
@ -88,18 +88,18 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
int len = 0;
// test packet
int dlc_len = to_bang->RDTR & 0xF;
int dlc_len = GET_LEN(to_bang);
len = append_int(pkt, len, 0, 1); // Start-of-frame
if ((to_bang->RIR & 4) != 0) {
if (to_bang->extended != 0) {
// extended identifier
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
len = append_int(pkt, len, GET_ADDR(to_bang) >> 18, 11); // Identifier
len = append_int(pkt, len, 3, 2); // SRR+IDE
len = append_int(pkt, len, (to_bang->RIR >> 3) & ((1U << 18) - 1U), 18); // Identifier
len = append_int(pkt, len, (GET_ADDR(to_bang)) & ((1U << 18) - 1U), 18); // Identifier
len = append_int(pkt, len, 0, 3); // RTR+r1+r0
} else {
// standard identifier
len = append_int(pkt, len, to_bang->RIR >> 21, 11); // Identifier
len = append_int(pkt, len, GET_ADDR(to_bang), 11); // Identifier
len = append_int(pkt, len, 0, 3); // RTR+IDE+reserved
}
@ -107,8 +107,7 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
// append data
for (int i = 0; i < dlc_len; i++) {
unsigned char dat = ((unsigned char *)(&(to_bang->RDLR)))[i];
len = append_int(pkt, len, dat, 8);
len = append_int(pkt, len, to_bang->data[i], 8);
}
// append crc
@ -269,7 +268,7 @@ void TIM12_IRQ_Handler(void) {
TIM12->SR = 0;
}
bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
bool bitbang_gmlan(CANPacket_t *to_bang) {
gmlan_send_ok = true;
gmlan_alt_mode = BITBANG;

7
panda/board/drivers/usb.h
View File

@ -23,7 +23,8 @@ typedef union _USB_Setup {
}
USB_Setup_TypeDef;
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 4U
#define MAX_CAN_MSGS_PER_BULK_TRANSFER 51U
#define MAX_EP1_CHUNK_PER_BULK_TRANSFER 16256 // max data stream chunk in bytes, shouldn't be higher than 16320 or counter will overflow
bool usb_eopf_detected = false;
@ -493,7 +494,7 @@ void usb_setup(void) {
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
USBx_OUTEP(2)->DOEPINT = 0xFF;
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
USBx_OUTEP(3)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2U << 18) |
USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP;
USBx_OUTEP(3)->DOEPINT = 0xFF;
@ -934,7 +935,7 @@ void usb_irqhandler(void) {
void usb_outep3_resume_if_paused(void) {
ENTER_CRITICAL();
if (!outep3_processing && (USBx_OUTEP(3)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0) {
USBx_OUTEP(3)->DOEPTSIZ = (1U << 19) | 0x40U;
USBx_OUTEP(3)->DOEPTSIZ = (32U << 19) | 0x800U;
USBx_OUTEP(3)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK;
}
EXIT_CRITICAL();

2
panda/board/flasher.h
View File

@ -183,7 +183,7 @@ void CAN1_RX0_IRQ_Handler(void) {
if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
uint8_t dat[8];
for (int i = 0; i < 8; i++) {
dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
}
uint8_t odat[8];
uint8_t type = dat[0] & 0xF0;

2
panda/board/get_sdk.sh
View File

@ -1,3 +1,3 @@
#!/bin/bash
sudo apt-get install gcc-arm-none-eabi python-pip
sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip
sudo pip install libusb1 pycryptodome requests

2
panda/board/get_sdk_mac.sh
View File

@ -1,7 +1,7 @@
#!/bin/bash
# Need formula for gcc
sudo easy_install pip
/usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
brew tap ArmMbed/homebrew-formulae
brew install python dfu-util arm-none-eabi-gcc
pip install --user libusb1 pycryptodome requests

37
panda/board/libc.h
View File

@ -14,13 +14,36 @@ void *memset(void *str, int c, unsigned int n) {
return str;
}
void *memcpy(void *dest, const void *src, unsigned int n) {
uint8_t *d = dest;
const uint8_t *s = src;
for (unsigned int i = 0; i < n; i++) {
*d = *s;
d++;
s++;
#define UNALIGNED(X, Y) \
(((uint32_t)(X) & (sizeof(uint32_t) - 1U)) | ((uint32_t)(Y) & (sizeof(uint32_t) - 1U)))
void *memcpy(void *dest, const void *src, unsigned int len) {
unsigned int n = len;
uint8_t *d8 = dest;
const uint8_t *s8 = src;
if ((n >= 4U) && !UNALIGNED(s8, d8)) {
uint32_t *d32 = (uint32_t *)d8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
const uint32_t *s32 = (const uint32_t *)s8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned
while(n >= 16U) {
*d32 = *s32; d32++; s32++;
*d32 = *s32; d32++; s32++;
*d32 = *s32; d32++; s32++;
*d32 = *s32; d32++; s32++;
n -= 16U;
}
while(n >= 4U) {
*d32 = *s32; d32++; s32++;
n -= 4U;
}
d8 = (uint8_t *)d32;
s8 = (const uint8_t *)s32;
}
while (n-- > 0U) {
*d8 = *s8; d8++; s8++;
}
return dest;
}

59
panda/board/main.c
View File

@ -20,11 +20,14 @@
#include "drivers/bxcan.h"
#endif
#include "usb_protocol.h"
#include "obj/gitversion.h"
extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used
// When changing this struct, boardd and python/__init__.py needs to be kept up to date!
#define HEALTH_PACKET_VERSION 1
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
uint32_t voltage_pkt;
@ -192,15 +195,7 @@ int get_rtc_pkt(void *dat) {
return sizeof(t);
}
int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
CAN_FIFOMailBox_TypeDef *reply = (CAN_FIFOMailBox_TypeDef *)usbdata;
int ilen = 0;
while (ilen < MIN(len/0x10, 4) && can_pop(&can_rx_q, &reply[ilen])) {
ilen++;
}
return ilen*0x10;
}
// send on serial, first byte to select the ring
void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
@ -218,23 +213,6 @@ void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
}
}
// send on CAN
void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
int dpkt = 0;
uint32_t *d32 = (uint32_t *)usbdata;
for (dpkt = 0; dpkt < (len / 4); dpkt += 4) {
CAN_FIFOMailBox_TypeDef to_push;
to_push.RDHR = d32[dpkt + 3];
to_push.RDLR = d32[dpkt + 2];
to_push.RDTR = d32[dpkt + 1];
to_push.RIR = d32[dpkt];
uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
can_send(&to_push, bus_number, false);
}
}
void usb_cb_ep3_out_complete(void) {
if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_BULK_TRANSFER)) {
usb_outep3_resume_if_paused();
@ -454,24 +432,17 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
set_safety_mode(setup->b.wValue.w, (uint16_t) setup->b.wIndex.w);
}
break;
// **** 0xdd: enable can forwarding
// **** 0xdd: get healthpacket and CANPacket versions
case 0xdd:
// wValue = Can Bus Num to forward from
// wIndex = Can Bus Num to forward to
if ((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w < BUS_MAX) &&
(setup->b.wValue.w != setup->b.wIndex.w)) { // set forwarding
can_set_forwarding(setup->b.wValue.w, setup->b.wIndex.w & CAN_BUS_NUM_MASK);
} else if((setup->b.wValue.w < BUS_MAX) && (setup->b.wIndex.w == 0xFFU)){ //Clear Forwarding
can_set_forwarding(setup->b.wValue.w, -1);
} else {
puts("Invalid CAN bus forwarding\n");
}
resp[0] = HEALTH_PACKET_VERSION;
resp[1] = CAN_PACKET_VERSION;
resp_len = 2;
break;
// **** 0xde: set can bitrate
case 0xde:
if (setup->b.wValue.w < BUS_MAX) {
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
bus_config[setup->b.wValue.w].can_speed = setup->b.wIndex.w;
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
UNUSED(ret);
}
@ -628,11 +599,21 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
case 0xf9:
if (setup->b.wValue.w < CAN_MAX) {
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
can_data_speed[setup->b.wValue.w] = setup->b.wIndex.w;
bus_config[setup->b.wValue.w].can_data_speed = setup->b.wIndex.w;
bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed) ? true : false;
bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed) ? true : false;
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
UNUSED(ret);
}
break;
// **** 0xfa: check if CAN FD and BRS are enabled
case 0xfa:
if (setup->b.wValue.w < CAN_MAX) {
resp[0] = bus_config[setup->b.wValue.w].canfd_enabled;
resp[1] = bus_config[setup->b.wValue.w].brs_enabled;
resp_len = 2;
}
break;
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);

8
panda/board/pedal/main.c
View File

@ -132,11 +132,11 @@ void CAN1_RX0_IRQ_Handler(void) {
int address = CAN->sFIFOMailBox[0].RIR >> 21;
if (address == CAN_GAS_INPUT) {
// softloader entry
if (GET_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
if (GET_MAILBOX_BYTES_04(&CAN->sFIFOMailBox[0]) == 0xdeadface) {
if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x0ab00b1e) {
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
NVIC_SystemReset();
} else if (GET_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
} else if (GET_MAILBOX_BYTES_48(&CAN->sFIFOMailBox[0]) == 0x02b00b1e) {
enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
NVIC_SystemReset();
} else {
@ -147,7 +147,7 @@ void CAN1_RX0_IRQ_Handler(void) {
// normal packet
uint8_t dat[8];
for (int i=0; i<8; i++) {
dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
dat[i] = GET_MAILBOX_BYTE(&CAN->sFIFOMailBox[0], i);
}
uint16_t value_0 = (dat[0] << 8) | dat[1];
uint16_t value_1 = (dat[2] << 8) | dat[3];

29
panda/board/safety.h
View File

@ -5,7 +5,6 @@
#include "safety/safety_honda.h"
#include "safety/safety_toyota.h"
#include "safety/safety_tesla.h"
#include "safety/safety_gm_ascm.h"
#include "safety/safety_gm.h"
#include "safety/safety_ford.h"
#include "safety/safety_hyundai.h"
@ -39,26 +38,27 @@
#define SAFETY_SUBARU_LEGACY 22U
#define SAFETY_HYUNDAI_LEGACY 23U
#define SAFETY_HYUNDAI_COMMUNITY 24U
#define SAFETY_STELLANTIS 25U
uint16_t current_safety_mode = SAFETY_SILENT;
int16_t current_safety_param = 0;
const safety_hooks *current_hooks = &nooutput_hooks;
const addr_checks *current_rx_checks = &default_rx_checks;
int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int safety_rx_hook(CANPacket_t *to_push) {
return current_hooks->rx(to_push);
}
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return current_hooks->tx(to_send);
int safety_tx_hook(CANPacket_t *to_send) {
return (relay_malfunction ? -1 : current_hooks->tx(to_send));
}
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len) {
return current_hooks->tx_lin(lin_num, data, len);
}
int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return current_hooks->fwd(bus_num, to_fwd);
int safety_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, to_fwd));
}
// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8
@ -76,7 +76,7 @@ void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]) {
}
}
bool msg_allowed(CAN_FIFOMailBox_TypeDef *to_send, const CanMsg msg_list[], int len) {
bool msg_allowed(CANPacket_t *to_send, const CanMsg msg_list[], int len) {
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
int length = GET_LEN(to_send);
@ -97,7 +97,7 @@ uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) {
return ts - ts_last;
}
int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len) {
int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], const int len) {
int bus = GET_BUS(to_push);
int addr = GET_ADDR(to_push);
int length = GET_LEN(to_push);
@ -171,11 +171,11 @@ void update_addr_timestamp(AddrCheckStruct addr_list[], int index) {
}
}
bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
bool addr_safety_check(CANPacket_t *to_push,
const addr_checks *rx_checks,
uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push)) {
uint8_t (*get_checksum)(CANPacket_t *to_push),
uint8_t (*compute_checksum)(CANPacket_t *to_push),
uint8_t (*get_counter)(CANPacket_t *to_push)) {
int index = get_addr_check_index(to_push, rx_checks->check, rx_checks->len);
update_addr_timestamp(rx_checks->check, index);
@ -241,7 +241,6 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_TOYOTA, &toyota_hooks},
{SAFETY_ELM327, &elm327_hooks},
{SAFETY_GM, &gm_hooks},
{SAFETY_HONDA_BOSCH_GIRAFFE, &honda_bosch_giraffe_hooks},
{SAFETY_HONDA_BOSCH_HARNESS, &honda_bosch_harness_hooks},
{SAFETY_HYUNDAI, &hyundai_hooks},
{SAFETY_CHRYSLER, &chrysler_hooks},
@ -250,13 +249,12 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_NISSAN, &nissan_hooks},
{SAFETY_NOOUTPUT, &nooutput_hooks},
{SAFETY_HYUNDAI_LEGACY, &hyundai_legacy_hooks},
{SAFETY_MAZDA, &mazda_hooks},
#ifdef ALLOW_DEBUG
{SAFETY_TESLA, &tesla_hooks},
{SAFETY_MAZDA, &mazda_hooks},
{SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
{SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
{SAFETY_ALLOUTPUT, &alloutput_hooks},
{SAFETY_GM_ASCM, &gm_ascm_hooks},
{SAFETY_FORD, &ford_hooks},
#endif
};
@ -274,6 +272,7 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
cruise_engaged_prev = false;
vehicle_speed = 0;
vehicle_moving = false;
acc_main_on = false;
desired_torque_last = 0;
rt_torque_last = 0;
ts_angle_last = 0;

34
panda/board/safety/safety_chrysler.h
View File

@ -18,12 +18,12 @@ AddrCheckStruct chrysler_addr_checks[] = {
#define CHRYSLER_ADDR_CHECK_LEN (sizeof(chrysler_addr_checks) / sizeof(chrysler_addr_checks[0]))
addr_checks chrysler_rx_checks = {chrysler_addr_checks, CHRYSLER_ADDR_CHECK_LEN};
static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t chrysler_get_checksum(CANPacket_t *to_push) {
int checksum_byte = GET_LEN(to_push) - 1;
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
}
static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t chrysler_compute_checksum(CANPacket_t *to_push) {
/* This function does not want the checksum byte in the input data.
jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
uint8_t checksum = 0xFFU;
@ -56,12 +56,12 @@ static uint8_t chrysler_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
return ~checksum;
}
static uint8_t chrysler_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t chrysler_get_counter(CANPacket_t *to_push) {
// Well defined counter only for 8 bytes messages
return (uint8_t)(GET_BYTE(to_push, 6) >> 4);
}
static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int chrysler_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &chrysler_rx_checks,
chrysler_get_checksum, chrysler_compute_checksum,
@ -117,7 +117,7 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
return valid;
}
static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int chrysler_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
@ -126,10 +126,6 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
if (relay_malfunction) {
tx = 0;
}
// LKA STEER
if (addr == 0x292) {
int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1) - 1024U;
@ -186,21 +182,21 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return tx;
}
static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int chrysler_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
int bus_fwd = -1;
int addr = GET_ADDR(to_fwd);
if (!relay_malfunction) {
// forward CAN 0 -> 2 so stock LKAS camera sees messages
if (bus_num == 0) {
bus_fwd = 2;
}
// forward all messages from camera except LKAS_COMMAND and LKAS_HUD
if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
bus_fwd = 0;
}
// forward CAN 0 -> 2 so stock LKAS camera sees messages
if (bus_num == 0) {
bus_fwd = 2;
}
// forward all messages from camera except LKAS_COMMAND and LKAS_HUD
if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
bus_fwd = 0;
}
return bus_fwd;
}

31
panda/board/safety/safety_defaults.h
View File

@ -3,7 +3,7 @@ const addr_checks default_rx_checks = {
.len = 0,
};
int default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int default_rx_hook(CANPacket_t *to_push) {
UNUSED(to_push);
return true;
}
@ -17,7 +17,7 @@ static const addr_checks* nooutput_init(int16_t param) {
return &default_rx_checks;
}
static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int nooutput_tx_hook(CANPacket_t *to_send) {
UNUSED(to_send);
return false;
}
@ -29,7 +29,7 @@ static int nooutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
return false;
}
static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int default_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
UNUSED(bus_num);
UNUSED(to_fwd);
return -1;
@ -45,14 +45,19 @@ const safety_hooks nooutput_hooks = {
// *** all output safety mode ***
// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa
const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1;
bool alloutput_passthrough = false;
static const addr_checks* alloutput_init(int16_t param) {
UNUSED(param);
alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH);
controls_allowed = true;
relay_malfunction_reset();
return &default_rx_checks;
}
static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int alloutput_tx_hook(CANPacket_t *to_send) {
UNUSED(to_send);
return true;
}
@ -64,10 +69,26 @@ static int alloutput_tx_lin_hook(int lin_num, uint8_t *data, int len) {
return true;
}
static int alloutput_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
UNUSED(to_fwd);
int bus_fwd = -1;
if (alloutput_passthrough) {
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == 2) {
bus_fwd = 0;
}
}
return bus_fwd;
}
const safety_hooks alloutput_hooks = {
.init = alloutput_init,
.rx = default_rx_hook,
.tx = alloutput_tx_hook,
.tx_lin = alloutput_tx_lin_hook,
.fwd = default_fwd_hook,
.fwd = alloutput_fwd_hook,
};

2
panda/board/safety/safety_elm327.h
View File

@ -1,4 +1,4 @@
static int elm327_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int elm327_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);

8
panda/board/safety/safety_ford.h
View File

@ -8,7 +8,7 @@
// brake > 0mph
static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int ford_rx_hook(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
int bus = GET_BUS(to_push);
@ -65,7 +65,7 @@ static int ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// else
// block all commands that produce actuation
static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int ford_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
@ -79,10 +79,6 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
if (relay_malfunction) {
tx = 0;
}
// STEER: safety check
if (addr == 0x3CA) {
if (!current_controls_allowed) {

8
panda/board/safety/safety_gm.h
View File

@ -34,7 +34,7 @@ AddrCheckStruct gm_addr_checks[] = {
#define GM_RX_CHECK_LEN (sizeof(gm_addr_checks) / sizeof(gm_addr_checks[0]))
addr_checks gm_rx_checks = {gm_addr_checks, GM_RX_CHECK_LEN};
static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int gm_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL);
@ -104,7 +104,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// else
// block all commands that produce actuation
static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int gm_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
@ -113,10 +113,6 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
if (relay_malfunction) {
tx = 0;
}
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = brake_pressed_prev && vehicle_moving;

43
panda/board/safety/safety_gm_ascm.h
View File

@ -1,43 +0,0 @@
// BUS 0 is on the LKAS module (ASCM) side
// BUS 2 is on the actuator (EPS) side
static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int bus_fwd = -1;
if (bus_num == 0) {
int addr = GET_ADDR(to_fwd);
bus_fwd = 2;
// do not propagate lkas messages from ascm to actuators, unless supercruise is on
// block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
// block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
//if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
if ((addr == 0x152) || (addr == 0x154)) {
bool supercruise_on = (GET_BYTE(to_fwd, 4) & 0x10) != 0; // bit 36
if (!supercruise_on) {
bus_fwd = -1;
}
}
if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
// on the chassis bus, the OBDII port is on the module side, so we need to read
// the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
// the actuator as 0x152 and 0x154
uint32_t fwd_addr = addr + 1;
to_fwd->RIR = (fwd_addr << 21) | (to_fwd->RIR & 0x1fffff);
}
}
if (bus_num == 2) {
bus_fwd = 0;
}
return bus_fwd;
}
const safety_hooks gm_ascm_hooks = {
.init = nooutput_init,
.rx = default_rx_hook,
.tx = alloutput_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = gm_ascm_fwd_hook,
};

147
panda/board/safety/safety_honda.h
View File

@ -7,9 +7,7 @@
// 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_BG_TX_MSGS[] = {{0xE4, 2, 5}, {0xE5, 2, 8}, {0x296, 0, 4}, {0x33D, 2, 5}}; // Bosch Giraffe
const CanMsg HONDA_BH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}}; // Bosch Harness
const CanMsg HONDA_BG_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x1DF, 0, 8}, {0x1EF, 0, 8}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}, {0x39F, 0, 8}, {0x18DAB0F1, 0, 8}}; // Bosch Giraffe w/ gas and brakes
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
// Roughly calculated using the offsets in openpilot +5%:
@ -24,14 +22,24 @@ const int HONDA_BOSCH_NO_GAS_VALUE = -30000; // value sent when not requesting g
const int HONDA_BOSCH_GAS_MAX = 2000;
const int HONDA_BOSCH_ACCEL_MIN = -350; // max braking == -3.5m/s2
// Nidec and Bosch giraffe have pt on bus 0
AddrCheckStruct honda_addr_checks[] = {
// Nidec has the powertrain bus on bus 0
AddrCheckStruct honda_nidec_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 }}},
{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 }}},
};
#define HONDA_ADDR_CHECKS_LEN (sizeof(honda_addr_checks) / sizeof(honda_addr_checks[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
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[] = {
@ -39,26 +47,28 @@ AddrCheckStruct honda_bh_addr_checks[] = {
{.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]))
const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
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_BG_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
addr_checks honda_rx_checks = {honda_addr_checks, HONDA_ADDR_CHECKS_LEN};
enum {HONDA_N_HW, HONDA_BH_HW} honda_hw = HONDA_N_HW;
addr_checks honda_rx_checks = {honda_nidec_addr_checks, HONDA_NIDEC_ADDR_CHECKS_LEN};
static uint8_t honda_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t honda_get_checksum(CANPacket_t *to_push) {
int checksum_byte = GET_LEN(to_push) - 1;
return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU;
}
static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t honda_compute_checksum(CANPacket_t *to_push) {
int len = GET_LEN(to_push);
uint8_t checksum = 0U;
unsigned int addr = GET_ADDR(to_push);
@ -75,12 +85,12 @@ static uint8_t honda_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
return (8U - checksum) & 0xFU;
}
static uint8_t honda_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t honda_get_counter(CANPacket_t *to_push) {
int counter_byte = GET_LEN(to_push) - 1;
return ((uint8_t)(GET_BYTE(to_push, counter_byte)) >> 4U) & 0x3U;
}
static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int honda_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &honda_rx_checks,
honda_get_checksum, honda_compute_checksum, honda_get_counter);
@ -96,17 +106,30 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
}
// 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);
if (!acc_main_on) {
controls_allowed = 0;
}
}
// state machine to enter and exit controls
// 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;
switch (button) {
case 1: // main
case 2: // cancel
controls_allowed = 0;
break;
case 3: // set
case 4: // resume
controls_allowed = 1;
if (acc_main_on) {
controls_allowed = 1;
}
break;
default:
break; // any other button is irrelevant
@ -186,17 +209,13 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
// else
// block all commands that produce actuation
static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int honda_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
if ((honda_hw == HONDA_BG_HW) && !honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BG_TX_MSGS, sizeof(HONDA_BG_TX_MSGS)/sizeof(HONDA_BG_TX_MSGS[0]));
} else if ((honda_hw == HONDA_BG_HW) && honda_bosch_long) {
tx = msg_allowed(to_send, HONDA_BG_LONG_TX_MSGS, sizeof(HONDA_BG_LONG_TX_MSGS)/sizeof(HONDA_BG_LONG_TX_MSGS[0]));
} else if ((honda_hw == HONDA_BH_HW) && !honda_bosch_long) {
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]));
@ -204,10 +223,6 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = msg_allowed(to_send, HONDA_N_TX_MSGS, sizeof(HONDA_N_TX_MSGS)/sizeof(HONDA_N_TX_MSGS[0]));
}
if (relay_malfunction) {
tx = 0;
}
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
// and the the latching controls_allowed flag is True
int pedal_pressed = brake_pressed_prev && vehicle_moving;
@ -296,9 +311,9 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
// 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)) {
tx = 0;
}
if ((GET_BYTES_04(to_send) != 0x00803E02) || (GET_BYTES_48(to_send) != 0x0)) {
tx = 0;
}
}
// 1 allows the message through
@ -313,23 +328,12 @@ static const addr_checks* honda_nidec_init(int16_t param) {
honda_hw = HONDA_N_HW;
honda_alt_brake_msg = false;
honda_bosch_long = false;
honda_rx_checks = (addr_checks){honda_addr_checks, HONDA_ADDR_CHECKS_LEN};
return &honda_rx_checks;
}
static const addr_checks* honda_bosch_giraffe_init(int16_t param) {
controls_allowed = false;
relay_malfunction_reset();
honda_hw = HONDA_BG_HW;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE);
// radar disabled so allow gas/brakes
#ifdef ALLOW_DEBUG
honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG);
#endif
honda_rx_checks = (addr_checks){honda_addr_checks, HONDA_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;
}
@ -349,48 +353,47 @@ static const addr_checks* honda_bosch_harness_init(int16_t param) {
return &honda_rx_checks;
}
static int honda_nidec_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int honda_nidec_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
// fwd from car to camera. also fwd certain msgs from camera to car
// 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX,
// 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud,
int bus_fwd = -1;
if (!relay_malfunction) {
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == 2) {
// block stock lkas messages and stock acc messages (if OP is doing ACC)
int addr = GET_ADDR(to_fwd);
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
bool is_acc_hud_msg = addr == 0x30C;
bool is_brake_msg = addr == 0x1FA;
bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
if (!block_fwd) {
bus_fwd = 0;
}
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == 2) {
// block stock lkas messages and stock acc messages (if OP is doing ACC)
int addr = GET_ADDR(to_fwd);
bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
bool is_acc_hud_msg = addr == 0x30C;
bool is_brake_msg = addr == 0x1FA;
bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake);
if (!block_fwd) {
bus_fwd = 0;
}
}
return bus_fwd;
}
static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *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 (!relay_malfunction) {
if (bus_num == bus_rdr_car) {
bus_fwd = bus_rdr_cam;
}
if (bus_num == bus_rdr_cam) {
int addr = GET_ADDR(to_fwd);
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
if (!is_lkas_msg) {
bus_fwd = bus_rdr_car;
}
if (bus_num == bus_rdr_car) {
bus_fwd = bus_rdr_cam;
}
if (bus_num == bus_rdr_cam) {
int addr = GET_ADDR(to_fwd);
int is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D);
if (!is_lkas_msg) {
bus_fwd = bus_rdr_car;
}
}
return bus_fwd;
}
@ -402,14 +405,6 @@ const safety_hooks honda_nidec_hooks = {
.fwd = honda_nidec_fwd_hook,
};
const safety_hooks honda_bosch_giraffe_hooks = {
.init = honda_bosch_giraffe_init,
.rx = honda_rx_hook,
.tx = honda_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = honda_bosch_fwd_hook,
};
const safety_hooks honda_bosch_harness_hooks = {
.init = honda_bosch_harness_init,
.rx = honda_rx_hook,

30
panda/board/safety/safety_hyundai.h
View File

@ -69,7 +69,7 @@ bool hyundai_longitudinal = false;
addr_checks hyundai_rx_checks = {hyundai_addr_checks, HYUNDAI_ADDR_CHECK_LEN};
static uint8_t hyundai_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t hyundai_get_counter(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t cnt;
@ -89,7 +89,7 @@ static uint8_t hyundai_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
return cnt;
}
static uint8_t hyundai_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t hyundai_get_checksum(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t chksum;
@ -107,7 +107,7 @@ static uint8_t hyundai_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
return chksum;
}
static uint8_t hyundai_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t hyundai_compute_checksum(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
uint8_t chksum = 0;
@ -143,7 +143,7 @@ static uint8_t hyundai_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
return chksum;
}
static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int hyundai_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &hyundai_rx_checks,
hyundai_get_checksum, hyundai_compute_checksum,
@ -223,7 +223,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
return valid;
}
static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int hyundai_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
@ -234,10 +234,6 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = msg_allowed(to_send, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]));
}
if (relay_malfunction) {
tx = 0;
}
// FCA11: Block any potential actuation
if (addr == 909) {
int CR_VSM_DecCmd = GET_BYTE(to_send, 1);
@ -342,19 +338,19 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return tx;
}
static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int hyundai_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
int bus_fwd = -1;
int addr = GET_ADDR(to_fwd);
// forward cam to ccan and viceversa, except lkas cmd
if (!relay_malfunction) {
if (bus_num == 0) {
bus_fwd = 2;
}
if ((bus_num == 2) && (addr != 832) && (addr != 1157)) {
bus_fwd = 0;
}
if (bus_num == 0) {
bus_fwd = 2;
}
if ((bus_num == 2) && (addr != 832) && (addr != 1157)) {
bus_fwd = 0;
}
return bus_fwd;
}

69
panda/board/safety/safety_mazda.h
View File

@ -1,5 +1,6 @@
// CAN msgs we care about
#define MAZDA_LKAS 0x243
#define MAZDA_LKAS_HUD 0x440
#define MAZDA_CRZ_CTRL 0x21c
#define MAZDA_CRZ_BTNS 0x09d
#define MAZDA_STEER_TORQUE 0x240
@ -23,12 +24,7 @@
#define MAZDA_DRIVER_TORQUE_FACTOR 1
#define MAZDA_MAX_TORQUE_ERROR 350
// lkas enable speed 52kph, disable at 45kph
#define MAZDA_LKAS_ENABLE_SPEED 5200
#define MAZDA_LKAS_DISABLE_SPEED 4500
const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}};
bool mazda_lkas_allowed = false;
const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}};
AddrCheckStruct mazda_addr_checks[] = {
{.msg = {{MAZDA_CRZ_CTRL, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}},
@ -41,7 +37,7 @@ AddrCheckStruct mazda_addr_checks[] = {
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(CAN_FIFOMailBox_TypeDef *to_push) {
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)) {
int addr = GET_ADDR(to_push);
@ -49,17 +45,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
if (addr == MAZDA_ENGINE_DATA) {
// sample speed: scale by 0.01 to get kph
int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
vehicle_moving = speed > 10; // moving when speed > 0.1 kph
// Enable LKAS at 52kph going up, disable at 45kph going down
if (speed > MAZDA_LKAS_ENABLE_SPEED) {
mazda_lkas_allowed = true;
} else if (speed < MAZDA_LKAS_DISABLE_SPEED) {
mazda_lkas_allowed = false;
} else {
// Misra-able appeasment block!
}
}
if (addr == MAZDA_STEER_TORQUE) {
@ -73,13 +59,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool cruise_engaged = GET_BYTE(to_push, 0) & 8;
if (cruise_engaged) {
if (!cruise_engaged_prev) {
// do not engage until we hit the speed at which lkas is on
if (mazda_lkas_allowed) {
controls_allowed = 1;
} else {
controls_allowed = 0;
cruise_engaged = false;
}
controls_allowed = 1;
}
} else {
controls_allowed = 0;
@ -100,7 +80,7 @@ static int mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
return valid;
}
static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int mazda_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
int bus = GET_BUS(to_send);
@ -109,10 +89,6 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
if (relay_malfunction) {
tx = 0;
}
// Check if msg is sent on the main BUS
if (bus == MAZDA_MAIN) {
@ -162,24 +138,36 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
}
// cruise buttons check
if (addr == MAZDA_CRZ_BTNS) {
// allow resume spamming while controls allowed, but
// only allow cancel while contrls not allowed
bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U);
if (!controls_allowed && !cancel_cmd) {
tx = 0;
}
}
}
return tx;
}
static int mazda_fwd_hook(int bus, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int mazda_fwd_hook(int bus, CANPacket_t *to_fwd) {
int bus_fwd = -1;
if (!relay_malfunction) {
int addr = GET_ADDR(to_fwd);
if (bus == MAZDA_MAIN) {
bus_fwd = MAZDA_CAM;
} else if (bus == MAZDA_CAM) {
if (!(addr == MAZDA_LKAS)) {
bus_fwd = MAZDA_MAIN;
}
} else {
bus_fwd = -1;
int addr = GET_ADDR(to_fwd);
if (bus == MAZDA_MAIN) {
bus_fwd = MAZDA_CAM;
} else if (bus == MAZDA_CAM) {
bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD);
if (!block) {
bus_fwd = MAZDA_MAIN;
}
} else {
// don't fwd
}
return bus_fwd;
}
@ -187,7 +175,6 @@ static const addr_checks* mazda_init(int16_t param) {
UNUSED(param);
controls_allowed = false;
relay_malfunction_reset();
mazda_lkas_allowed = false;
return &mazda_rx_checks;
}

30
panda/board/safety/safety_nissan.h
View File

@ -11,7 +11,14 @@ const struct lookup_t NISSAN_LOOKUP_ANGLE_RATE_DOWN = {
const int NISSAN_DEG_TO_CAN = 100;
const CanMsg NISSAN_TX_MSGS[] = {{0x169, 0, 8}, {0x2b1, 0, 8}, {0x4cc, 0, 8}, {0x20b, 2, 6}, {0x20b, 1, 6}, {0x280, 2, 8}};
const CanMsg NISSAN_TX_MSGS[] = {
{0x169, 0, 8}, // LKAS
{0x2b1, 0, 8}, // PROPILOT_HUD
{0x4cc, 0, 8}, // PROPILOT_HUD_INFO_MSG
{0x20b, 2, 6}, // CRUISE_THROTTLE (X-Trail)
{0x20b, 1, 6}, // CRUISE_THROTTLE (Altima)
{0x280, 2, 8} // CANCEL_MSG (Leaf)
};
// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model.
AddrCheckStruct nissan_addr_checks[] = {
@ -34,7 +41,7 @@ addr_checks nissan_rx_checks = {nissan_addr_checks, NISSAN_ADDR_CHECK_LEN};
// EPS Location. false = V-CAN, true = C-CAN
bool nissan_alt_eps = false;
static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int nissan_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &nissan_rx_checks, NULL, NULL, NULL);
@ -71,12 +78,12 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
}
// X-trail 0x454, Leaf 0x1cc
if ((addr == 0x454) || (addr == 0x1cc)) {
// X-trail 0x454, Leaf 0x239
if ((addr == 0x454) || (addr == 0x239)) {
if (addr == 0x454){
brake_pressed = (GET_BYTE(to_push, 2) & 0x80) != 0;
} else {
brake_pressed = GET_BYTE(to_push, 0) > 3;
brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1) != 0;
}
}
@ -99,7 +106,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int nissan_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
bool violation = 0;
@ -108,10 +115,6 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
if (relay_malfunction) {
tx = 0;
}
// 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));
@ -163,7 +166,7 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int nissan_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
int bus_fwd = -1;
int addr = GET_ADDR(to_fwd);
@ -182,11 +185,6 @@ static int nissan_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
}
}
if (relay_malfunction) {
bus_fwd = -1;
}
// fallback to do not forward
return bus_fwd;
}

84
panda/board/safety/safety_subaru.h
View File

@ -35,17 +35,17 @@ AddrCheckStruct subaru_l_addr_checks[] = {
{.msg = {{0x144, 0, 8, .expected_timestep = 50000U}, { 0 }, { 0 }}},
};
#define SUBARU_L_ADDR_CHECK_LEN (sizeof(subaru_l_addr_checks) / sizeof(subaru_l_addr_checks[0]))
addr_checks subaru_l_rx_checks = {subaru_addr_checks, SUBARU_L_ADDR_CHECK_LEN};
addr_checks subaru_l_rx_checks = {subaru_l_addr_checks, SUBARU_L_ADDR_CHECK_LEN};
static uint8_t subaru_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t subaru_get_checksum(CANPacket_t *to_push) {
return (uint8_t)GET_BYTE(to_push, 0);
}
static uint8_t subaru_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t subaru_get_counter(CANPacket_t *to_push) {
return (uint8_t)(GET_BYTE(to_push, 1) & 0xF);
}
static uint8_t subaru_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t subaru_compute_checksum(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U);
@ -55,7 +55,7 @@ static uint8_t subaru_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
return checksum;
}
static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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);
@ -102,7 +102,7 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
return valid;
}
static int subaru_legacy_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
static int subaru_legacy_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, &subaru_l_rx_checks, NULL, NULL, NULL);
@ -148,7 +148,7 @@ static int subaru_legacy_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
return valid;
}
static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int subaru_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
@ -156,10 +156,6 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
if (relay_malfunction) {
tx = 0;
}
// steer cmd checks
if (addr == 0x122) {
int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x1FFF);
@ -212,7 +208,7 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return tx;
}
static int subaru_legacy_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int subaru_legacy_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
@ -220,10 +216,6 @@ static int subaru_legacy_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
if (relay_malfunction) {
tx = 0;
}
// steer cmd checks
if (addr == 0x164) {
int desired_torque = ((GET_BYTES_04(to_send) >> 8) & 0x1FFF);
@ -276,48 +268,46 @@ static int subaru_legacy_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return tx;
}
static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int subaru_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
int bus_fwd = -1;
if (!relay_malfunction) {
if (bus_num == 0) {
bus_fwd = 2; // Camera CAN
}
if (bus_num == 2) {
// Global platform
// 0x122 ES_LKAS
// 0x221 ES_Distance
// 0x322 ES_LKAS_State
int addr = GET_ADDR(to_fwd);
int block_msg = ((addr == 0x122) || (addr == 0x221) || (addr == 0x322));
if (!block_msg) {
bus_fwd = 0; // Main CAN
}
if (bus_num == 0) {
bus_fwd = 2; // Camera CAN
}
if (bus_num == 2) {
// Global platform
// 0x122 ES_LKAS
// 0x221 ES_Distance
// 0x322 ES_LKAS_State
int addr = GET_ADDR(to_fwd);
int block_msg = ((addr == 0x122) || (addr == 0x221) || (addr == 0x322));
if (!block_msg) {
bus_fwd = 0; // Main CAN
}
}
// fallback to do not forward
return bus_fwd;
}
static int subaru_legacy_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int subaru_legacy_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
int bus_fwd = -1;
if (!relay_malfunction) {
if (bus_num == 0) {
bus_fwd = 2; // Camera CAN
}
if (bus_num == 2) {
// Preglobal platform
// 0x161 is ES_CruiseThrottle
// 0x164 is ES_LKAS
int addr = GET_ADDR(to_fwd);
int block_msg = ((addr == 0x161) || (addr == 0x164));
if (!block_msg) {
bus_fwd = 0; // Main CAN
}
if (bus_num == 0) {
bus_fwd = 2; // Camera CAN
}
if (bus_num == 2) {
// Preglobal platform
// 0x161 is ES_CruiseThrottle
// 0x164 is ES_LKAS
int addr = GET_ADDR(to_fwd);
int block_msg = ((addr == 0x161) || (addr == 0x164));
if (!block_msg) {
bus_fwd = 0; // Main CAN
}
}
// fallback to do not forward
return bus_fwd;
}

145
panda/board/safety/safety_tesla.h
View File

@ -7,18 +7,29 @@ const struct lookup_t TESLA_LOOKUP_ANGLE_RATE_DOWN = {
{5., 3.5, .8}};
const int TESLA_DEG_TO_CAN = 10;
const float TESLA_MAX_ACCEL = 2.0; // m/s^2
const float TESLA_MIN_ACCEL = -3.5; // m/s^2
const int TESLA_FLAG_POWERTRAIN = 1;
const int TESLA_FLAG_LONGITUDINAL_CONTROL = 2;
const CanMsg TESLA_TX_MSGS[] = {
{0x488, 0, 4}, // DAS_steeringControl
{0x45, 0, 8}, // STW_ACTN_RQ
{0x45, 2, 8}, // STW_ACTN_RQ
{0x2b9, 0, 8}, // DAS_control
};
#define TESLA_TX_LEN (sizeof(TESLA_TX_MSGS) / sizeof(TESLA_TX_MSGS[0]))
const CanMsg TESLA_PT_TX_MSGS[] = {
{0x2bf, 0, 8}, // DAS_control
};
#define TESLA_PT_TX_LEN (sizeof(TESLA_PT_TX_MSGS) / sizeof(TESLA_PT_TX_MSGS[0]))
AddrCheckStruct tesla_addr_checks[] = {
{.msg = {{0x370, 0, 8, .expected_timestep = 40000U}, { 0 }, { 0 }}}, // EPAS_sysStatus (25Hz)
{.msg = {{0x108, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque1 (100Hz)
{.msg = {{0x118, 0, 6, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque2 (100Hz)
{.msg = {{0x155, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // ESP_B (50Hz)
{.msg = {{0x20a, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // BrakeMessage (50Hz)
{.msg = {{0x368, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // DI_state (10Hz)
{.msg = {{0x318, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // GTW_carState (10Hz)
@ -26,10 +37,20 @@ AddrCheckStruct tesla_addr_checks[] = {
#define TESLA_ADDR_CHECK_LEN (sizeof(tesla_addr_checks) / sizeof(tesla_addr_checks[0]))
addr_checks tesla_rx_checks = {tesla_addr_checks, TESLA_ADDR_CHECK_LEN};
bool autopilot_enabled = false;
AddrCheckStruct tesla_pt_addr_checks[] = {
{.msg = {{0x106, 0, 8, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque1 (100Hz)
{.msg = {{0x116, 0, 6, .expected_timestep = 10000U}, { 0 }, { 0 }}}, // DI_torque2 (100Hz)
{.msg = {{0x1f8, 0, 8, .expected_timestep = 20000U}, { 0 }, { 0 }}}, // BrakeMessage (50Hz)
{.msg = {{0x256, 0, 8, .expected_timestep = 100000U}, { 0 }, { 0 }}}, // DI_state (10Hz)
};
#define TESLA_PT_ADDR_CHECK_LEN (sizeof(tesla_pt_addr_checks) / sizeof(tesla_pt_addr_checks[0]))
addr_checks tesla_pt_rx_checks = {tesla_pt_addr_checks, TESLA_PT_ADDR_CHECK_LEN};
static int tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
bool valid = addr_safety_check(to_push, &tesla_rx_checks,
bool tesla_longitudinal = false;
bool tesla_powertrain = false; // Are we the second panda intercepting the powertrain bus?
static int tesla_rx_hook(CANPacket_t *to_push) {
bool valid = addr_safety_check(to_push, tesla_powertrain ? (&tesla_pt_rx_checks) : (&tesla_rx_checks),
NULL, NULL, NULL);
if(valid) {
@ -37,30 +58,32 @@ static int tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int addr = GET_ADDR(to_push);
if(bus == 0) {
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;
update_sample(&angle_meas, angle_meas_new);
if (!tesla_powertrain) {
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;
update_sample(&angle_meas, angle_meas_new);
}
}
if(addr == 0x155) {
// Vehicle speed: (0.01 * val) * KPH_TO_MPS
vehicle_speed = ((GET_BYTE(to_push, 5) << 8) | (GET_BYTE(to_push, 6))) * 0.01 / 3.6;
vehicle_moving = vehicle_speed > 0.;
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_moving = ABS(vehicle_speed) > 0.1;
}
if(addr == 0x108) {
if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
// Gas pressed
gas_pressed = (GET_BYTE(to_push, 6) != 0);
}
if(addr == 0x20a) {
if(addr == (tesla_powertrain ? 0x1f8 : 0x20a)) {
// Brake pressed
brake_pressed = (((GET_BYTE(to_push, 0) & 0x0C) >> 2) != 1);
}
if(addr == 0x368) {
if(addr == (tesla_powertrain ? 0x256 : 0x368)) {
// Cruise state
int cruise_state = (GET_BYTE(to_push, 1) >> 4);
bool cruise_engaged = (cruise_state == 2) || // ENABLED
@ -79,42 +102,31 @@ static int tesla_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
}
}
if (bus == 2) {
if (addr == 0x399) {
// Autopilot status
int autopilot_status = (GET_BYTE(to_push, 0) & 0xF);
autopilot_enabled = (autopilot_status == 3) || // ACTIVE_1
(autopilot_status == 4) || // ACTIVE_2
(autopilot_status == 5); // ACTIVE_NAVIGATE_ON_AUTOPILOT
if (autopilot_enabled) {
controls_allowed = 0;
}
}
if (tesla_powertrain) {
// 0x2bf: DAS_control should not be received on bus 0
generic_rx_checks((addr == 0x2bf) && (bus == 0));
} else {
// 0x488: DAS_steeringControl should not be received on bus 0
generic_rx_checks((addr == 0x488) && (bus == 0));
}
// 0x488: DAS_steeringControl should not be received on bus 0
generic_rx_checks((addr == 0x488) && (bus == 0));
}
return valid;
}
static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int tesla_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
bool violation = false;
if(!msg_allowed(to_send, TESLA_TX_MSGS, sizeof(TESLA_TX_MSGS) / sizeof(TESLA_TX_MSGS[0]))) {
if(!msg_allowed(to_send,
tesla_powertrain ? TESLA_PT_TX_MSGS : TESLA_TX_MSGS,
tesla_powertrain ? TESLA_PT_TX_LEN : TESLA_TX_LEN)) {
tx = 0;
}
if(relay_malfunction) {
tx = 0;
}
if(addr == 0x488) {
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));
@ -150,7 +162,7 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
}
if(addr == 0x45) {
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);
if((control_lever_status != 0) && (control_lever_status != 1)) {
@ -158,6 +170,33 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
}
}
if(addr == (tesla_powertrain ? 0x2bf : 0x2b9)) {
// 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;
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);
float accel_max = (0.04 * raw_accel_max) - 15;
float accel_min = (0.04 * raw_accel_min) - 15;
if ((accel_max > TESLA_MAX_ACCEL) || (accel_min > TESLA_MAX_ACCEL)){
violation = true;
}
if ((accel_max < TESLA_MIN_ACCEL) || (accel_min < TESLA_MIN_ACCEL)){
violation = true;
}
} else {
violation = true;
}
}
if(violation) {
controls_allowed = 0;
tx = 0;
@ -166,35 +205,43 @@ static int tesla_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return tx;
}
static int tesla_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int tesla_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
int bus_fwd = -1;
int addr = GET_ADDR(to_fwd);
if(bus_num == 0) {
// Chassis to autopilot
// Chassis/PT to autopilot
bus_fwd = 2;
}
if(bus_num == 2) {
// Autopilot to chassis
bool block_msg = ((addr == 0x488) && !autopilot_enabled);
// Autopilot to chassis/PT
int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9);
bool block_msg = false;
if (!tesla_powertrain && (addr == 0x488)) {
block_msg = true;
}
if (tesla_longitudinal && (addr == das_control_addr)) {
block_msg = true;
}
if(!block_msg) {
bus_fwd = 0;
}
}
if(relay_malfunction) {
bus_fwd = -1;
}
return bus_fwd;
}
static const addr_checks* tesla_init(int16_t param) {
UNUSED(param);
tesla_powertrain = GET_FLAG(param, TESLA_FLAG_POWERTRAIN);
tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
controls_allowed = 0;
relay_malfunction_reset();
return &tesla_rx_checks;
return tesla_powertrain ? (&tesla_pt_rx_checks) : (&tesla_rx_checks);
}
const safety_hooks tesla_hooks = {

45
panda/board/safety/safety_toyota.h
View File

@ -44,7 +44,7 @@ addr_checks toyota_rx_checks = {toyota_addr_checks, TOYOTA_ADDR_CHECKS_LEN};
// global actuation limit states
int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file
static uint8_t toyota_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t toyota_compute_checksum(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U) + (uint8_t)(len);
@ -54,12 +54,12 @@ static uint8_t toyota_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
return checksum;
}
static uint8_t toyota_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t toyota_get_checksum(CANPacket_t *to_push) {
int checksum_byte = GET_LEN(to_push) - 1;
return (uint8_t)(GET_BYTE(to_push, checksum_byte));
}
static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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);
@ -134,7 +134,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
return valid;
}
static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int toyota_tx_hook(CANPacket_t *to_send) {
int tx = 1;
int addr = GET_ADDR(to_send);
@ -144,10 +144,6 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
tx = 0;
}
if (relay_malfunction) {
tx = 0;
}
// Check if msg is sent on BUS 0
if (bus == 0) {
@ -251,26 +247,27 @@ static const addr_checks* toyota_init(int16_t param) {
return &toyota_rx_checks;
}
static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int toyota_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
int bus_fwd = -1;
if (!relay_malfunction) {
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == 2) {
int addr = GET_ADDR(to_fwd);
// block stock lkas messages and stock acc messages (if OP is doing ACC)
// in TSS2, 0x191 is LTA which we need to block to avoid controls collision
int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
// in TSS2 the camera does ACC as well, so filter 0x343
int is_acc_msg = (addr == 0x343);
int block_msg = is_lkas_msg || is_acc_msg;
if (!block_msg) {
bus_fwd = 0;
}
if (bus_num == 0) {
bus_fwd = 2;
}
if (bus_num == 2) {
int addr = GET_ADDR(to_fwd);
// block stock lkas messages and stock acc messages (if OP is doing ACC)
// in TSS2, 0x191 is LTA which we need to block to avoid controls collision
int is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191));
// in TSS2 the camera does ACC as well, so filter 0x343
int is_acc_msg = (addr == 0x343);
int block_msg = is_lkas_msg || is_acc_msg;
if (!block_msg) {
bus_fwd = 0;
}
}
return bus_fwd;
}

61
panda/board/safety/safety_volkswagen.h
View File

@ -58,22 +58,22 @@ int volkswagen_lane_msg = 0;
uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR
static uint8_t volkswagen_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t volkswagen_get_checksum(CANPacket_t *to_push) {
return (uint8_t)GET_BYTE(to_push, 0);
}
static uint8_t volkswagen_mqb_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t volkswagen_mqb_get_counter(CANPacket_t *to_push) {
// MQB message counters are consistently found at LSB 8.
return (uint8_t)GET_BYTE(to_push, 1) & 0xFU;
}
static uint8_t volkswagen_pq_get_counter(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t volkswagen_pq_get_counter(CANPacket_t *to_push) {
// Few PQ messages have counters, and their offsets are inconsistent. This
// function works only for Lenkhilfe_3 at this time.
return (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4;
}
static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t volkswagen_mqb_compute_crc(CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
int len = GET_LEN(to_push);
@ -108,7 +108,7 @@ static uint8_t volkswagen_mqb_compute_crc(CAN_FIFOMailBox_TypeDef *to_push) {
return crc ^ 0xFFU;
}
static uint8_t volkswagen_pq_compute_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
static uint8_t volkswagen_pq_compute_checksum(CANPacket_t *to_push) {
int len = GET_LEN(to_push);
uint8_t checksum = 0U;
@ -140,7 +140,7 @@ static const addr_checks* volkswagen_pq_init(int16_t param) {
return &volkswagen_pq_rx_checks;
}
static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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);
@ -200,7 +200,7 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
return valid;
}
static int volkswagen_pq_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
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);
@ -297,11 +297,11 @@ static bool volkswagen_steering_check(int desired_torque) {
return violation;
}
static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int volkswagen_mqb_tx_hook(CANPacket_t *to_send) {
int addr = GET_ADDR(to_send);
int tx = 1;
if (!msg_allowed(to_send, VOLKSWAGEN_MQB_TX_MSGS, VOLKSWAGEN_MQB_TX_MSGS_LEN) || relay_malfunction) {
if (!msg_allowed(to_send, VOLKSWAGEN_MQB_TX_MSGS, VOLKSWAGEN_MQB_TX_MSGS_LEN)) {
tx = 0;
}
@ -333,11 +333,11 @@ static int volkswagen_mqb_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return tx;
}
static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static int volkswagen_pq_tx_hook(CANPacket_t *to_send) {
int addr = GET_ADDR(to_send);
int tx = 1;
if (!msg_allowed(to_send, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN) || relay_malfunction) {
if (!msg_allowed(to_send, VOLKSWAGEN_PQ_TX_MSGS, VOLKSWAGEN_PQ_TX_MSGS_LEN)) {
tx = 0;
}
@ -370,31 +370,30 @@ static int volkswagen_pq_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return tx;
}
static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static int volkswagen_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
int addr = GET_ADDR(to_fwd);
int bus_fwd = -1;
if (!relay_malfunction) {
switch (bus_num) {
case 0:
// Forward all traffic from the Extended CAN onward
bus_fwd = 2;
break;
case 2:
if ((addr == volkswagen_torque_msg) || (addr == volkswagen_lane_msg)) {
// OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera
bus_fwd = -1;
} else {
// Forward all remaining traffic from Extended CAN devices to J533 gateway
bus_fwd = 0;
}
break;
default:
// No other buses should be in use; fallback to do-not-forward
switch (bus_num) {
case 0:
// Forward all traffic from the Extended CAN onward
bus_fwd = 2;
break;
case 2:
if ((addr == volkswagen_torque_msg) || (addr == volkswagen_lane_msg)) {
// OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera
bus_fwd = -1;
break;
}
} else {
// Forward all remaining traffic from Extended CAN devices to J533 gateway
bus_fwd = 0;
}
break;
default:
// No other buses should be in use; fallback to do-not-forward
bus_fwd = -1;
break;
}
return bus_fwd;
}

29
panda/board/safety_declarations.h
View File

@ -1,3 +1,9 @@
#define GET_BIT(msg, b) (((msg)->data[(int)((b) / 8)] >> ((b) % 8)) & 0x1)
#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_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask))
const int MAX_WRONG_COUNTERS = 5;
const uint8_t MAX_MISSED_MSGS = 10U;
@ -48,8 +54,8 @@ typedef struct {
int len;
} addr_checks;
int safety_rx_hook(CAN_FIFOMailBox_TypeDef *to_push);
int safety_tx_hook(CAN_FIFOMailBox_TypeDef *to_send);
int safety_rx_hook(CANPacket_t *to_push);
int safety_tx_hook(CANPacket_t *to_send);
int safety_tx_lin_hook(int lin_num, uint8_t *data, int len);
uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last);
int to_signed(int d, int bits);
@ -63,25 +69,25 @@ bool driver_limit_check(int val, int val_last, struct sample_t *val_driver,
bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
float interpolate(struct lookup_t xy, float x);
void gen_crc_lookup_table(uint8_t poly, uint8_t crc_lut[]);
bool msg_allowed(CAN_FIFOMailBox_TypeDef *to_send, const CanMsg msg_list[], int len);
int get_addr_check_index(CAN_FIFOMailBox_TypeDef *to_push, AddrCheckStruct addr_list[], const int len);
bool msg_allowed(CANPacket_t *to_send, const CanMsg msg_list[], int len);
int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], const int len);
void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter);
void update_addr_timestamp(AddrCheckStruct addr_list[], int index);
bool is_msg_valid(AddrCheckStruct addr_list[], int index);
bool addr_safety_check(CAN_FIFOMailBox_TypeDef *to_push,
bool addr_safety_check(CANPacket_t *to_push,
const addr_checks *rx_checks,
uint8_t (*get_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
uint8_t (*compute_checksum)(CAN_FIFOMailBox_TypeDef *to_push),
uint8_t (*get_counter)(CAN_FIFOMailBox_TypeDef *to_push));
uint8_t (*get_checksum)(CANPacket_t *to_push),
uint8_t (*compute_checksum)(CANPacket_t *to_push),
uint8_t (*get_counter)(CANPacket_t *to_push));
void generic_rx_checks(bool stock_ecu_detected);
void relay_malfunction_set(void);
void relay_malfunction_reset(void);
typedef const addr_checks* (*safety_hook_init)(int16_t param);
typedef int (*rx_hook)(CAN_FIFOMailBox_TypeDef *to_push);
typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
typedef int (*rx_hook)(CANPacket_t *to_push);
typedef int (*tx_hook)(CANPacket_t *to_send);
typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
typedef int (*fwd_hook)(int bus_num, CANPacket_t *to_fwd);
typedef struct {
safety_hook_init init;
@ -105,6 +111,7 @@ bool brake_pressed_prev = false;
bool cruise_engaged_prev = false;
float vehicle_speed = 0;
bool vehicle_moving = false;
bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018
// for safety modes with torque steering control
int desired_torque_last = 0; // last desired steer torque

4
panda/board/stm32fx/stm32fx_config.h
View File

@ -38,6 +38,10 @@
#define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U
#define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U
#define CANPACKET_DATA_SIZE_MAX 8U
#include "can_definitions.h"
#ifndef BOOTSTUB
#ifdef PANDA
#include "main_declarations.h"

36
panda/board/stm32h7/clock.h
View File

@ -1,8 +1,8 @@
void clock_init(void) {
//Set power mode to direct SMPS power supply(depends on the board layout)
register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS
//Set VOS level to VOS0. (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
register_set(&(PWR->D3CR), PWR_D3CR_VOS_1, 0xC000U); //VOS2
//Set VOS level (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz)
register_set(&(PWR->D3CR), PWR_D3CR_VOS_1 | PWR_D3CR_VOS_0, 0xC000U); //VOS1, needed for 80Mhz CAN FD
while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0);
while ((PWR->CSR1 & PWR_CSR1_ACTVOS) != (PWR->D3CR & PWR_D3CR_VOS)); // check that VOS level was actually set
// Configure Flash ACR register LATENCY and WRHIGHFREQ (VOS0 range!)
@ -10,12 +10,12 @@ void clock_init(void) {
// enable external oscillator HSE
register_set_bits(&(RCC->CR), RCC_CR_HSEON);
while ((RCC->CR & RCC_CR_HSERDY) == 0);
// Specify the frequency source for PLL1, divider for DIVM1, divider for DIVM2 : HSE, 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, 0x3F3F3U);
// 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);
// *** PLL1 start ***
// Specify multiplier N and dividers P, Q, R for PLL1 : 48, 1, 5, 2
register_set(&(RCC->PLL1DIVR), 0x104002FU, 0x7F7FFFFFU);
// Specify multiplier N and dividers P, Q, R for PLL1 : 48, 1, 3, 2 (clock 240Mhz, PLL1Q 80Mhz for CAN FD)
register_set(&(RCC->PLL1DIVR), 0x102002FU, 0x7F7FFFFFU);
// Specify the input and output frequency ranges, enable dividers for PLL1
register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLL1RGE_2 | RCC_PLLCFGR_DIVP1EN | RCC_PLLCFGR_DIVQ1EN | RCC_PLLCFGR_DIVR1EN, 0x7000CU);
// Enable PLL1
@ -23,6 +23,16 @@ 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);
@ -30,8 +40,6 @@ void clock_init(void) {
register_set(&(RCC->D2CFGR), RCC_D2CFGR_D2PPRE1_DIV2 | RCC_D2CFGR_D2PPRE2_DIV2, 0x770U);
// RCC APB4 Clock Source
register_set(&(RCC->D3CFGR), RCC_D3CFGR_D3PPRE_DIV2, 0x70U);
// PLL2P for ADC
register_clear_bits(&(RCC->D3CFGR), RCC_D3CCIPR_ADCSEL);
// Set SysClock source to PLL
register_set(&(RCC->CFGR), RCC_CFGR_SW_PLL1, 0x7U);
@ -41,12 +49,12 @@ void clock_init(void) {
register_set_bits(&(RCC->AHB4ENR), RCC_APB4ENR_SYSCFGEN);
//////////////END OTHER CLOCKS////////////////////
// Configure clock source for USB
register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_0, RCC_D2CCIP2R_USBSEL); //PLL1Q
// Configure clock source for FDCAN
register_set(&(RCC->D2CCIP1R), RCC_D2CCIP1R_FDCANSEL_0, RCC_D2CCIP1R_FDCANSEL); //PLL1Q
// Configure clock source for ADC1,2,3
register_set(&(RCC->D3CCIPR), RCC_D3CCIPR_ADCSEL_1, RCC_D3CCIPR_ADCSEL); //per_ck(currently HSE)
// Configure clock source for USB (PLL3Q at 48Mhz)
register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_1, 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))
register_set(&(RCC->D3CCIPR), RCC_D3CCIPR_ADCSEL_1, RCC_D3CCIPR_ADCSEL);
//Enable the Clock Security System
register_set_bits(&(RCC->CR), RCC_CR_CSSHSEON);
//Enable Vdd33usb supply level detector

33
panda/board/stm32h7/llfdcan.h
View File

@ -4,28 +4,28 @@
#define FDCAN_OFFSET_W 853UL // words for each FDCAN module
#define FDCAN_END_ADDRESS 0x4000D3FCUL // Message RAM has a width of 4 Bytes
// With this settings we can go up to 6Mbit/s
// With this settings we can go up to 5Mbit/s
#define CAN_SYNC_JW 1U // 1 to 4
#define CAN_PHASE_SEG1 6U // =(PROP_SEG + PHASE_SEG1) , 1 to 16
#define CAN_PHASE_SEG2 1U // 1 to 8
#define CAN_PCLK 48000U // Sourced from PLL1Q
#define CAN_PCLK 80000U // Sourced from PLL1Q
#define CAN_QUANTA (1U + CAN_PHASE_SEG1 + CAN_PHASE_SEG2)
// Valid speeds in kbps and their prescalers:
// 10=600, 20=300, 50=120, 83.333=72, 100=60, 125=48, 250=24, 500=12, 1000=6, 2000=3, 3000=2, 6000=1
// 10=1000, 20=500, 50=200, 83.333=120, 100=100, 125=80, 250=40, 500=20, 1000=10, 2000=5, 5000=2
#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
// RX FIFO 0
#define FDCAN_RX_FIFO_0_EL_CNT 32UL
#define FDCAN_RX_FIFO_0_EL_CNT 24UL
#define FDCAN_RX_FIFO_0_HEAD_SIZE 8UL // bytes
#define FDCAN_RX_FIFO_0_DATA_SIZE 8UL // bytes
#define FDCAN_RX_FIFO_0_DATA_SIZE 64UL // bytes
#define FDCAN_RX_FIFO_0_EL_SIZE (FDCAN_RX_FIFO_0_HEAD_SIZE + FDCAN_RX_FIFO_0_DATA_SIZE)
#define FDCAN_RX_FIFO_0_EL_W_SIZE (FDCAN_RX_FIFO_0_EL_SIZE / 4UL)
#define FDCAN_RX_FIFO_0_OFFSET 0UL
// TX FIFO
#define FDCAN_TX_FIFO_EL_CNT 32UL
#define FDCAN_TX_FIFO_EL_CNT 16UL
#define FDCAN_TX_FIFO_HEAD_SIZE 8UL // bytes
#define FDCAN_TX_FIFO_DATA_SIZE 8UL // bytes
#define FDCAN_TX_FIFO_DATA_SIZE 64UL // bytes
#define FDCAN_TX_FIFO_EL_SIZE (FDCAN_TX_FIFO_HEAD_SIZE + FDCAN_TX_FIFO_DATA_SIZE)
#define FDCAN_TX_FIFO_EL_W_SIZE (FDCAN_TX_FIFO_EL_SIZE / 4UL)
#define FDCAN_TX_FIFO_OFFSET (FDCAN_RX_FIFO_0_OFFSET + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_W_SIZE))
@ -33,13 +33,6 @@
#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? "FDCAN1" : (((CAN_DEV) == FDCAN2) ? "FDCAN2" : "FDCAN3"))
#define CAN_NUM_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? 0UL : (((CAN_DEV) == FDCAN2) ? 1UL : 2UL))
// For backwards compatibility with safety code
typedef struct {
__IO uint32_t RIR; /*!< CAN receive FIFO mailbox identifier register */
__IO uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */
__IO uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */
__IO uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
} CAN_FIFOMailBox_TypeDef;
void puts(const char *a);
@ -138,10 +131,10 @@ bool llcan_init(FDCAN_GlobalTypeDef *CANx) {
// Set TX mode to FIFO
CANx->TXBC &= ~(FDCAN_TXBC_TFQM);
// Configure TX element size (for now 8 bytes, no need to change)
//CANx->TXESC |= 0x000U;
//Configure RX FIFO0, FIFO1, RX buffer element sizes (no need for now, using classic 8 bytes)
register_set(&(CANx->RXESC), 0x0U, (FDCAN_RXESC_F0DS | FDCAN_RXESC_F1DS | FDCAN_RXESC_RBDS));
// Configure TX element data size
CANx->TXESC |= 0x7U << FDCAN_TXESC_TBDS_Pos; // 64 bytes
//Configure RX FIFO0 element data size
CANx->RXESC |= 0x7U << FDCAN_RXESC_F0DS_Pos;
// Disable filtering, accept all valid frames received
CANx->XIDFC &= ~(FDCAN_XIDFC_LSE); // No extended filters
CANx->SIDFC &= ~(FDCAN_SIDFC_LSS); // No standard filters
@ -154,13 +147,13 @@ bool llcan_init(FDCAN_GlobalTypeDef *CANx) {
uint32_t TxFIFOSA = RxFIFO0SA + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE);
// RX FIFO 0
CANx->RXF0C = (FDCAN_RX_FIFO_0_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_RXF0C_F0SA_Pos;
CANx->RXF0C |= (FDCAN_RX_FIFO_0_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_RXF0C_F0SA_Pos;
CANx->RXF0C |= FDCAN_RX_FIFO_0_EL_CNT << FDCAN_RXF0C_F0S_Pos;
// RX FIFO 0 switch to non-blocking (overwrite) mode
CANx->RXF0C |= FDCAN_RXF0C_F0OM;
// TX FIFO (mode set earlier)
CANx->TXBC = (FDCAN_TX_FIFO_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_TXBC_TBSA_Pos;
CANx->TXBC |= (FDCAN_TX_FIFO_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_TXBC_TBSA_Pos;
CANx->TXBC |= FDCAN_TX_FIFO_EL_CNT << FDCAN_TXBC_TFQS_Pos;
// Flush allocated RAM

4
panda/board/stm32h7/stm32h7_config.h
View File

@ -34,6 +34,10 @@
#define PROVISION_CHUNK_ADDRESS 0x080FFFE0U
#define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U
#define CANPACKET_DATA_SIZE_MAX 64U
#include "can_definitions.h"
#ifndef BOOTSTUB
#include "main_declarations.h"
#else

6
panda/board/stm32h7/stm32h7x5_flash.ld
View File

@ -180,6 +180,12 @@ SECTIONS
. = ALIGN(8);
} >DTCMRAM
.ram_d1 (NOLOAD) :
{
. = ALIGN(4);
*(.ram_d1*)
} >RAM_D1
.ARM.attributes 0 : { *(.ARM.attributes) }
}

108
panda/board/usb_protocol.h 100644
View File

@ -0,0 +1,108 @@
typedef struct {
uint8_t ptr;
uint8_t 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 usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
UNUSED(hardwired);
uint8_t 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) {
(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;
}
}
if (total_rx_size > MAX_EP1_CHUNK_PER_BULK_TRANSFER) {
total_rx_size = 0;
ep1_buffer.counter = 0;
} 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];
if ((pos + pckt_len) <= len) {
(void)memcpy(&usbdata8[pos], &can_packet, pckt_len);
pos += pckt_len;
} else {
(void)memcpy(&usbdata8[pos], &can_packet, len - pos);
ep1_buffer.ptr = pckt_len - (len - pos);
//(void)memcpy(ep1_buffer.data, ((uint8_t*)&can_packet + (len - pos)), ep1_buffer.ptr);
// cppcheck-suppress objectIndex
(void)memcpy(ep1_buffer.data, &((uint8_t*)&can_packet)[(len - pos)], ep1_buffer.ptr);
pos = len;
}
}
ep1_buffer.counter++;
total_rx_size += pos;
}
if (pos != len) {
ep1_buffer.counter = 0;
total_rx_size = 0;
}
if (pos <= 1) { pos = 0; }
return pos;
}
usb_asm_buffer ep3_buffer = {.ptr = 0, .tail_size = 0, .counter = 0};
// send on CAN
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;
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;
ep3_buffer.counter++;
if (ep3_buffer.ptr != 0) {
if (ep3_buffer.tail_size <= 63U) {
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);
can_send(&to_push, to_push.bus, false);
pos += ep3_buffer.tail_size;
ep3_buffer.ptr = 0;
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;
}
}
while (pos < len) {
uint8_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[(usbdata8[pos] >> 4U)];
if ((pos + pckt_len) <= (uint8_t)len) {
CANPacket_t to_push;
(void)memcpy(&to_push, &usbdata8[pos], pckt_len);
can_send(&to_push, to_push.bus, false);
pos += pckt_len;
} else {
(void)memcpy(ep3_buffer.data, &usbdata8[pos], len - pos);
ep3_buffer.ptr = len - pos;
ep3_buffer.tail_size = pckt_len - ep3_buffer.ptr;
pos += ep3_buffer.ptr;
}
}
}
}

181
panda/python/__init__.py
View File

@ -8,6 +8,7 @@ import os
import time
import traceback
import sys
from functools import wraps
from .dfu import PandaDFU, MCU_TYPE_F2, MCU_TYPE_F4, MCU_TYPE_H7 # pylint: disable=import-error
from .flash_release import flash_release # noqa pylint: disable=import-error
from .update import ensure_st_up_to_date # noqa pylint: disable=import-error
@ -15,28 +16,105 @@ from .serial import PandaSerial # noqa pylint: disable=import-error
from .isotp import isotp_send, isotp_recv # pylint: disable=import-error
from .config import DEFAULT_FW_FN, DEFAULT_H7_FW_FN # noqa pylint: disable=import-error
__version__ = '0.0.9'
__version__ = '0.0.10'
BASEDIR = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")
DEBUG = os.getenv("PANDADEBUG") is not None
def parse_can_buffer(dat):
ret = []
for j in range(0, len(dat), 0x10):
ddat = dat[j:j + 0x10]
f1, f2 = struct.unpack("II", ddat[0:8])
extended = 4
if f1 & extended:
address = f1 >> 3
else:
address = f1 >> 21
dddat = ddat[8:8 + (f2 & 0xF)]
CANPACKET_HEAD_SIZE = 0x5
DLC_TO_LEN = [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64]
LEN_TO_DLC = {length: dlc for (dlc, length) in enumerate(DLC_TO_LEN)}
def pack_can_buffer(arr):
snds = [b'']
idx = 0
for address, _, dat, bus in arr:
assert len(dat) in LEN_TO_DLC
if DEBUG:
print(f" R 0x{address:x}: 0x{dddat.hex()}")
ret.append((address, f2 >> 16, dddat, (f2 >> 4) & 0xFF))
print(f" W 0x{address:x}: 0x{dat.hex()}")
extended = 1 if address >= 0x800 else 0
data_len_code = LEN_TO_DLC[len(dat)]
header = bytearray(5)
word_4b = address << 3 | extended << 2
header[0] = (data_len_code << 4) | (bus << 1)
header[1] = word_4b & 0xFF
header[2] = (word_4b >> 8) & 0xFF
header[3] = (word_4b >> 16) & 0xFF
header[4] = (word_4b >> 24) & 0xFF
snds[idx] += header + dat
if len(snds[idx]) > 256: # Limit chunks to 256 bytes
snds.append(b'')
idx += 1
#Apply counter to each 64 byte packet
for idx in range(len(snds)):
tx = b''
counter = 0
for i in range (0, len(snds[idx]), 63):
tx += bytes([counter]) + snds[idx][i:i+63]
counter += 1
snds[idx] = tx
return snds
def unpack_can_buffer(dat):
ret = []
counter = 0
tail = bytearray()
for i in range(0, len(dat), 64):
if counter != dat[i]:
print("CAN: LOST RECV PACKET COUNTER")
break
counter+=1
chunk = tail + dat[i+1:i+64]
tail = bytearray()
pos = 0
while pos<len(chunk):
data_len = DLC_TO_LEN[(chunk[pos]>>4)]
pckt_len = CANPACKET_HEAD_SIZE + data_len
if pckt_len <= len(chunk[pos:]):
header = chunk[pos:pos+CANPACKET_HEAD_SIZE]
if len(header) < 5:
print("CAN: MALFORMED USB RECV PACKET")
break
bus = (header[0] >> 1) & 0x7
address = (header[4] << 24 | header[3] << 16 | header[2] << 8 | header[1]) >> 3
returned = (header[1] >> 1) & 0x1
rejected = header[1] & 0x1
data = chunk[pos + CANPACKET_HEAD_SIZE:pos + CANPACKET_HEAD_SIZE + data_len]
if returned:
bus += 128
if rejected:
bus += 192
if DEBUG:
print(f" R 0x{address:x}: 0x{data.hex()}")
ret.append((address, 0, data, bus))
pos += pckt_len
else:
tail = chunk[pos:]
break
return ret
def ensure_health_packet_version(fn):
@wraps(fn)
def wrapper(self, *args, **kwargs):
if self.health_version < self.HEALTH_PACKET_VERSION:
raise RuntimeError("Panda firmware has outdated health packet definition. Reflash panda firmware.")
elif self.health_version > self.HEALTH_PACKET_VERSION:
raise RuntimeError("Panda python library has outdated health packet definition. Update panda python library.")
return fn(self, *args, **kwargs)
return wrapper
def ensure_can_packet_version(fn):
@wraps(fn)
def wrapper(self, *args, **kwargs):
if self.can_version < self.CAN_PACKET_VERSION:
raise RuntimeError("Panda firmware has outdated CAN packet definition. Reflash panda firmware.")
elif self.can_version > self.CAN_PACKET_VERSION:
raise RuntimeError("Panda python library has outdated CAN packet definition. Update panda python library.")
return fn(self, *args, **kwargs)
return wrapper
class PandaWifiStreaming(object):
def __init__(self, ip="192.168.0.10", port=1338):
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
@ -55,7 +133,7 @@ class PandaWifiStreaming(object):
try:
dat, addr = self.sock.recvfrom(0x200 * 0x10)
if addr == (self.ip, self.port):
ret += parse_can_buffer(dat)
ret += unpack_can_buffer(dat)
except socket.error as e:
if e.errno != 35 and e.errno != 11:
traceback.print_exc()
@ -140,6 +218,9 @@ class Panda(object):
HW_TYPE_DOS = b'\x06'
HW_TYPE_RED_PANDA = b'\x07'
CAN_PACKET_VERSION = 2
HEALTH_PACKET_VERSION = 1
F2_DEVICES = [HW_TYPE_PEDAL]
F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
H7_DEVICES = [HW_TYPE_RED_PANDA]
@ -150,7 +231,13 @@ class Panda(object):
FLAG_HONDA_ALT_BRAKE = 1
FLAG_HONDA_BOSCH_LONG = 2
FLAG_HONDA_NIDEC_ALT = 4
FLAG_HYUNDAI_EV_GAS = 1
FLAG_HYUNDAI_HYBRID_GAS = 2
FLAG_HYUNDAI_LONG = 4
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
def __init__(self, serial=None, claim=True):
self._serial = serial
@ -201,6 +288,7 @@ class Panda(object):
break
context = usb1.USBContext() # New context needed so new devices show up
assert(self._handle is not None)
self.health_version, self.can_version = self.get_packets_versions()
print("connected")
def reset(self, enter_bootstub=False, enter_bootloader=False):
@ -239,6 +327,8 @@ class Panda(object):
if not success:
raise Exception("reconnect failed")
@staticmethod
def flash_static(handle, code):
# confirm flasher is present
@ -342,6 +432,7 @@ class Panda(object):
# ******************* health *******************
@ensure_health_packet_version
def health(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 44)
a = struct.unpack("<IIIIIIIIBBBBBBBHBBB", dat)
@ -392,6 +483,15 @@ class Panda(object):
def get_type(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xc1, 0, 0, 0x40)
# Returns tuple with health packet version and CAN packet/USB packet version
def get_packets_versions(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xdd, 0, 0, 2)
if dat:
a = struct.unpack("BB", dat)
return (a[0], a[1])
else:
return (0, 0)
def is_white(self):
return self.get_type() == Panda.HW_TYPE_WHITE_PANDA
@ -409,7 +509,7 @@ class Panda(object):
def is_dos(self):
return self.get_type() == Panda.HW_TYPE_DOS
def is_red(self):
return self.get_type() == Panda.HW_TYPE_RED_PANDA
@ -429,12 +529,18 @@ class Panda(object):
def has_canfd(self):
return self._mcu_type in Panda.H7_DEVICES
def is_internal(self):
return self.get_type() in [Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS]
def get_serial(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 0, 0, 0x20)
hashsig, calc_hash = dat[0x1c:], hashlib.sha1(dat[0:0x1c]).digest()[0:4]
assert(hashsig == calc_hash)
return [dat[0:0x10].decode("utf8"), dat[0x10:0x10 + 10].decode("utf8")]
def get_usb_serial(self):
return self._serial
def get_secret(self):
return self._handle.controlRead(Panda.REQUEST_IN, 0xd0, 1, 0, 0x10)
@ -459,10 +565,6 @@ class Panda(object):
self.set_heartbeat_disabled()
self.set_power_save(0)
def set_can_forwarding(self, from_bus, to_bus):
# TODO: This feature may not work correctly with saturated buses
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdd, from_bus, to_bus, b'')
def set_gmlan(self, bus=2):
# TODO: check panda type
if bus is None:
@ -488,6 +590,15 @@ class Panda(object):
def set_can_data_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
# CAN FD and BRS status
def get_canfd_status(self, bus):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfa, bus, 0, 2)
if dat:
a = struct.unpack("BB", dat)
return (a[0], a[1])
else:
return (None, None)
def set_uart_baud(self, uart, rate):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, uart, int(rate / 300), b'')
@ -505,29 +616,22 @@ class Panda(object):
# Timeout is in ms. If set to 0, the timeout is infinite.
CAN_SEND_TIMEOUT_MS = 10
@ensure_can_packet_version
def can_send_many(self, arr, timeout=CAN_SEND_TIMEOUT_MS):
snds = []
transmit = 1
extended = 4
for addr, _, dat, bus in arr:
assert len(dat) <= 8
if DEBUG:
print(f" W 0x{addr:x}: 0x{dat.hex()}")
if addr >= 0x800:
rir = (addr << 3) | transmit | extended
else:
rir = (addr << 21) | transmit
snd = struct.pack("II", rir, len(dat) | (bus << 4)) + dat
snd = snd.ljust(0x10, b'\x00')
snds.append(snd)
snds = pack_can_buffer(arr)
while True:
try:
if self.wifi:
for s in snds:
self._handle.bulkWrite(3, s)
else:
self._handle.bulkWrite(3, b''.join(snds), timeout=timeout)
for tx in snds:
while True:
bs = self._handle.bulkWrite(3, tx, timeout=timeout)
tx = tx[bs:]
if len(tx) == 0:
break
print("CAN: PARTIAL SEND MANY, RETRYING")
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD SEND MANY, RETRYING")
@ -535,16 +639,17 @@ class Panda(object):
def can_send(self, addr, dat, bus, timeout=CAN_SEND_TIMEOUT_MS):
self.can_send_many([[addr, None, dat, bus]], timeout=timeout)
@ensure_can_packet_version
def can_recv(self):
dat = bytearray()
while True:
try:
dat = self._handle.bulkRead(1, 0x10 * 256)
dat = self._handle.bulkRead(1, 16384) # Max receive batch size + 2 extra reserve frames
break
except (usb1.USBErrorIO, usb1.USBErrorOverflow):
print("CAN: BAD RECV, RETRYING")
time.sleep(0.1)
return parse_can_buffer(dat)
return unpack_can_buffer(dat)
def can_clear(self, bus):
"""Clears all messages from the specified internal CAN ringbuffer as

362
panda/python/ccp.py 100644
View File

@ -0,0 +1,362 @@
#!/usr/bin/env python3
import sys
import time
import struct
from enum import IntEnum, Enum
class COMMAND_CODE(IntEnum):
CONNECT = 0x01
SET_MTA = 0x02
DNLOAD = 0x03
UPLOAD = 0x04
TEST = 0x05
START_STOP = 0x06
DISCONNECT = 0x07
START_STOP_ALL = 0x08
GET_ACTIVE_CAL_PAGE = 0x09
SET_S_STATUS = 0x0C
GET_S_STATUS = 0x0D
BUILD_CHKSUM = 0x0E
SHORT_UP = 0x0F
CLEAR_MEMORY = 0x10
SELECT_CAL_PAGE = 0x11
GET_SEED = 0x12
UNLOCK = 0x13
GET_DAQ_SIZE = 0x14
SET_DAQ_PTR = 0x15
WRITE_DAQ = 0x16
EXCHANGE_ID = 0x17
PROGRAM = 0x18
MOVE = 0x19
GET_CCP_VERSION = 0x1B
DIAG_SERVICE = 0x20
ACTION_SERVICE = 0x21
PROGRAM_6 = 0x22
DNLOAD_6 = 0x23
COMMAND_RETURN_CODES = {
0x00: "acknowledge / no error",
0x01: "DAQ processor overload",
0x10: "command processor busy",
0x11: "DAQ processor busy",
0x12: "internal timeout",
0x18: "key request",
0x19: "session status request",
0x20: "cold start request",
0x21: "cal. data init. request",
0x22: "DAQ list init. request",
0x23: "code update request",
0x30: "unknown command",
0x31: "command syntax",
0x32: "parameter(s) out of range",
0x33: "access denied",
0x34: "overload",
0x35: "access locked",
0x36: "resource/function not available",
}
class BYTE_ORDER(Enum):
LITTLE_ENDIAN = '<'
BIG_ENDIAN = '>'
class CommandTimeoutError(Exception):
pass
class CommandCounterError(Exception):
pass
class CommandResponseError(Exception):
def __init__(self, message, return_code):
super().__init__()
self.message = message
self.return_code = return_code
def __str__(self):
return self.message
class CcpClient():
def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int=0, byte_order: BYTE_ORDER=BYTE_ORDER.BIG_ENDIAN, debug=False):
self.tx_addr = tx_addr
self.rx_addr = rx_addr
self.can_bus = bus
self.byte_order = byte_order
self.debug = debug
self._panda = panda
self._command_counter = -1
def _send_cro(self, cmd: int, dat: bytes = b"") -> None:
self._command_counter = (self._command_counter + 1) & 0xFF
tx_data = (bytes([cmd, self._command_counter]) + dat).ljust(8, b"\x00")
if self.debug:
print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(tx_data)}")
assert len(tx_data) == 8, "data is not 8 bytes"
self._panda.can_clear(self.can_bus)
self._panda.can_clear(0xFFFF)
self._panda.can_send(self.tx_addr, tx_data, self.can_bus)
def _recv_dto(self, timeout: float) -> bytes:
start_time = time.time()
while time.time() - start_time < timeout:
msgs = self._panda.can_recv() or []
if len(msgs) >= 256:
print("CAN RX buffer overflow!!!", file=sys.stderr)
for rx_addr, _, rx_data, rx_bus in msgs:
if rx_bus == self.can_bus and rx_addr == self.rx_addr:
rx_data = bytes(rx_data) # convert bytearray to bytes
if self.debug:
print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
assert len(rx_data) == 8, f"message length not 8: {len(rx_data)}"
pid = rx_data[0]
if pid == 0xFF or pid == 0xFE:
err = rx_data[1]
err_desc = COMMAND_RETURN_CODES.get(err, "unknown error")
ctr = rx_data[2]
dat = rx_data[3:]
if pid == 0xFF and self._command_counter != ctr:
raise CommandCounterError(f"counter invalid: {ctr} != {self._command_counter}")
if err >= 0x10 and err <= 0x12:
if self.debug:
print(f"CCP-WAIT: {hex(err)} - {err_desc}")
start_time = time.time()
continue
if err >= 0x30:
raise CommandResponseError(f"{hex(err)} - {err_desc}", err)
else:
dat = rx_data[1:]
return dat
time.sleep(0.001)
raise CommandTimeoutError("timeout waiting for response")
# commands
def connect(self, station_addr: int) -> None:
if station_addr > 65535:
raise ValueError("station address must be less than 65536")
# NOTE: station address is always little endian
self._send_cro(COMMAND_CODE.CONNECT, struct.pack("<H", station_addr))
self._recv_dto(0.025)
def exchange_station_ids(self, device_id_info: bytes = b"") -> dict:
self._send_cro(COMMAND_CODE.EXCHANGE_ID, device_id_info)
resp = self._recv_dto(0.025)
return { # TODO: define a type
"id_length": resp[0],
"data_type": resp[1],
"available": resp[2],
"protected": resp[3],
}
def get_seed(self, resource_mask: int) -> bytes:
if resource_mask > 255:
raise ValueError("resource mask must be less than 256")
self._send_cro(COMMAND_CODE.GET_SEED)
resp = self._recv_dto(0.025)
# protected = resp[0] == 0
seed = resp[1:]
return seed
def unlock(self, key: bytes) -> int:
if len(key) > 6:
raise ValueError("max key size is 6 bytes")
self._send_cro(COMMAND_CODE.UNLOCK, key)
resp = self._recv_dto(0.025)
status = resp[0]
return status
def set_memory_transfer_address(self, mta_num: int, addr_ext: int, addr: int) -> None:
if mta_num > 255:
raise ValueError("MTA number must be less than 256")
if addr_ext > 255:
raise ValueError("address extension must be less than 256")
self._send_cro(COMMAND_CODE.SET_MTA, bytes([mta_num, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
self._recv_dto(0.025)
def download(self, data: bytes) -> int:
if len(data) > 5:
raise ValueError("max data size is 5 bytes")
self._send_cro(COMMAND_CODE.DNLOAD, bytes([len(data)]) + data)
resp = self._recv_dto(0.025)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
def download_6_bytes(self, data: bytes) -> int:
if len(data) != 6:
raise ValueError("data size must be 6 bytes")
self._send_cro(COMMAND_CODE.DNLOAD_6, data)
resp = self._recv_dto(0.025)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
def upload(self, size: int) -> bytes:
if size > 5:
raise ValueError("size must be less than 6")
self._send_cro(COMMAND_CODE.UPLOAD, bytes([size]))
return self._recv_dto(0.025)
def short_upload(self, size: int, addr_ext: int, addr: int) -> bytes:
if size > 5:
raise ValueError("size must be less than 6")
if addr_ext > 255:
raise ValueError("address extension must be less than 256")
self._send_cro(COMMAND_CODE.SHORT_UP, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
return self._recv_dto(0.025)
def select_calibration_page(self) -> None:
self._send_cro(COMMAND_CODE.SELECT_CAL_PAGE)
self._recv_dto(0.025)
def get_daq_list_size(self, list_num: int, can_id: int = 0) -> dict:
if list_num > 255:
raise ValueError("list number must be less than 256")
self._send_cro(COMMAND_CODE.GET_DAQ_SIZE, bytes([list_num, 0]) + struct.pack(f"{self.byte_order.value}I", can_id))
resp = self._recv_dto(0.025)
return { # TODO: define a type
"list_size": resp[0],
"first_pid": resp[1],
}
def set_daq_list_pointer(self, list_num: int, odt_num: int, element_num: int) -> None:
if list_num > 255:
raise ValueError("list number must be less than 256")
if odt_num > 255:
raise ValueError("ODT number must be less than 256")
if element_num > 255:
raise ValueError("element number must be less than 256")
self._send_cro(COMMAND_CODE.SET_DAQ_PTR, bytes([list_num, odt_num, element_num]))
self._recv_dto(0.025)
def write_daq_list_entry(self, size: int, addr_ext: int, addr: int) -> None:
if size > 255:
raise ValueError("size must be less than 256")
if addr_ext > 255:
raise ValueError("address extension must be less than 256")
self._send_cro(COMMAND_CODE.WRITE_DAQ, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
self._recv_dto(0.025)
def start_stop_transmission(self, mode: int, list_num: int, odt_num: int, channel_num: int, rate_prescaler: int = 0) -> None:
if mode > 255:
raise ValueError("mode must be less than 256")
if list_num > 255:
raise ValueError("list number must be less than 256")
if odt_num > 255:
raise ValueError("ODT number must be less than 256")
if channel_num > 255:
raise ValueError("channel number must be less than 256")
if rate_prescaler > 65535:
raise ValueError("rate prescaler must be less than 65536")
self._send_cro(COMMAND_CODE.START_STOP, bytes([mode, list_num, odt_num, channel_num]) + struct.pack(f"{self.byte_order.value}H", rate_prescaler))
self._recv_dto(0.025)
def disconnect(self, station_addr: int, temporary: bool = False) -> None:
if station_addr > 65535:
raise ValueError("station address must be less than 65536")
# NOTE: station address is always little endian
self._send_cro(COMMAND_CODE.DISCONNECT, bytes([int(not temporary), 0x00]) + struct.pack("<H", station_addr))
self._recv_dto(0.025)
def set_session_status(self, status: int) -> None:
if status > 255:
raise ValueError("status must be less than 256")
self._send_cro(COMMAND_CODE.SET_S_STATUS, bytes([status]))
self._recv_dto(0.025)
def get_session_status(self) -> dict:
self._send_cro(COMMAND_CODE.GET_S_STATUS)
resp = self._recv_dto(0.025)
return { # TODO: define a type
"status": resp[0],
"info": resp[2] if resp[1] else None,
}
def build_checksum(self, size: int) -> bytes:
self._send_cro(COMMAND_CODE.BUILD_CHKSUM, struct.pack(f"{self.byte_order.value}I", size))
resp = self._recv_dto(30.0)
chksum_size = resp[0]
assert chksum_size <= 4, "checksum more than 4 bytes"
chksum = resp[1:1+chksum_size]
return chksum
def clear_memory(self, size: int) -> None:
self._send_cro(COMMAND_CODE.CLEAR_MEMORY, struct.pack(f"{self.byte_order.value}I", size))
self._recv_dto(30.0)
def program(self, size: int, data: bytes) -> int:
if size > 5:
raise ValueError("size must be less than 6")
if len(data) > 5:
raise ValueError("max data size is 5 bytes")
self._send_cro(COMMAND_CODE.PROGRAM, bytes([size]) + data)
resp = self._recv_dto(0.1)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
def program_6_bytes(self, data: bytes) -> int:
if len(data) != 6:
raise ValueError("data size must be 6 bytes")
self._send_cro(COMMAND_CODE.PROGRAM_6, data)
resp = self._recv_dto(0.1)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
def move_memory_block(self, size: int) -> None:
self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size))
self._recv_dto(0.025)
def diagnostic_service(self, service_num: int, data: bytes = b"") -> dict:
if service_num > 65535:
raise ValueError("service number must be less than 65536")
if len(data) > 4:
raise ValueError("max data size is 4 bytes")
self._send_cro(COMMAND_CODE.DIAG_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data)
resp = self._recv_dto(0.025)
return { # TODO: define a type
"length": resp[0],
"type": resp[1],
}
def action_service(self, service_num: int, data: bytes = b"") -> dict:
if service_num > 65535:
raise ValueError("service number must be less than 65536")
if len(data) > 4:
raise ValueError("max data size is 4 bytes")
self._send_cro(COMMAND_CODE.ACTION_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data)
resp = self._recv_dto(0.025)
return { # TODO: define a type
"length": resp[0],
"type": resp[1],
}
def test_availability(self, station_addr: int) -> None:
if station_addr > 65535:
raise ValueError("station address must be less than 65536")
# NOTE: station address is always little endian
self._send_cro(COMMAND_CODE.TEST, struct.pack("<H", station_addr))
self._recv_dto(0.025)
def start_stop_synchronised_transmission(self, mode: int) -> None:
if mode > 255:
raise ValueError("mode must be less than 256")
self._send_cro(COMMAND_CODE.START_STOP_ALL, bytes([mode]))
self._recv_dto(0.025)
def get_active_calibration_page(self):
self._send_cro(COMMAND_CODE.GET_ACTIVE_CAL_PAGE)
resp = self._recv_dto(0.025)
# cal_addr_ext = resp[0]
cal_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return cal_addr
def get_version(self, desired_version: float = 2.1) -> float:
major, minor = map(int, str(desired_version).split("."))
self._send_cro(COMMAND_CODE.GET_CCP_VERSION, bytes([major, minor]))
resp = self._recv_dto(0.025)
return float(f"{resp[0]}.{resp[1]}")

13
panda/python/uds.py
View File

@ -586,13 +586,16 @@ class UdsClient():
power_down_time = resp[0]
return power_down_time
def security_access(self, access_type: ACCESS_TYPE, security_key: bytes = None):
def security_access(self, access_type: ACCESS_TYPE, security_key: bytes = b'', data_record: bytes = b''):
request_seed = access_type % 2 != 0
if request_seed and security_key is not None:
if request_seed and len(security_key) != 0:
raise ValueError('security_key not allowed')
if not request_seed and security_key is None:
if not request_seed and len(security_key) == 0:
raise ValueError('security_key is missing')
resp = self._uds_request(SERVICE_TYPE.SECURITY_ACCESS, subfunction=access_type, data=security_key)
if not request_seed and len(data_record) != 0:
raise ValueError('data_record not allowed')
data = security_key + data_record
resp = self._uds_request(SERVICE_TYPE.SECURITY_ACCESS, subfunction=access_type, data=data)
if request_seed:
security_seed = resp
return security_seed
@ -792,7 +795,7 @@ class UdsClient():
return resp
def input_output_control_by_identifier(self, data_identifier_type: DATA_IDENTIFIER_TYPE, control_parameter_type: CONTROL_PARAMETER_TYPE,
control_option_record: bytes, control_enable_mask_record: bytes = b''):
control_option_record: bytes = b'', control_enable_mask_record: bytes = b''):
data = struct.pack('!H', data_identifier_type) + bytes([control_parameter_type]) + control_option_record + control_enable_mask_record
resp = self._uds_request(SERVICE_TYPE.INPUT_OUTPUT_CONTROL_BY_IDENTIFIER, subfunction=None, data=data)
resp_id = struct.unpack('!H', resp[0:2])[0] if len(resp) >= 2 else None

3
pyextra/acados_template/acados_layout.json
View File

@ -666,6 +666,9 @@
"nlp_solver_type": [
"str"
],
"collocation_type": [
"str"
],
"globalization": [
"str"
],

9
pyextra/acados_template/acados_model.py
View File

@ -96,6 +96,9 @@ class AcadosModel():
self.cost_expr_ext_cost = None #: CasADi expression for external cost; Default: :code:`None`
self.cost_expr_ext_cost_e = None #: CasADi expression for external cost, terminal; Default: :code:`None`
self.cost_expr_ext_cost_0 = None #: CasADi expression for external cost, initial; Default: :code:`None`
self.cost_expr_ext_cost_custom_hess = None #: CasADi expression for custom hessian (only for external cost); Default: :code:`None`
self.cost_expr_ext_cost_custom_hess_e = None #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None`
self.cost_expr_ext_cost_custom_hess_0 = None #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None`
def acados_model_strip_casadi_symbolics(model):
@ -147,5 +150,11 @@ def acados_model_strip_casadi_symbolics(model):
del out['cost_expr_ext_cost_e']
if 'cost_expr_ext_cost_0' in out.keys():
del out['cost_expr_ext_cost_0']
if 'cost_expr_ext_cost_custom_hess' in out.keys():
del out['cost_expr_ext_cost_custom_hess']
if 'cost_expr_ext_cost_custom_hess_e' in out.keys():
del out['cost_expr_ext_cost_custom_hess_e']
if 'cost_expr_ext_cost_custom_hess_0' in out.keys():
del out['cost_expr_ext_cost_custom_hess_0']
return out

19
pyextra/acados_template/acados_ocp.py
View File

@ -2120,6 +2120,7 @@ class AcadosOcpOptions:
self.__globalization = 'FIXED_STEP'
self.__nlp_solver_step_length = 1.0 # fixed Newton step length
self.__levenberg_marquardt = 0.0
self.__collocation_type = 'GAUSS_LEGENDRE'
self.__sim_method_num_stages = 4 # number of stages in the integrator
self.__sim_method_num_steps = 1 # number of steps in the integrator
self.__sim_method_newton_iter = 3 # number of Newton iterations in simulation method
@ -2195,6 +2196,15 @@ class AcadosOcpOptions:
"""
return self.__globalization
@property
def collocation_type(self):
"""Collocation type: relevant for implicit integrators
-- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}.
Default: GAUSS_LEGENDRE
"""
return self.__collocation_type
@property
def regularize_method(self):
"""Regularization method for the Hessian.
@ -2481,6 +2491,15 @@ class AcadosOcpOptions:
raise Exception('Invalid regularize_method value. Possible values are:\n\n' \
+ ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\nExiting.')
@collocation_type.setter
def collocation_type(self, collocation_type):
collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
if collocation_type in collocation_types:
self.__collocation_type = collocation_type
else:
raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
+ ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.')
@hessian_approx.setter
def hessian_approx(self, hessian_approx):
hessian_approxs = ('GAUSS_NEWTON', 'EXACT')

424
pyextra/acados_template/acados_ocp_solver.py
View File

@ -53,7 +53,7 @@ from .acados_ocp import AcadosOcp
from .acados_model import acados_model_strip_casadi_symbolics
from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
set_up_imported_gnsf_model, get_acados_path
set_up_imported_gnsf_model, get_acados_path, get_ocp_nlp_layout, get_python_interface_path
def make_ocp_dims_consistent(acados_ocp):
@ -102,6 +102,7 @@ def make_ocp_dims_consistent(acados_ocp):
cost.cost_ext_fun_type_0 = cost.cost_ext_fun_type
model.cost_y_expr_0 = model.cost_y_expr
model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost
model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess
if cost.cost_type_0 == 'LINEAR_LS':
ny_0 = cost.W_0.shape[0]
@ -433,9 +434,19 @@ def make_ocp_dims_consistent(acados_ocp):
if np.shape(opts.shooting_nodes)[0] != dims.N+1:
raise Exception('inconsistent dimension N, regarding shooting_nodes.')
# time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
# # identify constant time-steps: due to numerical reasons the content of time_steps might vary a bit
# delta_time_steps = time_steps[1:] - time_steps[0:-1]
# avg_time_steps = np.average(time_steps)
# # criterion for constant time-step detection: the min/max difference in values normalized by the average
# check_const_time_step = np.max(delta_time_steps)-np.min(delta_time_steps) / avg_time_steps
# # if the criterion is small, we have a constant time-step
# if check_const_time_step < 1e-9:
# time_steps[:] = avg_time_steps # if we have a constant time-step: apply the average time-step
time_steps = np.zeros((dims.N,))
for i in range(dims.N):
time_steps[i] = opts.shooting_nodes[i+1] - opts.shooting_nodes[i]
time_steps[i] = opts.shooting_nodes[i+1] - opts.shooting_nodes[i] # TODO use commented code above
opts.time_steps = time_steps
elif (not is_empty(opts.time_steps)) and (not is_empty(opts.shooting_nodes)):
@ -483,13 +494,12 @@ def make_ocp_dims_consistent(acados_ocp):
raise Exception("Wrong value for sim_method_jac_reuse. Should be either int or array of ints of shape (N,).")
def get_ocp_nlp_layout():
current_module = sys.modules[__name__]
acados_path = os.path.dirname(current_module.__file__)
with open(acados_path + '/acados_layout.json', 'r') as f:
ocp_nlp_layout = json.load(f)
return ocp_nlp_layout
def get_simulink_default_opts():
python_interface_path = get_python_interface_path()
abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
with open(abs_path , 'r') as f:
simulink_default_opts = json.load(f)
return simulink_default_opts
def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_nlp.json'):
@ -622,9 +632,7 @@ def ocp_render_templates(acados_ocp, json_file):
name = acados_ocp.model.name
# setting up loader and environment
json_path = '{cwd}/{json_file}'.format(
cwd=os.getcwd(),
json_file=json_file)
json_path = os.path.join(os.getcwd(), json_file)
if not os.path.exists(json_path):
raise Exception('{} not found!'.format(json_path))
@ -645,6 +653,10 @@ def ocp_render_templates(acados_ocp, json_file):
out_file = f'acados_solver_{name}.h'
render_template(in_file, out_file, template_dir, json_path)
in_file = 'acados_solver.in.pxd'
out_file = f'acados_solver.pxd'
render_template(in_file, out_file, template_dir, json_path)
in_file = 'Makefile.in'
out_file = 'Makefile'
render_template(in_file, out_file, template_dir, json_path)
@ -671,8 +683,7 @@ def ocp_render_templates(acados_ocp, json_file):
render_template(in_file, out_file, template_dir, json_path)
## folder model
template_dir = f'{code_export_dir}/{name}_model/'
template_dir = os.path.join(code_export_dir, name + '_model')
in_file = 'model.in.h'
out_file = f'{name}_model.h'
render_template(in_file, out_file, template_dir, json_path)
@ -680,7 +691,7 @@ def ocp_render_templates(acados_ocp, json_file):
# constraints on convex over nonlinear function
if acados_ocp.constraints.constr_type == 'BGP' and acados_ocp.dims.nphi > 0:
# constraints on outer function
template_dir = f'{code_export_dir}/{name}_constraints/'
template_dir = os.path.join(code_export_dir, name + '_constraints')
in_file = 'phi_constraint.in.h'
out_file = f'{name}_phi_constraint.h'
render_template(in_file, out_file, template_dir, json_path)
@ -688,62 +699,62 @@ def ocp_render_templates(acados_ocp, json_file):
# terminal constraints on convex over nonlinear function
if acados_ocp.constraints.constr_type_e == 'BGP' and acados_ocp.dims.nphi_e > 0:
# terminal constraints on outer function
template_dir = f'{code_export_dir}/{name}_constraints/'
template_dir = os.path.join(code_export_dir, name + '_constraints')
in_file = 'phi_e_constraint.in.h'
out_file = f'{name}_phi_e_constraint.h'
render_template(in_file, out_file, template_dir, json_path)
# nonlinear constraints
if acados_ocp.constraints.constr_type == 'BGH' and acados_ocp.dims.nh > 0:
template_dir = f'{code_export_dir}/{name}_constraints/'
template_dir = os.path.join(code_export_dir, name + '_constraints')
in_file = 'h_constraint.in.h'
out_file = f'{name}_h_constraint.h'
render_template(in_file, out_file, template_dir, json_path)
# terminal nonlinear constraints
if acados_ocp.constraints.constr_type_e == 'BGH' and acados_ocp.dims.nh_e > 0:
template_dir = f'{code_export_dir}/{name}_constraints/'
template_dir = os.path.join(code_export_dir, name + '_constraints')
in_file = 'h_e_constraint.in.h'
out_file = f'{name}_h_e_constraint.h'
render_template(in_file, out_file, template_dir, json_path)
# initial stage Nonlinear LS cost function
if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS':
template_dir = f'{code_export_dir}/{name}_cost/'
template_dir = os.path.join(code_export_dir, name + '_cost')
in_file = 'cost_y_0_fun.in.h'
out_file = f'{name}_cost_y_0_fun.h'
render_template(in_file, out_file, template_dir, json_path)
# external cost - terminal
elif acados_ocp.cost.cost_type_0 == 'EXTERNAL':
template_dir = f'{code_export_dir}/{name}_cost/'
template_dir = os.path.join(code_export_dir, name + '_cost')
in_file = 'external_cost_0.in.h'
out_file = f'{name}_external_cost_0.h'
render_template(in_file, out_file, template_dir, json_path)
# path Nonlinear LS cost function
if acados_ocp.cost.cost_type == 'NONLINEAR_LS':
template_dir = f'{code_export_dir}/{name}_cost/'
template_dir = os.path.join(code_export_dir, name + '_cost')
in_file = 'cost_y_fun.in.h'
out_file = f'{name}_cost_y_fun.h'
render_template(in_file, out_file, template_dir, json_path)
# terminal Nonlinear LS cost function
if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS':
template_dir = f'{code_export_dir}/{name}_cost/'
template_dir = os.path.join(code_export_dir, name + '_cost')
in_file = 'cost_y_e_fun.in.h'
out_file = f'{name}_cost_y_e_fun.h'
render_template(in_file, out_file, template_dir, json_path)
# external cost
if acados_ocp.cost.cost_type == 'EXTERNAL':
template_dir = f'{code_export_dir}/{name}_cost/'
template_dir = os.path.join(code_export_dir, name + '_cost')
in_file = 'external_cost.in.h'
out_file = f'{name}_external_cost.h'
render_template(in_file, out_file, template_dir, json_path)
# external cost - terminal
if acados_ocp.cost.cost_type_e == 'EXTERNAL':
template_dir = f'{code_export_dir}/{name}_cost/'
template_dir = os.path.join(code_export_dir, name + '_cost')
in_file = 'external_cost_e.in.h'
out_file = f'{name}_external_cost_e.h'
render_template(in_file, out_file, template_dir, json_path)
@ -775,9 +786,7 @@ class AcadosOcpSolver:
model = acados_ocp.model
if simulink_opts is None:
json_path = os.path.dirname(os.path.realpath(__file__))
with open(json_path + '/simulink_default_opts.json', 'r') as f:
simulink_opts = json.load(f)
simulink_opts = get_simulink_default_opts()
# make dims consistent
make_ocp_dims_consistent(acados_ocp)
@ -830,6 +839,14 @@ class AcadosOcpSolver:
assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0
self.solver_created = True
# get pointers solver
self.__get_pointers_solver()
def __get_pointers_solver(self):
"""
Private function to get the pointers for solver
"""
# get pointers solver
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p
@ -863,14 +880,10 @@ class AcadosOcpSolver:
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
self.shared_lib.ocp_nlp_constraints_model_set_slice.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
self.shared_lib.ocp_nlp_cost_model_set_slice.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
@ -881,15 +894,6 @@ class AcadosOcpSolver:
self.shared_lib.ocp_nlp_set.argtypes = \
[c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
self.shared_lib.ocp_nlp_out_get_slice.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
def solve(self):
"""
Solve the ocp with current input.
@ -901,46 +905,118 @@ class AcadosOcpSolver:
return status
def get_slice(self, start_stage_, end_stage_, field_):
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, start_stage_, field_)
out = np.ascontiguousarray(np.zeros((end_stage_ - start_stage_, dims)), dtype=np.float64)
self.fill_in_slice(start_stage_, end_stage_, field_, out)
return out
def set_new_time_steps(self, new_time_steps):
"""
Set new time steps before solving. Only reload library without code generation but with new time steps.
def fill_in_slice(self, start_stage_, end_stage_, field_, arr):
out_fields = ['x', 'u', 'z', 'pi', 'lam', 't']
mem_fields = ['sl', 'su']
:param new_time_steps: vector of new time steps for the solver
.. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
do not require a new code export and compilation.
"""
# unlikely but still possible
if not self.solver_created:
raise Exception('Solver was not yet created!')
# check if time steps really changed in value
if np.array_equal(self.acados_ocp.solver_options.time_steps, new_time_steps):
return
N = new_time_steps.size
model = self.acados_ocp.model
new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double))
# check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
if self.acados_ocp.solver_options.time_steps.size == N:
getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int
assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0
else: # recreate the solver with the new time steps
self.solver_created = False
# delete old memory (analog to __del__)
getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
# store N and new time steps
self.N = self.acados_ocp.dims.N = N
self.acados_ocp.solver_options.time_steps = new_time_steps
self.acados_ocp.solver_options.Tsim = self.acados_ocp.solver_options.time_steps[0]
# create solver with new time steps
getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p]
getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int
assert getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization")(self.capsule, N, new_time_steps_data) == 0
self.solver_created = True
# get pointers solver
self.__get_pointers_solver()
def get(self, stage_, field_):
"""
Get the last solution of the solver:
:param stage: integer corresponding to shooting node
:param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
.. note:: regarding lam, t: \n
the inequalities are internally organized in the following order: \n
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
.. note:: pi: multipliers for dynamics equality constraints \n
lam: multipliers for inequalities \n
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
sl: slack variables of soft lower inequality constraints \n
su: slack variables of soft upper inequality constraints \n
"""
out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
# mem_fields = ['sl', 'su']
field = field_
field = field.encode('utf-8')
if (field_ not in out_fields + mem_fields):
raise Exception('AcadosOcpSolver.get_slice(): {} is an invalid argument.\
if (field_ not in out_fields):
raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
\n Possible values are {}. Exiting.'.format(field_, out_fields))
if not isinstance(start_stage_, int):
raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
if not isinstance(stage_, int):
raise Exception('AcadosOcpSolver.get(): stage index must be Integer.')
if not isinstance(end_stage_, int):
raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
if stage_ < 0 or stage_ > self.N:
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
if start_stage_ >= end_stage_:
raise Exception('AcadosOcpSolver.get_slice(): end stage index must be larger than start stage index')
if stage_ == self.N and field_ == 'pi':
raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
.format(field_, stage_))
if start_stage_ < 0 or end_stage_ > self.N + 1:
raise Exception('AcadosOcpSolver.get_slice(): stage index must be in [0, N], got: {}.'.format(self.N))
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
out_data = cast(arr.ctypes.data, POINTER(c_double))
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage_, field)
out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
out_data = cast(out.ctypes.data, POINTER(c_double))
if (field_ in out_fields):
self.shared_lib.ocp_nlp_out_get_slice(self.nlp_config, \
self.nlp_dims, self.nlp_out, start_stage_, end_stage_, field, out_data)
elif field_ in mem_fields:
self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
self.nlp_dims, self.nlp_solver, start_stage_, end_stage_, field, out_data)
self.shared_lib.ocp_nlp_out_get.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage_, field, out_data)
# elif field_ in mem_fields:
# self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
# [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
# self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
# self.nlp_dims, self.nlp_solver, stage_, field, out_data)
def get(self, stage_, field_):
return self.get_slice(stage_, stage_ + 1, field_)[0]
return out
def print_statistics(self):
@ -1176,8 +1252,7 @@ class AcadosOcpSolver:
"""
cost_fields = ['y_ref', 'yref']
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z']
mem_fields = ['sl', 'su']
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
# cast value_ to avoid conversion issues
if isinstance(value_, (float, int)):
@ -1189,47 +1264,52 @@ class AcadosOcpSolver:
stage = c_int(stage_)
if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
\nPossible values are {}. Exiting.".format(field, \
constraints_fields + cost_fields + out_fields + ['p']))
# treat parameters separately
if field_ == 'p':
getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
value_data = cast(value_.ctypes.data, POINTER(c_double))
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage_, field)
assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
else:
if field_ not in constraints_fields + cost_fields + out_fields:
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
\nPossible values are {}. Exiting.".format(field, \
constraints_fields + cost_fields + out_fields + ['p']))
if value_.shape[0] != dims:
msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
raise Exception(msg)
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage_, field)
if value_.shape[0] != dims:
msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
raise Exception(msg)
value_data = cast(value_.ctypes.data, POINTER(c_double))
value_data_p = cast((value_data), c_void_p)
if field_ in constraints_fields:
self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
elif field_ in cost_fields:
self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
elif field_ in out_fields:
self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage, field, value_data_p)
# elif field_ in mem_fields:
# self.shared_lib.ocp_nlp_set(self.nlp_config, \
# self.nlp_solver, stage, field, value_data_p)
value_data_p = cast(value_.ctypes.data, c_void_p)
if field_ in constraints_fields:
self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
elif field_ in cost_fields:
self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
elif field_ in out_fields:
self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage, field, value_data_p)
elif field_ in mem_fields:
self.shared_lib.ocp_nlp_set(self.nlp_config, \
self.nlp_solver, stage, field, value_data_p)
return
def set_param(self, stage_, value_):
value_data = cast(value_.ctypes.data, POINTER(c_double))
self._set_param(self.capsule, stage_, value_data, value_.shape[0])
def cost_set(self, start_stage_, field_, value_, api='warn'):
self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
def cost_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
def cost_set(self, stage_, field_, value_, api='warn'):
"""
Set numerical data in the cost module of the solver.
@ -1238,39 +1318,133 @@ class AcadosOcpSolver:
:param value: of appropriate size
"""
# cast value_ to avoid conversion issues
field = field_.encode('utf-8')
if len(value_.shape) > 2:
dim = value_.shape[1]*value_.shape[2]
else:
dim = value_.shape[1]
if isinstance(value_, (float, int)):
value_ = np.array([value_])
value_ = value_.astype(float)
self.shared_lib.ocp_nlp_cost_model_set_slice(self.nlp_config, \
self.nlp_dims, self.nlp_in, start_stage_, end_stage_, field,
cast(value_.ctypes.data, c_void_p), dim)
field = field_
field = field.encode('utf-8')
stage = c_int(stage_)
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
dims_data = cast(dims.ctypes.data, POINTER(c_int))
self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage_, field, dims_data)
value_shape = value_.shape
if len(value_shape) == 1:
value_shape = (value_shape[0], 0)
elif len(value_shape) == 2:
if api=='old':
pass
elif api=='warn':
if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
raise Exception("Ambiguity in API detected.\n"
"Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
"Are you seeing this error suddenly in previously running code? Read on.\n"
" You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) +
" acados_template now correctly passes on any matrices to acados in column major format.\n" +
" Two options to fix this error: \n" +
" * Add api='old' to cost_set to restore old incorrect behaviour\n" +
" * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
"such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
"If there is no such manipulation, then you have probably been getting an incorrect solution before.")
# Get elements in column major order
value_ = np.ravel(value_, order='F')
elif api=='new':
# Get elements in column major order
value_ = np.ravel(value_, order='F')
else:
raise Exception("Unknown api: '{}'".format(api))
if value_shape != tuple(dims):
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
' for field "{}" with dimension {} (you have {})'.format( \
field_, tuple(dims), value_shape))
value_data = cast(value_.ctypes.data, POINTER(c_double))
value_data_p = cast((value_data), c_void_p)
self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
return
def constraints_set(self, start_stage_, field_, value_, api='warn'):
self.constraints_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
def constraints_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
def constraints_set(self, stage_, field_, value_, api='warn'):
"""
Set numerical data in the constraint module of the solver.
:param stage: integer corresponding to shooting node
:param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi']
:param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
:param value: of appropriate size
"""
# cast value_ to avoid conversion issues
if isinstance(value_, (float, int)):
value_ = np.array([value_])
value_ = value_.astype(float)
field = field_.encode('utf-8')
if len(value_.shape) > 2:
dim = value_.shape[1]*value_.shape[2]
else:
dim = value_.shape[1]
field = field_
field = field.encode('utf-8')
self.shared_lib.ocp_nlp_constraints_model_set_slice(self.nlp_config, \
self.nlp_dims, self.nlp_in, start_stage_, end_stage_, field,
cast(value_.ctypes.data, c_void_p), dim)
stage = c_int(stage_)
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
dims_data = cast(dims.ctypes.data, POINTER(c_int))
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage_, field, dims_data)
value_shape = value_.shape
if len(value_shape) == 1:
value_shape = (value_shape[0], 0)
elif len(value_shape) == 2:
if api=='old':
pass
elif api=='warn':
if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
raise Exception("Ambiguity in API detected.\n"
"Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
"Are you seeing this error suddenly in previously running code? Read on.\n"
" You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) +
" acados_template now correctly passes on any matrices to acados in column major format.\n" +
" Two options to fix this error: \n" +
" * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
" * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
"such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
"If there is no such manipulation, then you have probably been getting an incorrect solution before.")
# Get elements in column major order
value_ = np.ravel(value_, order='F')
elif api=='new':
# Get elements in column major order
value_ = np.ravel(value_, order='F')
else:
raise Exception("Unknown api: '{}'".format(api))
if value_shape != tuple(dims):
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
value_data = cast(value_.ctypes.data, POINTER(c_double))
value_data_p = cast((value_data), c_void_p)
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
return
def dynamics_get(self, stage_, field_):

427
pyextra/acados_template/acados_ocp_solver_pyx.pyx 100644
View File

@ -0,0 +1,427 @@
# -*- coding: future_fstrings -*-
#
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
#
# This file is part of acados.
#
# The 2-Clause BSD License
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.;
#
# cython: language_level=3
# cython: profile=False
# distutils: language=c
cimport cython
from libc cimport string
cimport acados_solver_common
cimport acados_solver
cimport numpy as cnp
import os
import numpy as np
cdef class AcadosOcpSolverFast:
"""
Class to interact with the acados ocp solver C object.
:param acados_ocp: type AcadosOcp - description of the OCP for acados
:param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
:param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
"""
cdef acados_solver.nlp_solver_capsule *capsule
cdef void *nlp_opts
cdef acados_solver_common.ocp_nlp_dims *nlp_dims
cdef acados_solver_common.ocp_nlp_config *nlp_config
cdef acados_solver_common.ocp_nlp_out *nlp_out
cdef acados_solver_common.ocp_nlp_in *nlp_in
cdef acados_solver_common.ocp_nlp_solver *nlp_solver
cdef str model_name
cdef int N
cdef bint solver_created
def __cinit__(self, str model_name, int N, str code_export_dir):
self.model_name = model_name
self.N = N
self.solver_created = False
# create capsule
self.capsule = acados_solver.acados_create_capsule()
# create solver
assert acados_solver.acados_create(self.capsule) == 0
self.solver_created = True
# get pointers solver
self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
def solve(self):
"""
Solve the ocp with current input.
"""
return acados_solver.acados_solve(self.capsule)
def set_new_time_steps(self, new_time_steps):
"""
Set new time steps before solving. Only reload library without code generation but with new time steps.
:param new_time_steps: vector of new time steps for the solver
.. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
do not require a new code export and compilation.
"""
raise NotImplementedError()
def get(self, int stage, str field_):
"""
Get the last solution of the solver:
:param stage: integer corresponding to shooting node
:param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
.. note:: regarding lam, t: \n
the inequalities are internally organized in the following order: \n
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
.. note:: pi: multipliers for dynamics equality constraints \n
lam: multipliers for inequalities \n
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
sl: slack variables of soft lower inequality constraints \n
su: slack variables of soft upper inequality constraints \n
"""
out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
field = field_.encode('utf-8')
if field_ not in out_fields:
raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
\n Possible values are {}. Exiting.'.format(field_, out_fields))
if stage < 0 or stage > self.N:
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
if stage == self.N and field_ == 'pi':
raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
.format(field_, stage))
cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
self.nlp_dims, self.nlp_out, stage, field)
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims,))
acados_solver_common.ocp_nlp_out_get(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage, field, <void *> out.data)
return out
def print_statistics(self):
"""
prints statistics of previous solver run as a table:
- iter: iteration number
- res_stat: stationarity residual
- res_eq: residual wrt equality constraints (dynamics)
- res_ineq: residual wrt inequality constraints (constraints)
- res_comp: residual wrt complementarity conditions
- qp_stat: status of QP solver
- qp_iter: number of QP iterations
- qp_res_stat: stationarity residual of the last QP solution
- qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
- qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution
- qp_res_comp: residual wrt complementarity conditions of the last QP solution
"""
raise NotImplementedError()
def store_iterate(self, filename='', overwrite=False):
"""
Stores the current iterate of the ocp solver in a json file.
:param filename: if not set, use model_name + timestamp + '.json'
:param overwrite: if false and filename exists add timestamp to filename
"""
raise NotImplementedError()
def load_iterate(self, filename):
"""
Loads the iterate stored in json file with filename into the ocp solver.
"""
raise NotImplementedError()
def get_stats(self, field_):
"""
Get the information of the last solver call.
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
"""
raise NotImplementedError()
def get_cost(self):
"""
Returns the cost value of the current solution.
"""
# compute cost internally
acados_solver_common.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
# create output
cdef double out
# call getter
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, "cost_value", <void *> &out)
return out
def get_residuals(self):
"""
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
"""
raise NotImplementedError()
# Note: this function should not be used anymore, better use cost_set, constraints_set
def set(self, int stage, str field_, value_):
"""
Set numerical data inside the solver.
:param stage: integer corresponding to shooting node
:param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
.. note:: regarding lam, t: \n
the inequalities are internally organized in the following order: \n
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
.. note:: pi: multipliers for dynamics equality constraints \n
lam: multipliers for inequalities \n
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
sl: slack variables of soft lower inequality constraints \n
su: slack variables of soft upper inequality constraints \n
"""
cost_fields = ['y_ref', 'yref']
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
field = field_.encode('utf-8')
cdef double[::1] value
# treat parameters separately
if field_ == 'p':
value = np.ascontiguousarray(value_, dtype=np.double)
assert acados_solver.acados_update_params(self.capsule, stage, <double *> &value[0], value.shape[0]) == 0
else:
if field_ not in constraints_fields + cost_fields + out_fields:
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
\nPossible values are {}. Exiting.".format(field, \
constraints_fields + cost_fields + out_fields + ['p']))
dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
self.nlp_dims, self.nlp_out, stage, field)
if value_.shape[0] != dims:
msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
raise Exception(msg)
value = np.ascontiguousarray(value_, dtype=np.double)
if field_ in constraints_fields:
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
elif field_ in cost_fields:
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
elif field_ in out_fields:
acados_solver_common.ocp_nlp_out_set(self.nlp_config,
self.nlp_dims, self.nlp_out, stage, field, <void *> &value[0])
def cost_set(self, int stage, str field_, value_):
"""
Set numerical data in the cost module of the solver.
:param stage: integer corresponding to shooting node
:param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
:param value: of appropriate size
"""
field = field_.encode('utf-8')
cdef int dims[2]
acados_solver_common.ocp_nlp_cost_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage, field, &dims[0])
cdef double[::1,:] value
value_shape = value_.shape
if len(value_shape) == 1:
value_shape = (value_shape[0], 0)
value = np.asfortranarray(value_[None,:])
elif len(value_shape) == 2:
# Get elements in column major order
value = np.asfortranarray(value_)
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
' for field "{}" with dimension {} (you have {})'.format( \
field_, tuple(dims), value_shape))
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
def constraints_set(self, int stage, str field_, value_):
"""
Set numerical data in the constraint module of the solver.
:param stage: integer corresponding to shooting node
:param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
:param value: of appropriate size
"""
field = field_.encode('utf-8')
cdef int dims[2]
acados_solver_common.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
self.nlp_dims, self.nlp_out, stage, field, &dims[0])
cdef double[::1,:] value
value_shape = value_.shape
if len(value_shape) == 1:
value_shape = (value_shape[0], 0)
value = np.asfortranarray(value_[None,:])
elif len(value_shape) == 2:
# Get elements in column major order
value = np.asfortranarray(value_)
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
return
def dynamics_get(self, int stage, str field_):
"""
Get numerical data from the dynamics module of the solver:
:param stage: integer corresponding to shooting node
:param field: string, e.g. 'A'
"""
field = field_.encode('utf-8')
# get dims
cdef int[2] dims
acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
# create output data
out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
# call getter
acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)
return out
def options_set(self, str field_, value_):
"""
Set options of the solver.
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
:param value: of type int, float
"""
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks']
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
string_fields = ['globalization']
# encode
field = field_.encode('utf-8')
cdef int int_value
cdef double double_value
cdef unsigned char[::1] string_value
# check field availability and type
if field_ in int_fields:
if not isinstance(value_, int):
raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_)))
if field_ == 'rti_phase':
if value_ < 0 or value_ > 2:
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
'take only values 0, 1, 2 for SQP-RTI-type solvers')
if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
'take only value 0 for SQP-type solvers')
int_value = value_
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &int_value)
elif field_ in double_fields:
if not isinstance(value_, float):
raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_)))
double_value = value_
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &double_value)
elif field_ in string_fields:
if not isinstance(value_, bytes):
raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_)))
string_value = value_.encode('utf-8')
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
'\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
def __del__(self):
if self.solver_created:
acados_solver.acados_free(self.capsule)
acados_solver.acados_free_capsule(self.capsule)

38
pyextra/acados_template/acados_sim.py
View File

@ -106,7 +106,8 @@ class AcadosSimOpts:
"""
def __init__(self):
self.__integrator_type = 'ERK'
self.__tf = None
self.__collocation_type = 'GAUSS_LEGENDRE'
self.__Tsim = None
# ints
self.__sim_method_num_stages = 1
self.__sim_method_num_steps = 1
@ -174,6 +175,15 @@ class AcadosSimOpts:
"""Time horizon"""
return self.__Tsim
@property
def collocation_type(self):
"""Collocation type: relevant for implicit integrators
-- string in {GAUSS_RADAU_IIA, GAUSS_LEGENDRE}
Default: GAUSS_LEGENDRE
"""
return self.__collocation_type
@integrator_type.setter
def integrator_type(self, integrator_type):
integrator_types = ('ERK', 'IRK', 'GNSF')
@ -183,6 +193,15 @@ class AcadosSimOpts:
raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
+ ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\nExiting.')
@collocation_type.setter
def collocation_type(self, collocation_type):
collocation_types = ('GAUSS_RADAU_IIA', 'GAUSS_LEGENDRE')
if collocation_type in collocation_types:
self.__collocation_type = collocation_type
else:
raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
+ ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.')
@T.setter
def T(self, T):
self.__Tsim = T
@ -262,6 +281,8 @@ class AcadosSim:
- :py:attr:`acados_include_path` (set automatically)
- :py:attr:`acados_lib_path` (set automatically)
- :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
"""
def __init__(self, acados_path=''):
if acados_path == '':
@ -281,6 +302,21 @@ class AcadosSim:
self.code_export_directory = 'c_generated_code'
"""Path to where code will be exported. Default: `c_generated_code`."""
self.__parameter_values = np.array([])
@property
def parameter_values(self):
""":math:`p` - initial values for parameter - can be updated"""
return self.__parameter_values
@parameter_values.setter
def parameter_values(self, parameter_values):
if isinstance(parameter_values, np.ndarray):
self.__parameter_values = parameter_values
else:
raise Exception('Invalid parameter_values value. ' +
f'Expected numpy array, got {type(parameter_values)}.')
def set(self, attr, value):
# tokenize string
tokens = attr.split('_', 1)

3
pyextra/acados_template/acados_sim_layout.json
View File

@ -28,6 +28,9 @@
"integrator_type": [
"str"
],
"collocation_type": [
"str"
],
"Tsim": [
"float"
],

15
pyextra/acados_template/acados_sim_solver.py
View File

@ -46,7 +46,7 @@ from .acados_sim import AcadosSim
from .acados_ocp import AcadosOcp
from .acados_model import acados_model_strip_casadi_symbolics
from .utils import is_column, render_template, format_class_dict, np_array_to_list,\
make_model_consistent, set_up_imported_gnsf_model
make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path
def make_sim_dims_consistent(acados_sim):
@ -84,14 +84,13 @@ def make_sim_dims_consistent(acados_sim):
def get_sim_layout():
current_module = sys.modules[__name__]
acados_path = os.path.dirname(current_module.__file__)
with open(acados_path + '/acados_sim_layout.json', 'r') as f:
python_interface_path = get_python_interface_path()
abs_path = os.path.join(python_interface_path, 'acados_sim_layout.json')
with open(abs_path, 'r') as f:
sim_layout = json.load(f)
return sim_layout
def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'):
# Load acados_sim structure description
sim_layout = get_sim_layout()
@ -114,9 +113,7 @@ def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'):
def sim_render_templates(json_file, model_name, code_export_dir):
# setting up loader and environment
json_path = '{cwd}/{json_file}'.format(
cwd=os.getcwd(),
json_file=json_file)
json_path = os.path.join(os.getcwd(), json_file)
if not os.path.exists(json_path):
raise Exception(f"{json_path} not found!")
@ -141,7 +138,7 @@ def sim_render_templates(json_file, model_name, code_export_dir):
render_template(in_file, out_file, template_dir, json_path)
## folder model
template_dir = f'{code_export_dir}/{model_name}_model/'
template_dir = os.path.join(code_export_dir, model_name + '_model')
in_file = 'model.in.h'
out_file = f'{model_name}_model.h'

102
pyextra/acados_template/acados_solver_common.pxd 100644
View File

@ -0,0 +1,102 @@
# -*- coding: future_fstrings -*-
#
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
#
# This file is part of acados.
#
# The 2-Clause BSD License
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.;
#
cdef extern from "acados/ocp_nlp/ocp_nlp_common.h":
ctypedef struct ocp_nlp_config:
pass
ctypedef struct ocp_nlp_dims:
pass
ctypedef struct ocp_nlp_in:
pass
ctypedef struct ocp_nlp_out:
pass
cdef extern from "acados_c/ocp_nlp_interface.h":
ctypedef enum ocp_nlp_solver_t:
pass
ctypedef enum ocp_nlp_cost_t:
pass
ctypedef enum ocp_nlp_dynamics_t:
pass
ctypedef enum ocp_nlp_constraints_t:
pass
ctypedef enum ocp_nlp_reg_t:
pass
ctypedef struct ocp_nlp_plan:
pass
ctypedef struct ocp_nlp_solver:
pass
int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in_,
int start_stage, const char *field, void *value)
int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
ocp_nlp_in *in_, int stage, const char *field, void *value)
# out
void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field, void *value)
void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field, void *value)
void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver,
int stage, const char *field, void *value)
int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field)
void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field, int *dims_out)
void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field, int *dims_out)
void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
int stage, const char *field, int *dims_out)
# opts
void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value)
# solver
void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
# get/set
void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, const char *field, void *return_value_)
void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, int stage, const char *field, void *value)

35
pyextra/acados_template/c_templates_tera/Makefile.in
View File

@ -279,12 +279,12 @@ all: clean casadi_fun example_sim example
shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
{%- endif %}
CASADI_MODEL_SOURCE=
CASADI_MODEL_SOURCE=
{%- if solver_options.integrator_type == "ERK" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_fun.c
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_vde_forw.c
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_vde_forw.c
{%- if hessian_approx == "EXACT" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_hess.c
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_hess.c
{%- endif %}
{%- elif solver_options.integrator_type == "IRK" %}
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
@ -453,7 +453,7 @@ ocp_shared_lib: casadi_fun ocp_solver
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
{{ link_libs }} \
-lm \
{%- else %}
ocp_shared_lib: casadi_fun ocp_solver
@ -465,9 +465,34 @@ ocp_shared_lib: casadi_fun ocp_solver
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
{{ link_libs }} \
-lm \
{%- endif %}
ocp_cython_c: ocp_shared_lib
cython \
-o acados_ocp_solver_pyx.c \
-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
ocp_cython_o: ocp_cython_c
clang $(ACADOS_FLAGS) -c -O2 \
-o acados_ocp_solver_pyx.o \
-I /usr/include/python3.8 \
-I $(INCLUDE_PATH)/blasfeo/include/ \
-I $(INCLUDE_PATH)/hpipm/include/ \
-I $(INCLUDE_PATH) \
acados_ocp_solver_pyx.c \
ocp_cython: ocp_cython_o
clang $(ACADOS_FLAGS) -shared \
-o acados_ocp_solver_pyx.so \
-Wl,-rpath=$(LIB_PATH) \
acados_ocp_solver_pyx.o \
$(abspath .)/libacados_ocp_solver_{{ model.name }}.so \
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo -lqpOASES_e \
{{ link_libs }} \
-lm \
sim_shared_lib: casadi_fun sim_solver
gcc $(ACADOS_FLAGS) -shared -o libacados_sim_solver_{{ model.name }}.so $(SIM_OBJ) $(MODEL_OBJ) -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \

2
pyextra/acados_template/c_templates_tera/acados_mex_create.in.c
View File

@ -52,7 +52,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
int status = 0;
// create solver
nlp_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
{{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule();
status = {{ model.name }}_acados_create(acados_ocp_capsule);

2
pyextra/acados_template/c_templates_tera/acados_mex_free.in.c
View File

@ -51,7 +51,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
const mxArray *C_ocp = prhs[0];
// capsule
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
nlp_solver_capsule *capsule = (nlp_solver_capsule *) ptr[0];
{{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
status = {{ model.name }}_acados_free(capsule);
if (status)

2
pyextra/acados_template/c_templates_tera/acados_mex_set.in.c
View File

@ -66,7 +66,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
const mxArray *C_ocp = prhs[2];
// capsule
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
nlp_solver_capsule *capsule = (nlp_solver_capsule *) ptr[0];
{{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
// plan
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
ocp_nlp_plan *plan = (ocp_nlp_plan *) ptr[0];

2
pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c
View File

@ -51,7 +51,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
// capsule
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
nlp_solver_capsule *capsule = (nlp_solver_capsule *) ptr[0];
{{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
// solve
{{ model.name }}_acados_solve(capsule);

70
pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
View File

@ -78,9 +78,10 @@ int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule * capsule
int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
{
// initialize
int nx = {{ dims.nx }};
int nu = {{ dims.nu }};
int nz = {{ dims.nz }};
const int nx = {{ model.name | upper }}_NX;
const int nu = {{ model.name | upper }}_NU;
const int nz = {{ model.name | upper }}_NZ;
const int np = {{ model.name | upper }}_NP;
bool tmp_bool;
{#// double Tsim = {{ solver_options.tf / dims.N }};#}
@ -98,7 +99,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out;
capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in;
capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out;
external_function_param_casadi_create(capsule->sim_impl_dae_fun, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_impl_dae_fun, np);
capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z;
capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work;
@ -106,7 +107,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out;
capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in;
capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out;
external_function_param_casadi_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np);
// external_function_param_casadi impl_dae_jac_x_xdot_u_z;
capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z;
@ -115,7 +116,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out;
capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in;
capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out;
external_function_param_casadi_create(capsule->sim_impl_dae_jac_x_xdot_u_z, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np);
{%- if hessian_approx == "EXACT" %}
capsule->sim_impl_dae_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
@ -126,7 +127,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out;
capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in;
capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out;
external_function_param_casadi_create(capsule->sim_impl_dae_hess, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_impl_dae_hess, np);
{%- endif %}
{% elif solver_options.integrator_type == "ERK" %}
@ -140,7 +141,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in;
capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out;
capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work;
external_function_param_casadi_create(capsule->sim_forw_vde_casadi, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np);
capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun;
capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in;
@ -148,7 +149,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in;
capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out;
capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work;
external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np);
{%- if hessian_approx == "EXACT" %}
capsule->sim_expl_ode_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
@ -159,7 +160,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out;
capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in;
capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out;
external_function_param_casadi_create(capsule->sim_expl_ode_hess, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_expl_ode_hess, np);
{%- endif %}
{% elif solver_options.integrator_type == "GNSF" -%}
@ -175,7 +176,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in;
capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out;
capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work;
external_function_param_casadi_create(capsule->sim_gnsf_phi_fun, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_gnsf_phi_fun, np);
capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y;
capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in;
@ -183,7 +184,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in;
capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out;
capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work;
external_function_param_casadi_create(capsule->sim_gnsf_phi_fun_jac_y, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_gnsf_phi_fun_jac_y, np);
capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat;
capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in;
@ -191,7 +192,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in;
capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out;
capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
external_function_param_casadi_create(capsule->sim_gnsf_phi_jac_y_uhat, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
@ -199,7 +200,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in;
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
external_function_param_casadi_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
@ -207,7 +208,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in;
capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out;
capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work;
external_function_param_casadi_create(capsule->sim_gnsf_get_matrices_fun, {{ dims.np }});
external_function_param_casadi_create(capsule->sim_gnsf_get_matrices_fun, np);
{% endif %}
// sim plan & config
@ -243,6 +244,8 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
capsule->acados_sim_opts = {{ model.name }}_sim_opts;
int tmp_int = {{ solver_options.sim_method_newton_iter }};
sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int);
sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type);
{% if problem_class == "SIM" %}
tmp_int = {{ solver_options.sim_method_num_stages }};
@ -321,35 +324,18 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
{{ model.name }}_sim_dims, {{ model.name }}_sim_opts);
capsule->acados_sim_solver = {{ model.name }}_sim_solver;
{% if dims.np > 0 %}
/* initialize parameter values */
{% if dims.np > 0 %}
// initialize parameters to nominal value
double p[{{ dims.np }}];
{% for i in range(end=dims.np) %}
p[{{ i }}] = {{ parameter_values[i] }};
double* p = calloc(np, sizeof(double));
{% for item in parameter_values %}
{%- if item != 0 %}
p[{{ loop.index0 }}] = {{ item }};
{%- endif %}
{%- endfor %}
{%- if solver_options.integrator_type == "ERK" %}
capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
{%- if hessian_approx == "EXACT" %}
capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p);
{%- endif %}
{%- elif solver_options.integrator_type == "IRK" %}
capsule->sim_impl_dae_fun[0].set_param(capsule->sim_impl_dae_fun, p);
capsule->sim_impl_dae_fun_jac_x_xdot_z[0].set_param(capsule->sim_impl_dae_fun_jac_x_xdot_z, p);
capsule->sim_impl_dae_jac_x_xdot_u_z[0].set_param(capsule->sim_impl_dae_jac_x_xdot_u_z, p);
{%- if hessian_approx == "EXACT" %}
capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p);
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p);
capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p);
capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p);
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p);
capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p);
{% endif %}
{% endif %}{# if dims.np #}
{{ model.name }}_acados_sim_update_params(capsule, p, np);
free(p);
{% endif %}{# if dims.np #}
/* initialize input */
// x
@ -437,7 +423,7 @@ int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np)
{
int status = 0;
int casadi_np = {{ dims.np }};
int casadi_np = {{ model.name | upper }}_NP;
if (casadi_np != np) {
printf("{{ model.name }}_acados_sim_update_params: trying to set %i parameters for external functions."

5
pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
View File

@ -37,6 +37,11 @@
#include "acados_c/sim_interface.h"
#include "acados_c/external_function_interface.h"
#define {{ model.name | upper }}_NX {{ dims.nx }}
#define {{ model.name | upper }}_NZ {{ dims.nz }}
#define {{ model.name | upper }}_NU {{ dims.nu }}
#define {{ model.name | upper }}_NP {{ dims.np }}
#ifdef __cplusplus
extern "C" {
#endif

197
pyextra/acados_template/c_templates_tera/acados_solver.in.c
View File

@ -71,59 +71,97 @@
#include "acados_solver_{{ model.name }}.h"
#define NX {{ dims.nx }}
#define NZ {{ dims.nz }}
#define NU {{ dims.nu }}
#define NP {{ dims.np }}
#define NBX {{ dims.nbx }}
#define NBX0 {{ dims.nbx_0 }}
#define NBU {{ dims.nbu }}
#define NSBX {{ dims.nsbx }}
#define NSBU {{ dims.nsbu }}
#define NSH {{ dims.nsh }}
#define NSG {{ dims.nsg }}
#define NSPHI {{ dims.nsphi }}
#define NSHN {{ dims.nsh_e }}
#define NSGN {{ dims.nsg_e }}
#define NSPHIN {{ dims.nsphi_e }}
#define NSBXN {{ dims.nsbx_e }}
#define NS {{ dims.ns }}
#define NSN {{ dims.ns_e }}
#define NG {{ dims.ng }}
#define NBXN {{ dims.nbx_e }}
#define NGN {{ dims.ng_e }}
#define NY0 {{ dims.ny_0 }}
#define NY {{ dims.ny }}
#define NYN {{ dims.ny_e }}
#define N {{ dims.N }}
#define NH {{ dims.nh }}
#define NPHI {{ dims.nphi }}
#define NHN {{ dims.nh_e }}
#define NPHIN {{ dims.nphi_e }}
#define NR {{ dims.nr }}
#define NX {{ model.name | upper }}_NX
#define NZ {{ model.name | upper }}_NZ
#define NU {{ model.name | upper }}_NU
#define NP {{ model.name | upper }}_NP
#define NBX {{ model.name | upper }}_NBX
#define NBX0 {{ model.name | upper }}_NBX0
#define NBU {{ model.name | upper }}_NBU
#define NSBX {{ model.name | upper }}_NSBX
#define NSBU {{ model.name | upper }}_NSBU
#define NSH {{ model.name | upper }}_NSH
#define NSG {{ model.name | upper }}_NSG
#define NSPHI {{ model.name | upper }}_NSPHI
#define NSHN {{ model.name | upper }}_NSHN
#define NSGN {{ model.name | upper }}_NSGN
#define NSPHIN {{ model.name | upper }}_NSPHIN
#define NSBXN {{ model.name | upper }}_NSBXN
#define NS {{ model.name | upper }}_NS
#define NSN {{ model.name | upper }}_NSN
#define NG {{ model.name | upper }}_NG
#define NBXN {{ model.name | upper }}_NBXN
#define NGN {{ model.name | upper }}_NGN
#define NY0 {{ model.name | upper }}_NY0
#define NY {{ model.name | upper }}_NY
#define NYN {{ model.name | upper }}_NYN
// #define N {{ model.name | upper }}_N
#define NH {{ model.name | upper }}_NH
#define NPHI {{ model.name | upper }}_NPHI
#define NHN {{ model.name | upper }}_NHN
#define NPHIN {{ model.name | upper }}_NPHIN
#define NR {{ model.name | upper }}_NR
// ** solver data **
nlp_solver_capsule * {{ model.name }}_acados_create_capsule()
{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void)
{
void* capsule_mem = malloc(sizeof(nlp_solver_capsule));
nlp_solver_capsule *capsule = (nlp_solver_capsule *) capsule_mem;
void* capsule_mem = malloc(sizeof({{ model.name }}_solver_capsule));
{{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) capsule_mem;
return capsule;
}
int {{ model.name }}_acados_free_capsule(nlp_solver_capsule *capsule)
int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule)
{
free(capsule);
return 0;
}
int {{ model.name }}_acados_create(nlp_solver_capsule * capsule)
int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule)
{
int N_shooting_intervals = {{ model.name | upper }}_N;
double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps
return {{ model.name }}_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps);
}
int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps)
{
if (N != capsule->nlp_solver_plan->N) {
fprintf(stderr, "{{ model.name }}_acados_update_time_steps: given number of time steps (= %d) " \
"differs from the currently allocated number of " \
"time steps (= %d)!\n" \
"Please recreate with new discretization and provide a new vector of time_stamps!\n",
N, capsule->nlp_solver_plan->N);
return 1;
}
ocp_nlp_config * nlp_config = capsule->nlp_config;
ocp_nlp_dims * nlp_dims = capsule->nlp_dims;
ocp_nlp_in * nlp_in = capsule->nlp_in;
for (int i = 0; i < N; i++)
{
ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]);
}
return 0;
}
int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps)
{
int status = 0;
// If N does not match the number of shooting intervals used for code generation, new_time_steps must be given.
if (N != {{ model.name | upper }}_N && !new_time_steps) {
fprintf(stderr, "{{ model.name }}_acados_create_with_discretization: new_time_steps is NULL " \
"but the number of shooting intervals (= %d) differs from the number of " \
"shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \
N, {{ model.name | upper }}_N);
return 1;
}
// number of expected runtime parameters
capsule->nlp_np = NP;
@ -895,28 +933,27 @@ int {{ model.name }}_acados_create(nlp_solver_capsule * capsule)
{%- endif %}
{%- endfor %}
if (new_time_steps) {
{{ model.name }}_acados_update_time_steps(capsule, N, new_time_steps);
} else {
{%- if all_equal == true -%}
// all time_steps are identical
double time_step = {{ solver_options.time_steps[0] }};
for (int i = 0; i < N; i++)
{
ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step);
}
// all time_steps are identical
double time_step = {{ solver_options.time_steps[0] }};
for (int i = 0; i < N; i++)
{
ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step);
}
{%- else -%}
// time_steps are different
double* time_steps = malloc(N*sizeof(double));
{%- for j in range(end=dims.N) %}
time_steps[{{ j }}] = {{ solver_options.time_steps[j] }};
{%- endfor %}
for (int i = 0; i < N; i++)
{
ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_steps[i]);
ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_steps[i]);
}
free(time_steps);
// time_steps are different
double* time_steps = malloc(N*sizeof(double));
{%- for j in range(end=dims.N) %}
time_steps[{{ j }}] = {{ solver_options.time_steps[j] }};
{%- endfor %}
{{ model.name }}_acados_update_time_steps(capsule, N, time_steps);
free(time_steps);
{%- endif %}
}
/**** Dynamics ****/
for (int i = 0; i < N; i++)
@ -1879,6 +1916,11 @@ int {{ model.name }}_acados_create(nlp_solver_capsule * capsule)
{%- if solver_options.integrator_type != "DISCRETE" %}
// set collocation type (relevant for implicit integrators)
sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
for (int i = 0; i < N; i++)
ocp_nlp_solver_opts_set_at_stage(nlp_config, capsule->nlp_opts, i, "dynamics_collocation_type", &collocation_type);
// set up sim_method_num_steps
{%- set all_equal = true %}
{%- set val = solver_options.sim_method_num_steps[0] %}
@ -2113,7 +2155,7 @@ int {{ model.name }}_acados_create(nlp_solver_capsule * capsule)
}
int {{ model.name }}_acados_update_params(nlp_solver_capsule * capsule, int stage, double *p, int np)
int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *p, int np)
{
int solver_status = 0;
@ -2125,7 +2167,8 @@ int {{ model.name }}_acados_update_params(nlp_solver_capsule * capsule, int stag
}
{%- if dims.np > 0 %}
if (stage < {{ dims.N }} && stage >= 0)
const int N = capsule->nlp_solver_plan->N;
if (stage < N && stage >= 0)
{
{%- if solver_options.integrator_type == "IRK" %}
capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p);
@ -2228,7 +2271,7 @@ int {{ model.name }}_acados_update_params(nlp_solver_capsule * capsule, int stag
int {{ model.name }}_acados_solve(nlp_solver_capsule * capsule)
int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule)
{
// solve NLP
int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
@ -2237,8 +2280,10 @@ int {{ model.name }}_acados_solve(nlp_solver_capsule * capsule)
}
int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule)
{
// before destroying, keep some info
const int N = capsule->nlp_solver_plan->N;
// free memory
ocp_nlp_solver_opts_destroy(capsule->nlp_opts);
ocp_nlp_in_destroy(capsule->nlp_in);
@ -2251,7 +2296,7 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
/* free external function */
// dynamics
{%- if solver_options.integrator_type == "IRK" %}
for (int i = 0; i < {{ dims.N }}; i++)
for (int i = 0; i < N; i++)
{
external_function_param_casadi_free(&capsule->impl_dae_fun[i]);
external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]);
@ -2268,7 +2313,7 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
{%- endif %}
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
for (int i = 0; i < {{ dims.N }}; i++)
for (int i = 0; i < N; i++)
{
external_function_param_casadi_free(&capsule->impl_dae_fun[i]);
external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]);
@ -2277,7 +2322,7 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
free(capsule->impl_dae_fun_jac_x_xdot_u);
{%- elif solver_options.integrator_type == "ERK" %}
for (int i = 0; i < {{ dims.N }}; i++)
for (int i = 0; i < N; i++)
{
external_function_param_casadi_free(&capsule->forw_vde_casadi[i]);
external_function_param_casadi_free(&capsule->expl_ode_fun[i]);
@ -2292,7 +2337,7 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
{%- endif %}
{%- elif solver_options.integrator_type == "GNSF" %}
for (int i = 0; i < {{ dims.N }}; i++)
for (int i = 0; i < N; i++)
{
external_function_param_casadi_free(&capsule->gnsf_phi_fun[i]);
external_function_param_casadi_free(&capsule->gnsf_phi_fun_jac_y[i]);
@ -2306,7 +2351,7 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
free(capsule->gnsf_f_lo_jac_x1_x1dot_u_z);
free(capsule->gnsf_get_matrices_fun);
{%- elif solver_options.integrator_type == "DISCRETE" %}
for (int i = 0; i < {{ dims.N }}; i++)
for (int i = 0; i < N; i++)
{
external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun[i]);
external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt[i]);
@ -2333,7 +2378,7 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac_hess);
{%- endif %}
{%- if cost.cost_type == "NONLINEAR_LS" %}
for (int i = 0; i < {{ dims.N }} - 1; i++)
for (int i = 0; i < N - 1; i++)
{
external_function_param_casadi_free(&capsule->cost_y_fun[i]);
external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]);
@ -2343,7 +2388,7 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
free(capsule->cost_y_fun_jac_ut_xt);
free(capsule->cost_y_hess);
{%- elif cost.cost_type == "EXTERNAL" %}
for (int i = 0; i < {{ dims.N }} - 1; i++)
for (int i = 0; i < N - 1; i++)
{
external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun[i]);
external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac[i]);
@ -2365,13 +2410,13 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
// constraints
{%- if constraints.constr_type == "BGH" and dims.nh > 0 %}
for (int i = 0; i < {{ dims.N }}; i++)
for (int i = 0; i < N; i++)
{
external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]);
external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]);
}
{%- if solver_options.hessian_approx == "EXACT" %}
for (int i = 0; i < {{ dims.N }}; i++)
for (int i = 0; i < N; i++)
{
external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac_hess[i]);
}
@ -2383,7 +2428,7 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
{%- endif %}
{%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %}
for (int i = 0; i < {{ dims.N }}; i++)
for (int i = 0; i < N; i++)
{
external_function_param_casadi_free(&capsule->phi_constraint[i]);
}
@ -2403,16 +2448,16 @@ int {{ model.name }}_acados_free(nlp_solver_capsule * capsule)
return 0;
}
ocp_nlp_in *{{ model.name }}_acados_get_nlp_in(nlp_solver_capsule * capsule) { return capsule->nlp_in; }
ocp_nlp_out *{{ model.name }}_acados_get_nlp_out(nlp_solver_capsule * capsule) { return capsule->nlp_out; }
ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver(nlp_solver_capsule * capsule) { return capsule->nlp_solver; }
ocp_nlp_config *{{ model.name }}_acados_get_nlp_config(nlp_solver_capsule * capsule) { return capsule->nlp_config; }
void *{{ model.name }}_acados_get_nlp_opts(nlp_solver_capsule * capsule) { return capsule->nlp_opts; }
ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims(nlp_solver_capsule * capsule) { return capsule->nlp_dims; }
ocp_nlp_plan *{{ model.name }}_acados_get_nlp_plan(nlp_solver_capsule * capsule) { return capsule->nlp_solver_plan; }
ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_in; }
ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_out; }
ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_solver; }
ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_config; }
void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_opts; }
ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_dims; }
ocp_nlp_plan *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule) { return capsule->nlp_solver_plan; }
void {{ model.name }}_acados_print_stats(nlp_solver_capsule * capsule)
void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule)
{
int sqp_iter, stat_m, stat_n, tmp_int;
ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter);

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