spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

openpilot v0.8.5 release

pull/21153/head
Vehicle Researcher 2021-06-07 22:13:57 +00:00
parent bbc546fcf3
commit c1112e4400
193 changed files with 3027 additions and 2123 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
Jenkinsfile vendored
View File

@ -36,7 +36,7 @@ EOF"""
def phone_steps(String device_type, steps) {
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 90, unit: 'MINUTES') {
timeout(time: 150, unit: 'MINUTES') {
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
steps.each { item ->
phone(device_ip, item[0], item[1])
@ -52,7 +52,7 @@ pipeline {
TEST_DIR = "/data/openpilot"
}
options {
timeout(time: 1, unit: 'HOURS')
timeout(time: 3, unit: 'HOURS')
}
stages {
@ -78,7 +78,7 @@ pipeline {
when {
not {
anyOf {
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
}
}
}
@ -127,7 +127,7 @@ pipeline {
stage('Devel Tests') {
steps {
phone_steps("eon-build", [
["build devel", "cd release && SCONS_CACHE=1 DEVEL_TEST=1 ./build_devel.sh"],
["build devel", "cd release && DEVEL_TEST=1 ./build_devel.sh"],
["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"],
@ -138,8 +138,8 @@ pipeline {
stage('Replay Tests') {
steps {
phone_steps("eon2", [
["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
["build", "cd selfdrive/manager && ./build.py"],
["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
])
}
}
@ -147,7 +147,7 @@ pipeline {
stage('HW + Unit Tests') {
steps {
phone_steps("eon", [
["build", "SCONS_CACHE=1 scons -j4"],
["build", "cd selfdrive/manager && ./build.py"],
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
@ -166,7 +166,7 @@ pipeline {
timeout(time: 90, unit: 'MINUTES') {
sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
phone(device_ip, "build", "SCONS_CACHE=1 scons -j4 && sync")
phone(device_ip, "build", "scons -j4 && sync")
sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
@ -186,7 +186,7 @@ pipeline {
}
steps {
phone_steps("tici", [
["build", "SCONS_CACHE=1 scons -j16"],
["build", "cd selfdrive/manager && ./build.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"],
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@ -198,7 +198,7 @@ pipeline {
stage('camerad') {
steps {
phone_steps("eon-party", [
["build", "SCONS_CACHE=1 scons -j16"],
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
])
@ -208,7 +208,7 @@ pipeline {
stage('Tici camerad') {
steps {
phone_steps("tici-party", [
["build", "SCONS_CACHE=1 scons -j16"],
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
])

11
README.md
View File

@ -97,7 +97,9 @@ Supported Cars
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
| Lexus | UX Hybrid 2019 | All | openpilot | 0mph | 0mph |
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
| Toyota | Avalon Hybrid 2019 | 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 | 0mph |
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
@ -133,8 +135,9 @@ Community Maintained Cars and Features
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
| Audi | A3 2014-17 | Prestige | Stock | 0mph | 0mph |
| Audi | A3 2014-18 | Prestige | Stock | 0mph | 0mph |
| Audi | A3 Sportback e-tron 2017-18 | Prestige | Stock | 0mph | 0mph |
| Audi | Q2 2018 | Driver Assistance | 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 |
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
@ -148,7 +151,7 @@ Community Maintained Cars and Features
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
| Hyundai | Elantra 2017-19, 2021 | SCC + LKAS | Stock | 19mph | 34mph |
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
@ -167,12 +170,14 @@ Community Maintained Cars and Features
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
| Nissan | Altima 2020 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Octavia 2015, 2019 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |

15
RELEASES.md
View File

@ -1,3 +1,18 @@
Version 0.8.5 (2021-06-11)
========================
* NEOS update: improved reliability and stability with better voltage regulator configuration
* Smart model-based Forward Collision Warning
* CAN-based fingerprinting moved behind community features toggle
* Improved longitudinal control on Toyotas with a comma pedal
* Improved auto-brightness using road-facing camera
* Added "Software" settings page with updater controls
* Audi Q2 2018 support thanks to jyoung8607!
* Hyundai Elantra 2021 support thanks to CruiseBrantley!
* Lexus UX Hybrid 2019-2020 support thanks to brianhaugen2!
* Toyota Avalon Hybrid 2019 support thanks to jbates9011!
* SEAT Leon 2017 & 2020 support thanks to jyoung8607!
* Škoda Octavia 2015 & 2019 support thanks to jyoung8607!
Version 0.8.4 (2021-05-17)
========================
* Delay controls start until system is ready

28
SConstruct
View File

@ -37,6 +37,10 @@ AddOption('--mpc-generate',
action='store_true',
help='regenerates the mpc sources')
AddOption('--snpe',
action='store_true',
help='use SNPE on PC')
AddOption('--external-sconscript',
action='store',
metavar='FILE',
@ -51,7 +55,6 @@ if arch == "aarch64" and TICI:
arch = "larch64"
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
lenv = {
"PATH": os.environ['PATH'],
@ -98,10 +101,6 @@ if arch == "aarch64" or arch == "larch64":
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
rpath = []
if QCOM_REPLAY:
cflags += ["-DQCOM_REPLAY"]
cxxflags += ["-DQCOM_REPLAY"]
else:
cflags = []
cxxflags = []
@ -128,6 +127,7 @@ else:
libpath = [
"#phonelibs/snpe/x86_64-linux-clang",
"#phonelibs/libyuv/x64/lib",
"#phonelibs/mapbox-gl-native-qt/x86_64",
"#cereal",
"#selfdrive/common",
"/usr/lib",
@ -190,6 +190,7 @@ env = Environment(
"#phonelibs/android_system_core/include",
"#phonelibs/linux/include",
"#phonelibs/snpe/include",
"#phonelibs/mapbox-gl-native-qt/include",
"#phonelibs/nanovg",
"#phonelibs/qrcode",
"#phonelibs",
@ -222,15 +223,10 @@ env = Environment(
if GetOption('compile_db'):
env.CompilationDatabase('compile_commands.json')
if os.environ.get('SCONS_CACHE'):
cache_dir = '/tmp/scons_cache'
if TICI:
cache_dir = '/data/scons_cache'
if QCOM_REPLAY:
cache_dir = '/tmp/scons_cache_qcom_replay'
CacheDir(cache_dir)
# Setup cache dir
cache_dir = '/data/scons_cache' if TICI else '/tmp/scons_cache'
CacheDir(cache_dir)
Clean(["."], cache_dir)
node_interval = 5
node_count = 0
@ -272,7 +268,7 @@ Export('envCython')
# Qt build environment
qt_env = env.Clone()
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets"]
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
if arch != "aarch64":
qt_modules += ["DBus"]
@ -338,7 +334,7 @@ if GetOption("clazy"):
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
# cereal and messaging are shared with the system
SConscript(['cereal/SConscript'])

6
cereal/SConscript
View File

@ -1,4 +1,4 @@
Import('env', 'envCython', 'arch', 'QCOM_REPLAY')
Import('env', 'envCython', 'arch')
import shutil
@ -54,7 +54,7 @@ vipc_sources = [
'visionipc/visionbuf.cc',
]
if arch in ["aarch64", "larch64"] and (not QCOM_REPLAY):
if arch in ["aarch64", "larch64"]:
vipc_sources += ['visionipc/visionbuf_ion.cc']
else:
vipc_sources += ['visionipc/visionbuf_cl.cc']
@ -64,6 +64,8 @@ vipc = env.Library('visionipc', vipc_objects)
libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib]
if arch == "aarch64":
libs += ["adreno_utils"]
if arch == "Darwin":
del libs[libs.index('OpenCL')]
envCython['FRAMEWORKS'] += ['OpenCL']

12
cereal/car.capnp
View File

@ -52,7 +52,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
manualRestart @30;
lowSpeedLockout @31;
plannerError @32;
debugAlert @34;
joystickDebug @34;
steerTempUnavailableUserOverride @35;
resumeRequired @36;
preDriverDistracted @37;
@ -90,6 +90,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
startupNoControl @77;
startupMaster @78;
startupFuzzyFingerprint @97;
startupNoFw @104;
fcw @79;
steerSaturated @80;
belowEngageSpeed @84;
@ -103,6 +104,11 @@ struct CarEvent @0x9b1657f34caf3ad3 {
processNotRunning @95;
dashcamMode @96;
controlsInitializing @98;
usbError @99;
roadCameraError @100;
driverCameraError @101;
wideRoadCameraError @102;
localizerMalfunction @103;
radarCanErrorDEPRECATED @15;
radarCommIssueDEPRECATED @67;
@ -147,7 +153,6 @@ struct CarState {
# brake pedal, 0.0-1.0
brake @5 :Float32; # this is user pedal only
brakePressed @6 :Bool; # this is user pedal only
brakeLights @19 :Bool;
# steering wheel
steeringAngleDeg @7 :Float32;
@ -241,6 +246,7 @@ struct CarState {
}
errorsDEPRECATED @0 :List(CarEvent.EventName);
brakeLightsDEPRECATED @19 :Bool;
}
# ******* radar state @ 20hz *******
@ -361,6 +367,7 @@ struct CarParams {
enableDsu @5 :Bool; # driving support unit
enableApgs @6 :Bool; # advanced parking guidance system
enableBsm @56 :Bool; # blind spot monitoring
hasStockCamera @57 :Bool; # factory LKAS/LDW camera is present
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
@ -512,6 +519,7 @@ struct CarParams {
automatic @1; # Traditional auto, including DSG
manual @2; # True "stick shift" only
direct @3; # Electric vehicle or other direct drive
cvt @4;
}
struct CarFw {

44
cereal/log.capnp
View File

@ -23,6 +23,7 @@ struct Map(Key, Value) {
struct InitData {
kernelArgs @0 :List(Text);
kernelVersion @15 :Text;
osVersion @18 :Text;
gctx @1 :Text;
dongleId @2 :Text;
@ -280,6 +281,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
cpuUsagePercent @20 :Int8;
usbOnline @12 :Bool;
networkType @22 :NetworkType;
networkInfo @31 :NetworkInfo;
offroadPowerUsageUwh @23 :UInt32;
networkStrength @24 :NetworkStrength;
carBatteryCapacityUwh @25 :UInt32;
@ -288,6 +290,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
started @11 :Bool;
startedMonoTime @13 :UInt64;
lastAthenaPingTime @32 :UInt64;
# power
batteryPercent @8 :Int16;
batteryStatus @9 :Text;
@ -328,6 +332,15 @@ struct DeviceState @0xa4d8b5af2aa492eb {
great @4;
}
struct NetworkInfo {
technology @0 :Text;
operator @1 :Text;
band @2 :Text;
channel @3 :UInt16;
extra @4 :Text;
state @5 :Text;
}
# deprecated
cpu0DEPRECATED @0 :UInt16;
cpu1DEPRECATED @1 :UInt16;
@ -361,6 +374,8 @@ struct PandaState @0xa7649e2575e4591e {
powerSaveEnabled @16 :Bool;
uptime @17 :UInt32;
faults @18 :List(FaultType);
harnessStatus @21 :HarnessStatus;
heartbeatLost @22 :Bool;
enum FaultStatus {
none @0;
@ -411,6 +426,12 @@ struct PandaState @0xa7649e2575e4591e {
dcp @3;
}
enum HarnessStatus {
notConnected @0;
normal @1;
flipped @2;
}
startedSignalDetectedDEPRECATED @5 :Bool;
}
@ -676,10 +697,24 @@ struct ModelDataV2 {
struct MetaData {
engagedProb @0 :Float32;
desirePrediction @1 :List(Float32);
brakeDisengageProb @2 :Float32;
gasDisengageProb @3 :Float32;
steerOverrideProb @4 :Float32;
desireState @5 :List(Float32);
disengagePredictions @6 :DisengagePredictions;
hardBrakePredicted @7 :Bool;
# deprecated
brakeDisengageProbDEPRECATED @2 :Float32;
gasDisengageProbDEPRECATED @3 :Float32;
steerOverrideProbDEPRECATED @4 :Float32;
}
struct DisengagePredictions {
t @0 :List(Float32);
brakeDisengageProbs @1 :List(Float32);
gasDisengageProbs @2 :List(Float32);
steerOverrideProbs @3 :List(Float32);
brake3MetersPerSecondSquaredProbs @4 :List(Float32);
brake4MetersPerSecondSquaredProbs @5 :List(Float32);
brake5MetersPerSecondSquaredProbs @6 :List(Float32);
}
}
@ -867,6 +902,8 @@ struct LiveLocationKalman {
gpsOK @19 :Bool = true;
sensorsOK @21 :Bool = true;
deviceStable @22 :Bool = true;
timeSinceReset @23 :Float64;
excessiveResets @24 :Bool;
enum Status {
uninitialized @0;
@ -1250,6 +1287,7 @@ struct Sentinel {
startOfRoute @3;
}
type @0 :SentinelType;
signal @1 :Int32;
}
struct ManagerState {

16
cereal/messaging/messaging.h
View File

@ -66,13 +66,13 @@ public:
class SubMaster {
public:
SubMaster(const std::initializer_list<const char *> &service_list,
const char *address = nullptr, const std::initializer_list<const char *> &ignore_alive = {});
SubMaster(const std::vector<const char *> &service_list,
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
void update(int timeout = 1000);
void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
inline bool allAlive(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, false, true); }
inline bool allValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, false); }
inline bool allAliveAndValid(const std::initializer_list<const char *> &service_list = {}) { return all_(service_list, true, true); }
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }
void drain();
~SubMaster();
@ -82,10 +82,10 @@ public:
bool valid(const char *name) const;
uint64_t rcv_frame(const char *name) const;
uint64_t rcv_time(const char *name) const;
cereal::Event::Reader &operator[](const char *name);
cereal::Event::Reader &operator[](const char *name) const;
private:
bool all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive);
bool all_(const std::vector<const char *> &service_list, bool valid, bool alive);
Poller *poller_ = nullptr;
struct SubMessage;
std::map<SubSocket *, SubMessage *> messages_;
@ -117,7 +117,7 @@ private:
class PubMaster {
public:
PubMaster(const std::initializer_list<const char *> &service_list);
PubMaster(const std::vector<const char *> &service_list);
inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); }
int send(const char *name, MessageBuilder &msg);
~PubMaster();

2
cereal/messaging/msgq.h
View File

@ -5,7 +5,7 @@
#include <atomic>
#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
#define NUM_READERS 8
#define NUM_READERS 10
#define ALIGN(n) ((n + (8 - 1)) & -8)
#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)

37
cereal/messaging/socketmaster.cc
View File

@ -2,6 +2,7 @@
#include <assert.h>
#include <stdlib.h>
#include <string>
#include <mutex>
#include "services.h"
#include "messaging.h"
@ -21,7 +22,7 @@ static const service *get_service(const char *name) {
return nullptr;
}
static inline bool inList(const std::initializer_list<const char *> &list, const char *value) {
static inline bool inList(const std::vector<const char *> &list, const char *value) {
for (auto &v : list) {
if (strcmp(value, v) == 0) return true;
}
@ -30,11 +31,18 @@ static inline bool inList(const std::initializer_list<const char *> &list, const
class MessageContext {
public:
MessageContext() { ctx_ = Context::create(); }
MessageContext() : ctx_(nullptr) {};
~MessageContext() { delete ctx_; }
inline Context *context() {
std::call_once(init_flag, [=]() { ctx_ = Context::create(); });
return ctx_;
}
private:
Context *ctx_;
std::once_flag init_flag;
};
MessageContext ctx;
MessageContext message_context;
struct SubMaster::SubMessage {
std::string name;
@ -48,13 +56,13 @@ struct SubMaster::SubMessage {
cereal::Event::Reader event;
};
SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, const char *address,
const std::initializer_list<const char *> &ignore_alive) {
SubMaster::SubMaster(const std::vector<const char *> &service_list, const char *address,
const std::vector<const char *> &ignore_alive) {
poller_ = Poller::create();
for (auto name : service_list) {
const service *serv = get_service(name);
assert(serv != nullptr);
SubSocket *socket = SubSocket::create(ctx.ctx_, name, address ? address : "127.0.0.1", true);
SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
assert(socket != 0);
poller_->registerSocket(socket);
SubMessage *m = new SubMessage{
@ -63,6 +71,7 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
.freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({});
messages_[socket] = m;
services_[name] = m;
}
@ -82,9 +91,7 @@ void SubMaster::update(int timeout) {
SubMessage *m = messages_.at(s);
if (m->msg_reader) {
m->msg_reader->~FlatArrayMessageReader();
}
m->msg_reader->~FlatArrayMessageReader();
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
delete msg;
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
@ -118,7 +125,7 @@ void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::st
}
}
bool SubMaster::all_(const std::initializer_list<const char *> &service_list, bool valid, bool alive) {
bool SubMaster::all_(const std::vector<const char *> &service_list, bool valid, bool alive) {
int found = 0;
for (auto &kv : messages_) {
SubMessage *m = kv.second;
@ -162,7 +169,7 @@ uint64_t SubMaster::rcv_time(const char *name) const {
return services_.at(name)->rcv_time;
}
cereal::Event::Reader &SubMaster::operator[](const char *name) {
cereal::Event::Reader &SubMaster::operator[](const char *name) const {
return services_.at(name)->event;
};
@ -170,19 +177,17 @@ SubMaster::~SubMaster() {
delete poller_;
for (auto &kv : messages_) {
SubMessage *m = kv.second;
if (m->msg_reader) {
m->msg_reader->~FlatArrayMessageReader();
}
m->msg_reader->~FlatArrayMessageReader();
free(m->allocated_msg_reader);
delete m->socket;
delete m;
}
}
PubMaster::PubMaster(const std::initializer_list<const char *> &service_list) {
PubMaster::PubMaster(const std::vector<const char *> &service_list) {
for (auto name : service_list) {
assert(get_service(name) != nullptr);
PubSocket *socket = PubSocket::create(ctx.ctx_, name);
PubSocket *socket = PubSocket::create(message_context.context(), name);
assert(socket);
sockets_[name] = socket;
}

12
cereal/services.py 100644 → 100755
View File

@ -2,7 +2,7 @@
import os
from typing import Optional
EON = os.path.isfile('/EON')
TICI = os.path.isfile('/TICI')
RESERVED_PORT = 8022 # sshd
STARTING_PORT = 8001
@ -55,10 +55,10 @@ services = {
"thumbnail": (True, 0.2, 1),
"carEvents": (True, 1., 1),
"carParams": (True, 0.02, 1),
"driverCameraState": (True, 10. if EON else 20., 1),
"driverEncodeIdx": (True, 10. if EON else 20., 1),
"driverState": (True, 10. if EON else 20., 1),
"driverMonitoringState": (True, 10. if EON else 20., 1),
"driverCameraState": (True, 10. if not TICI else 20., 1),
"driverEncodeIdx": (True, 10. if not TICI else 20., 1),
"driverState": (True, 10. if not TICI else 20., 1),
"driverMonitoringState": (True, 10. if not TICI else 20., 1),
"offroadLayout": (False, 0.),
"wideRoadEncodeIdx": (True, 20., 1),
"wideRoadCameraState": (True, 20., 1),
@ -83,7 +83,7 @@ def build_header():
for k, v in service_list.items():
should_log = "true" if v.should_log else "false"
decimation = -1 if v.decimation is None else v.decimation
h += ' { .name = "%s", .port = %d, .should_log = %s, .frequency = %d, .decimation = %d },\n' % \
h += ' { "%s", %d, %s, %d, %d },\n' % \
(k, v.port, should_log, v.frequency, decimation)
h += "};\n"
h += "#endif\n"

2
cereal/visionipc/visionbuf.cc
View File

@ -15,7 +15,7 @@ extern "C" void compute_aligned_width_and_height(int width,
#endif
void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h) {
#if defined(QCOM) && !defined(QCOM_REPLAY)
#ifdef QCOM
compute_aligned_width_and_height(ALIGN(width, 32), ALIGN(height, 32), 3, 0, 0, 512, aligned_w, aligned_h);
#else
*aligned_w = width; *aligned_h = height;

3
common/params_pxd.pxd
View File

@ -12,7 +12,8 @@ cdef extern from "selfdrive/common/params.h":
PERSISTENT
CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT
CLEAR_ON_IGNITION
CLEAR_ON_IGNITION_ON
CLEAR_ON_IGNITION_OFF
ALL
cdef cppclass Params:

3
common/params_pyx.pyx
View File

@ -13,7 +13,8 @@ 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 = c_ParamKeyType.CLEAR_ON_IGNITION
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):

23
common/realtime.py
View File

@ -3,6 +3,7 @@ import gc
import os
import time
import multiprocessing
from typing import Optional
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
from selfdrive.hardware import PC, TICI
@ -31,49 +32,49 @@ class Priority:
CTRL_HIGH = 53
def set_realtime_priority(level):
def set_realtime_priority(level: int) -> None:
if not PC:
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined]
def set_core_affinity(core):
def set_core_affinity(core: int) -> None:
if not PC:
os.sched_setaffinity(0, [core,])
def config_realtime_process(core, priority):
def config_realtime_process(core: int, priority: int) -> None:
gc.disable()
set_realtime_priority(priority)
set_core_affinity(core)
class Ratekeeper():
def __init__(self, rate, print_delay_threshold=0.):
class Ratekeeper:
def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
self._interval = 1. / rate
self._next_frame_time = sec_since_boot() + self._interval
self._print_delay_threshold = print_delay_threshold
self._frame = 0
self._remaining = 0
self._remaining = 0.0
self._process_name = multiprocessing.current_process().name
@property
def frame(self):
def frame(self) -> int:
return self._frame
@property
def remaining(self):
def remaining(self) -> float:
return self._remaining
# Maintain loop rate by calling this at the end of each loop
def keep_time(self):
def keep_time(self) -> bool:
lagged = self.monitor_time()
if self._remaining > 0:
time.sleep(self._remaining)
return lagged
# this only monitor the cumulative lag, but does not enforce a rate
def monitor_time(self):
def monitor_time(self) -> bool:
lagged = False
remaining = self._next_frame_time - sec_since_boot()
self._next_frame_time += self._interval

11
common/transformations/camera.py
View File

@ -5,14 +5,12 @@ from selfdrive.hardware import TICI
## -- hardcoded hardware params --
eon_f_focal_length = 910.0
eon_d_focal_length = 860.0
leon_d_focal_length = 650.0
eon_d_focal_length = 650.0
tici_f_focal_length = 2648.0
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
eon_f_frame_size = (1164, 874)
eon_d_frame_size = (1152, 864)
leon_d_frame_size = (816, 612)
eon_d_frame_size = (816, 612)
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
# aka 'K' aka camera_frame_from_view_frame
@ -22,11 +20,6 @@ eon_fcam_intrinsics = np.array([
[0.0, 0.0, 1.0]])
eon_intrinsics = eon_fcam_intrinsics # xx
leon_dcam_intrinsics = np.array([
[leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2],
[0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2],
[0.0, 0.0, 1.0]])
eon_dcam_intrinsics = np.array([
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],

8
installer/updater/update.json
View File

@ -1,7 +1,7 @@
{
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06.zip",
"ota_hash": "969e22c42e5c6314e54bc3ccaa5c6a684f3130a53a7a70e0cea9f1453ceb0b06",
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b.img",
"ota_url": "https://commadist.azureedge.net/neosupdate/ota-signed-c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266.zip",
"ota_hash": "c4f56c62c5603c86e2ae9d83008a8d42a91319979661d0c42fb97b85d9112266",
"recovery_url": "https://commadist.azureedge.net/neosupdate/recovery-c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5.img",
"recovery_len": 15209772,
"recovery_hash": "9c784a24826c25df315d0ace864224478e9c0e86b904f5d1f8e18ea1037e842b"
"recovery_hash": "c5db3790c3b09756e8e896187ddb3f1258315eb0a86030468baa187b84a3bbf5"
}

1
launch_chffrplus.sh
View File

@ -96,6 +96,7 @@ function two_init {
function tici_init {
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
nmcli connection modify --temporary lte gsm.auto-config yes
# set success flag for current boot slot
sudo abctl --set_success

4
launch_env.sh
View File

@ -7,11 +7,11 @@ export OPENBLAS_NUM_THREADS=1
export VECLIB_MAXIMUM_THREADS=1
if [ -z "$REQUIRED_NEOS_VERSION" ]; then
export REQUIRED_NEOS_VERSION="16.2"
export REQUIRED_NEOS_VERSION="17"
fi
if [ -z "$AGNOS_VERSION" ]; then
export AGNOS_VERSION="0.14"
export AGNOS_VERSION="0.18"
fi
if [ -z "$PASSIVE" ]; then

BIN
models/dmonitoring_model_q.dlc
View File

Binary file not shown.

BIN
models/supercombo.dlc
View File

Binary file not shown.

13
opendbc/honda_accord_lx15t_2018_can_generated.dbc → opendbc/honda_accord_2018_can_generated.dbc
View File

@ -380,7 +380,7 @@ CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
CM_ "honda_accord_lx15t_2018_can.dbc starts here";
CM_ "honda_accord_2018_can.dbc starts here";
BO_ 304 GAS_PEDAL_2: 8 PCM
@ -389,8 +389,14 @@ BO_ 304 GAS_PEDAL_2: 8 PCM
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 401 GEARBOX: 8 PCM
BO_ 419 GEARBOX: 8 PCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
BO_ 401 GEARBOX_15T: 8 PCM
SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON
SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX
SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX
@ -430,6 +436,7 @@ BO_ 1302 ODOMETER: 8 XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ;
VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;

438
opendbc/honda_accord_s2t_2018_can_generated.dbc
View File

@ -1,438 +0,0 @@
CM_ "AUTOGENERATED FILE, DO NOT EDIT";
CM_ "Imported file _bosch_2018.dbc starts here";
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_
BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
BO_ 148 KINEMATICS: 8 XXX
SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
BO_ 228 STEERING_CONTROL: 5 EON
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX
SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX
SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 232 BRAKE_HOLD: 7 XXX
SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX
SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX
SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX
BO_ 330 STEERING_SENSORS: 8 EPS
SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON
SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON
SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON
SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON
SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 344 ENGINE_DATA: 8 PCM
SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 380 POWERTRAIN_DATA: 8 PCM
SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON
SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON
SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON
SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON
SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 399 STEER_STATUS: 7 EPS
SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON
SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON
SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON
SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON
SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
BO_ 420 VSA_STATUS: 8 VSA
SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
BO_ 450 EPB_STATUS: 8 EPB
SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON
SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 464 WHEEL_SPEEDS: 8 VSA
SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 479 ACC_CONTROL: 8 EON
SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX
SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX
SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX
SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX
SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX
SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX
SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX
SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX
SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX
SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX
SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 490 VEHICLE_DYNAMICS: 8 VSA
SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON
SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 495 ACC_CONTROL_ON: 8 XXX
SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX
SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX
SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX
SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX
SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX
SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
BO_ 545 XXX_16: 6 SCM
SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX
SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX
SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY
BO_ 576 LEFT_LANE_LINE_1: 8 CAM
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
BO_ 577 LEFT_LANE_LINE_2: 8 CAM
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
BO_ 579 RIGHT_LANE_LINE_1: 8 CAM
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
BO_ 580 RIGHT_LANE_LINE_2: 8 CAM
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM
SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX
SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX
SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX
SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX
SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX
SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX
SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX
SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX
SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX
SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX
BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX
SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
BO_ 662 SCM_BUTTONS: 4 SCM
SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
BO_ 773 SEATBELT_STATUS: 7 BDY
SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
BO_ 777 CAR_SPEED: 8 PCM
SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX
SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX
SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX
SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 780 ACC_HUD: 8 ADAS
SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY
SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
SG_ ZEROS_BOH : 7|24@0+ (0.002759506,0) [0|100] "m/s" BDY
SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY
SG_ SET_TO_1 : 36|1@0+ (1,0) [0|1] "" XXX
SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" XXX
SG_ BOH_6 : 51|4@0+ (1,0) [0|15] "" XXX
SG_ SET_TO_X1 : 55|1@0+ (1,0) [0|1] "" XXX
SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 804 CRUISE: 8 PCM
SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 806 SCM_FEEDBACK: 8 SCM
SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX
SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON
SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON
SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON
SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 829 LKAS_HUD: 5 ADAS
SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
BO_ 862 CAMERA_MESSAGES: 8 CAM
SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY
SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX
SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX
SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 884 STALK_STATUS: 8 XXX
SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON
SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON
SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON
SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
BO_ 891 STALK_STATUS_2: 8 XXX
SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX
SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX
SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event";
CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event";
CM_ SG_ 479 AEB_PREPARE "set 1s before AEB";
CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded";
CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded";
CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded";
CM_ SG_ 577 LINE_DASHED "1 = line is dashed";
CM_ SG_ 577 LINE_SOLID "1 = line is solid";
VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
CM_ "honda_accord_s2t_2018_can.dbc starts here";
BO_ 304 GAS_PEDAL_2: 8 PCM
SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON
SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
BO_ 419 GEARBOX: 8 PCM
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
BO_ 432 STANDSTILL: 7 VSA
SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON
BO_ 446 BRAKE_MODULE: 3 VSA
SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
BO_ 927 RADAR_HUD: 8 RADAR
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
SG_ BOH : 40|1@0+ (1,0) [0|1] "" XXX
SG_ BOH_2 : 30|1@0+ (1,0) [0|1] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
BO_ 1302 ODOMETER: 8 XXX
SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
VAL_ 545 ECON_ON_2 0 "off" 3 "on" ;
VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

1
opendbc/lexus_ct200h_2018_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/lexus_is_2018_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/lexus_nx300_2018_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/lexus_nx300h_2018_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/lexus_rx_350_2016_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

14
opendbc/mazda_2017.dbc
View File

@ -168,17 +168,16 @@ BO_ 581 CAM_IDK3: 8 XXX
SG_ S9 : 56|8@1+ (1,0) [0|255] "" XXX
BO_ 863 CAM_TRAFFIC_SIGNS: 8 XXX
SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_3 : 55|1@0+ (1,0) [0|127] "" XXX
SG_ FORWARD_COLLISION : 40|8@1+ (1,0) [0|7] "" XXX
SG_ SPEED_SIGN : 4|7@0+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_2 : 52|5@0+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|3] "" XXX
SG_ SPEED_SIGN_CAM : 32|1@0+ (1,0) [0|32767] "" XXX
SG_ SPEED_SIGN_ON : 12|1@0+ (1,0) [0|3] "" XXX
SG_ STOP_SIGN : 31|4@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_4 : 33|1@0+ (1,0) [0|1] "" XXX
BO_ 1157 CAM_SETTINGS: 8 XXX
SG_ NEW_SIGNAL_2 : 14|1@0+ (1,0) [0|1] "" XXX
SG_ SBS_WARNING_DISTANCE : 25|2@0+ (1,0) [0|127] "" XXX
SG_ SBS_SCBC : 28|2@0+ (1,0) [0|7] "" XXX
SG_ LKAS_ASSIT_TIMING : 13|1@0+ (1,0) [0|1] "" XXX
@ -186,8 +185,10 @@ BO_ 1157 CAM_SETTINGS: 8 XXX
SG_ ILKAS_NTERVENTION_ON2 : 17|1@0+ (1,0) [0|255] "" XXX
SG_ LANEE_DEPARTURE_ALERT : 16|2@0+ (1,0) [0|1] "" XXX
SG_ LKAS_INERVENTION_ON1 : 15|1@0+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_1 : 12|1@0+ (1,0) [0|7] "" XXX
SG_ WARNING : 11|1@0+ (1,0) [0|1] "" XXX
SG_ BIT1 : 12|1@0+ (1,0) [0|7] "" XXX
SG_ BIT2 : 14|1@0+ (1,0) [0|1] "" XXX
SG_ BIT3 : 18|1@0+ (1,0) [0|1] "" XXX
BO_ 1160 CAM_Empty3: 8 XXX
SG_ NEW_SIGNAL_1 : 47|24@0+ (1,0) [0|16777215] "" XXX
@ -759,6 +760,7 @@ CM_ SG_ 605 BRAKE_WARNING "Flashing brake warning and audible alert for potentia
CM_ SG_ 579 STEERING_ANGLE "steering angle aligns with 0.022 factor and -45.06 offset";
CM_ SG_ 863 SPEED_SIGN "speed limit in MPH";
CM_ SG_ 863 SPEED_SIGN_CAM "1: The speed limit is recognized by the camera. 0: speed limit is map based or is not available";
CM_ SG_ 863 STOP_SIGN "value 9 when stop sign is active";
CM_ SG_ 1157 SBS_WARNING_DISTANCE "1 far, 2 mid, 3 near";
CM_ SG_ 1157 SBS_SCBC "1 off, 2 on";
CM_ SG_ 1157 LKAS_ASSIT_TIMING "1 at, 0 before";
@ -773,4 +775,4 @@ CM_ SG_ 552 GEAR "0 Shifting, 1 P, 2 R, 3 N, 4 D";
CM_ SG_ 552 GEAR_BOX "0 P, 14 R, 1 though 6 D for speeds, 15 Shift";
CM_ SG_ 540 HANDS_ON_STEER_WARN "0 no warning, b warning";
CM_ SG_ 1143 REAR_CT_ALERT "Rear Cross Traffic Alert";
VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D";
VAL_ 552 GEAR 1 "P" 2 "R" 3 "N" 4 "D" ;

21
opendbc/subaru_forester_2017_generated.dbc
View File

@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
BO_ 320 Throttle: 8 XXX
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
BO_ 321 Engine: 8 XXX
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX
BO_ 866 Fuel: 8 XXX
BO_ 977 Dash_State2: 8 XXX
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
BO_ 1745 Dash_State: 8 XXX
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
CM_ SG_ 320 Throttle_Body "Throttle related";
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@ -253,6 +260,6 @@ BO_ 355 ES_DashStatus: 8 XXX
BO_ 881 Steering_Torque: 8 XXX
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX

4
opendbc/subaru_global_2017_generated.dbc
View File

@ -48,11 +48,13 @@ BO_ 2 Steering: 8 XXX
BO_ 64 Throttle: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX
SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX
SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Signal1 : 56|4@1+ (1,0) [0|15] "" XXX
SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX
SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX
BO_ 316 Brake_Status: 8 XXX

33
opendbc/subaru_outback_2015_generated.dbc
View File

@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
BO_ 320 Throttle: 8 XXX
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
BO_ 321 Engine: 8 XXX
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX
BO_ 866 Fuel: 8 XXX
BO_ 977 Dash_State2: 8 XXX
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
BO_ 1745 Dash_State: 8 XXX
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
CM_ SG_ 320 Throttle_Body "Throttle related";
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
BO_ 881 Steering_Torque: 8 XXX
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
CM_ SG_ 358 ES_Error "No engagement until restart";
CM_ SG_ 358 Lead_Car "front car detected";
CM_ SG_ 358 Cruise_Fault "No engagement until restart";
CM_ SG_ 358 Car_Follow "lead car detected";

33
opendbc/subaru_outback_2019_generated.dbc
View File

@ -76,13 +76,17 @@ BO_ 212 Wheel_Speeds: 8 XXX
BO_ 320 Throttle: 8 XXX
SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX
SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX
SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX
SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX
SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX
SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX
SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX
BO_ 321 Engine: 8 XXX
SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX
@ -124,7 +128,7 @@ BO_ 338 Stalk: 8 XXX
BO_ 352 ES_Brake: 8 XXX
SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX
SG_ Brake_Light : 20|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Brake_On : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 48|3@1+ (1,0) [0|7] "" XXX
@ -136,17 +140,17 @@ BO_ 353 ES_CruiseThrottle: 8 XXX
SG_ Cruise_Activated : 16|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX
SG_ Brake_On : 20|1@1+ (1,0) [0|1] "" XXX
SG_ DistanceSwap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX
SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX
SG_ CloseDistance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
SG_ Close_Distance : 24|8@1+ (0.0196,0) [0|255] "m" XXX
SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX
SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX
SG_ ES_Error : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX
SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 44|3@1+ (1,0) [0|7] "" XXX
SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX
SG_ Button : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX
SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX
SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX
@ -213,6 +217,9 @@ BO_ 864 Engine_Temp: 8 XXX
BO_ 866 Fuel: 8 XXX
BO_ 977 Dash_State2: 8 XXX
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
BO_ 1745 Dash_State: 8 XXX
SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX
@ -220,7 +227,7 @@ CM_ SG_ 320 Off_Throttle_2 "Less sensitive";
CM_ SG_ 320 Throttle_Body "Throttle related";
CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear";
CM_ SG_ 353 Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep";
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
@ -252,22 +259,22 @@ BO_ 358 ES_DashStatus: 8 XXX
SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX
SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX
SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX
SG_ Distance_Bars : 21|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX
SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX
SG_ ES_Error : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX
SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX
SG_ Counter : 37|3@1+ (1,0) [0|7] "" XXX
SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX
SG_ Lead_Car : 46|1@1+ (1,0) [0|1] "" XXX
SG_ Obstacle_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX
SG_ Far_Distance : 48|4@1+ (5,0) [0|15] "m" XXX
BO_ 881 Steering_Torque: 8 XXX
SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX
SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX
SG_ LKA_Lockout : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX
SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX
SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX
CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
CM_ SG_ 358 ES_Error "No engagement until restart";
CM_ SG_ 358 Lead_Car "front car detected";
CM_ SG_ 358 Cruise_Fault "No engagement until restart";
CM_ SG_ 358 Car_Follow "lead car detected";

1
opendbc/toyota_avalon_2017_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_corolla_2017_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_highlander_2017_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_nodsu_hybrid_pt_generated.dbc
View File

@ -291,6 +291,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_nodsu_pt_generated.dbc
View File

@ -291,6 +291,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_prius_2017_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_rav4_2017_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

1
opendbc/toyota_sienna_xle_2018_pt_generated.dbc
View File

@ -261,6 +261,7 @@ BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
BO_ 1568 SEATS_DOORS: 8 XXX
SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX

12
opendbc/vw_mqb_2010.dbc
View File

@ -1351,18 +1351,19 @@ BO_ 391 EV_Gearshift: 8 XXX
SG_ GearPosition : 16|4@1+ (1,0) [0|255] "" XXX
SG_ RegenBrakingMode : 12|2@1+ (1,0) [0|3] "" XXX
CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
CM_ SG_ 134 LWI_Lenkradwinkel "Steering angle WITH variable ratio effect included";
CM_ SG_ 159 EPS_HCA_Status "Status of Heading Control Assist feature"
CM_ SG_ 159 EPS_Lenkmoment "Steering input by driver, torque";
CM_ SG_ 159 EPS_VZ_Lenkmoment "Steering input by driver, direction";
CM_ SG_ 159 EPS_Berechneter_LW "Raw steering angle, degrees";
CM_ SG_ 159 EPS_VZ_BLW "Raw steering angle, direction"
CM_ SG_ 173 COUNTERXX "Message not renamed to COUNTER because J533 rate-limiting makes it look like messages are being lost";
CM_ SG_ 294 3 "May be zero when sent by older cameras";
CM_ SG_ 294 7 "May be zero when sent by older cameras";
CM_ SG_ 294 254 "May be zero when sent by older cameras";
CM_ SG_ 294 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_ 159 HCA_Ready "1 if HCA is okay, 0 if the rack doesn't have HCA configured or a timer/constraint has been violated, rack will not respond to HCA commands";
CM_ SG_ 159 Driver_Strain "Steering input by driver, torque";
CM_ SG_ 159 Driver_Strain_VZ "Steering input by driver, sign (direction)";
CM_ SG_ 159 Steering_Wheel_Angle "Steering angle WITHOUT variable ratio effect included";
CM_ SG_ 919 LDW_DLC "Probable DLC (distance to line crossing)";
CM_ SG_ 919 LDW_TLC "Probable TLC (time to line crossing)";
CM_ SG_ 919 LDW_Unknown "Might be a steering pressed / driver active flag";
@ -1378,6 +1379,7 @@ CM_ SG_ 780 Abstand "Following distance";
CM_ SG_ 780 SetSpeed "ACC set speed";
CM_ SG_ 391 GearPosition "Traditional PRND plus B-mode aggressive regen, B-mode mapped to Drive";
CM_ SG_ 960 ZAS_Kl_15 "Indicates ignition on";
VAL_ 159 EPS_HCA_Status 0 "disabled" 1 "initializing" 2 "fault" 3 "ready" 4 "rejected" 5 "active";
VAL_ 173 GE_Fahrstufe 5 "P" 6 "R" 7 "N" 8 "D" 9 "S" 10 "E" 14 "T";
VAL_ 391 GearPosition 2 "P" 3 "R" 4 "N" 5 "D" 6 "D";
VAL_ 391 RegenBrakingMode 0 "default" 1 "B1" 2 "B2" 3 "B3";

4
panda/board/boards/dos.h
View File

@ -26,9 +26,9 @@ void dos_enable_can_transceivers(bool enabled) {
for(uint8_t i=1U; i<=4U; i++){
// Leave main CAN always on for CAN-based ignition detection
if((car_harness_status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){
uno_enable_can_transceiver(i, true);
dos_enable_can_transceiver(i, true);
} else {
uno_enable_can_transceiver(i, enabled);
dos_enable_can_transceiver(i, enabled);
}
}
}

9
panda/board/main.c
View File

@ -42,6 +42,7 @@
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!
struct __attribute__((packed)) health_t {
uint32_t uptime_pkt;
uint32_t voltage_pkt;
@ -61,6 +62,7 @@ struct __attribute__((packed)) health_t {
int16_t safety_param_pkt;
uint8_t fault_status_pkt;
uint8_t power_save_enabled_pkt;
uint8_t heartbeat_lost_pkt;
};
@ -140,6 +142,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
case SAFETY_ELM327:
set_intercept_relay(false);
heartbeat_counter = 0U;
heartbeat_lost = false;
if (board_has_obd()) {
current_board->set_can_mode(CAN_MODE_OBD_CAN2);
}
@ -148,6 +151,7 @@ void set_safety_mode(uint16_t mode, int16_t param) {
default:
set_intercept_relay(true);
heartbeat_counter = 0U;
heartbeat_lost = false;
if (board_has_obd()) {
current_board->set_can_mode(CAN_MODE_NORMAL);
}
@ -182,6 +186,7 @@ int get_health_pkt(void *dat) {
health->safety_mode_pkt = (uint8_t)(current_safety_mode);
health->safety_param_pkt = current_safety_param;
health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);
health->fault_status_pkt = fault_status;
health->faults_pkt = faults;
@ -595,6 +600,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
case 0xf3:
{
heartbeat_counter = 0U;
heartbeat_lost = false;
break;
}
// **** 0xf4: k-line/l-line 5 baud initialization
@ -732,6 +738,9 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
}
// set flag to indicate the heartbeat was lost
heartbeat_lost = true;
// Also disable IR when the heartbeat goes missing
current_board->set_ir_power(0U);

1
panda/board/main_declarations.h
View File

@ -13,5 +13,6 @@ const board *current_board;
bool is_enumerated = 0;
uint32_t heartbeat_counter = 0;
uint32_t uptime_cnt = 0;
bool heartbeat_lost = false;
bool siren_enabled = false;
bool green_led_enabled = false;

3
panda/board/safety/safety_honda.h
View File

@ -37,7 +37,8 @@ const int HONDA_RX_CHECKS_LEN = sizeof(honda_rx_checks) / sizeof(honda_rx_checks
AddrCheckStruct honda_bh_rx_checks[] = {
{.msg = {{0x296, 1, 4, .check_checksum = true, .max_counter = 3U, .expected_timestep = 40000U}}},
{.msg = {{0x158, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
{.msg = {{0x17C, 1, 8, .check_checksum = true, .max_counter = 3U, .expected_timestep = 10000U}}},
{.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}}},
};
const int HONDA_BH_RX_CHECKS_LEN = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]);

10
panda/python/__init__.py
View File

@ -332,8 +332,8 @@ class Panda(object):
# ******************* health *******************
def health(self):
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 41)
a = struct.unpack("IIIIIIIIBBBBBBBBB", dat)
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, 44)
a = struct.unpack("<IIIIIIIIBBBBBBBHBBB", dat)
return {
"uptime": a[0],
"voltage": a[1],
@ -350,8 +350,10 @@ class Panda(object):
"car_harness_status": a[12],
"usb_power_mode": a[13],
"safety_mode": a[14],
"fault_status": a[15],
"power_save_enabled": a[16]
"safety_param": a[15],
"fault_status": a[16],
"power_save_enabled": a[17],
"heartbeat_lost": a[18],
}
# ******************* control *******************

2
release/build_release2.sh
View File

@ -49,7 +49,7 @@ popd
# Build stuff
ln -sfn /data/openpilot /data/pythonpath
export PYTHONPATH="/data/openpilot:/data/openpilot/pyextra"
SCONS_CACHE=1 scons -j3
scons -j3
# Run tests
python selfdrive/manager/test/test_manager.py

56
selfdrive/assets/images/triangle.svg 100644
View File

@ -0,0 +1,56 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
version="1.1"
id="triangle-11"
width="75.758675"
height="89.153732"
viewBox="0 0 75.758675 89.153734"
sodipodi:docname="triangle.svg"
inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
<metadata
id="metadata8">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
</cc:Work>
</rdf:RDF>
</metadata>
<defs
id="defs6" />
<sodipodi:namedview
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1"
objecttolerance="10"
gridtolerance="10"
guidetolerance="10"
inkscape:pageopacity="0"
inkscape:pageshadow="2"
inkscape:window-width="1278"
inkscape:window-height="1418"
id="namedview4"
showgrid="false"
inkscape:zoom="3.7926636"
inkscape:cx="58.39757"
inkscape:cy="42.569591"
inkscape:window-x="2480"
inkscape:window-y="0"
inkscape:window-maximized="0"
inkscape:current-layer="triangle-11" />
<path
id="rect3338"
d="m 38.008927,0.00304862 c -1.672524,-0.07115 -3.24191,1.10742798 -4.103539,3.08128498 L 0.63797357,79.511649 c -1.85216397,4.240355 0.59099403,9.61933 3.95882353,9.642068 3.3678291,0.02287 28.1477799,-24.380023 33.9100889,-24.380023 5.762307,0 29.946434,24.380314 32.624742,24.380023 2.678305,-2.9e-4 3.249598,-1.351011 4.021616,-3.231338 0.772007,-1.880328 0.863286,-4.290554 -0.06281,-6.41073 L 58.456744,41.297993 41.823037,3.0843336 C 41.013805,1.2321186 39.577483,0.07190362 38.008927,0.00304862 Z"
inkscape:connector-curvature="0"
style="fill:#cccccc;stroke-width:9.76952076"
sodipodi:nodetypes="ccczzzscccc" />
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 2.1 KiB

173
selfdrive/athena/athenad.py
View File

@ -25,12 +25,11 @@ from common.api import Api
from common.basedir import PERSIST
from common.params import Params
from common.realtime import sec_since_boot
from selfdrive.hardware import HARDWARE, PC
from selfdrive.hardware import HARDWARE, PC, TICI
from selfdrive.loggerd.config import ROOT
from selfdrive.loggerd.xattr_cache import getxattr, setxattr
from selfdrive.swaglog import cloudlog, SWAGLOG_DIR
import selfdrive.crash as crash
from selfdrive.version import dirty, origin, branch, commit
from selfdrive.version import get_version, get_git_remote, get_git_branch, get_git_commit
ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@ -38,6 +37,7 @@ LOCAL_PORT_WHITELIST = set([8022])
LOG_ATTR_NAME = 'user.upload'
LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
RECONNECT_TIMEOUT_S = 70
dispatcher["echo"] = lambda s: s
recv_queue: Any = queue.Queue()
@ -53,12 +53,12 @@ def handle_long_poll(ws):
end_event = threading.Event()
threads = [
threading.Thread(target=ws_recv, args=(ws, end_event)),
threading.Thread(target=ws_send, args=(ws, end_event)),
threading.Thread(target=upload_handler, args=(end_event,)),
threading.Thread(target=log_handler, args=(end_event,)),
threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
threading.Thread(target=ws_send, args=(ws, end_event), name='wc_send'),
threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
threading.Thread(target=log_handler, args=(end_event,), name='log_handler'),
] + [
threading.Thread(target=jsonrpc_handler, args=(end_event,))
threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
for x in range(HANDLER_THREADS)
]
@ -72,17 +72,20 @@ def handle_long_poll(ws):
raise
finally:
for thread in threads:
cloudlog.debug(f"athena.joining {thread.name}")
thread.join()
def jsonrpc_handler(end_event):
dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
while not end_event.is_set():
try:
data = recv_queue.get(timeout=1)
if "method" in data:
cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}")
response = JSONRPCResponseManager.handle(data, dispatcher)
send_queue.put_nowait(response.json)
elif "result" in data and "id" in data:
elif "id" in data and ("result" in data or "error" in data):
log_recv_queue.put_nowait(data)
else:
raise Exception("not a valid request or response")
@ -131,6 +134,27 @@ def getMessage(service=None, timeout=1000):
return ret.to_dict()
@dispatcher.add_method
def getVersion():
return {
"version": get_version(),
"remote": get_git_remote(),
"branch": get_git_branch(),
"commit": get_git_commit(),
}
@dispatcher.add_method
def setNavDestination(latitude=0, longitude=0):
destination = {
"latitude": latitude,
"longitude": longitude,
}
Params().put("NavDestination", json.dumps(destination))
return {"success": 1}
@dispatcher.add_method
def listDataDirectory():
files = [os.path.relpath(os.path.join(dp, f), ROOT) for dp, dn, fn in os.walk(ROOT) for f in fn]
@ -190,6 +214,8 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
if local_port not in LOCAL_PORT_WHITELIST:
raise Exception("Requested local port not whitelisted")
cloudlog.debug("athena.startLocalProxy.starting")
params = Params()
dongle_id = params.get("DongleId").decode('utf8')
identity_token = Api(dongle_id).get_token()
@ -210,6 +236,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
for thread in threads:
thread.start()
cloudlog.debug("athena.startLocalProxy.started")
return {"success": 1}
except Exception as e:
cloudlog.exception("athenad.startLocalProxy.exception")
@ -282,56 +309,60 @@ def log_handler(end_event):
log_files = []
last_scan = 0
log_retries = 0
while not end_event.is_set():
try:
try:
result = json.loads(log_recv_queue.get(timeout=1))
log_success = result.get("success")
log_entry = result.get("id")
log_path = os.path.join(SWAGLOG_DIR, log_entry)
if log_entry and log_success:
try:
setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
except OSError:
pass # file could be deleted by log rotation
except queue.Empty:
pass
curr_scan = sec_since_boot()
if curr_scan - last_scan > 10:
log_files = get_logs_to_send_sorted()
last_scan = curr_scan
# never send last log file because it is the active log
# and only send one log file at a time (most recent first)
if not len(log_files) or not log_send_queue.empty():
continue
# send one log
curr_log = None
if len(log_files) > 0:
log_entry = log_files.pop()
cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
try:
curr_time = int(time.time())
log_path = os.path.join(SWAGLOG_DIR, log_entry)
setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
with open(log_path, "r") as f:
jsonrpc = {
"method": "forwardLogs",
"params": {
"logs": f.read()
},
"jsonrpc": "2.0",
"id": log_entry
}
log_send_queue.put_nowait(json.dumps(jsonrpc))
curr_log = log_entry
except OSError:
pass # file could be deleted by log rotation
# wait for response up to ~100 seconds
# always read queue at least once to process any old responses that arrive
for _ in range(100):
if end_event.is_set():
break
try:
log_resp = json.loads(log_recv_queue.get(timeout=1))
log_entry = log_resp.get("id")
log_success = "result" in log_resp and log_resp["result"].get("success")
cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
if log_entry and log_success:
log_path = os.path.join(SWAGLOG_DIR, log_entry)
try:
setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
except OSError:
pass # file could be deleted by log rotation
if curr_log == log_entry:
break
except queue.Empty:
if curr_log is None:
break
log_entry = log_files.pop()
try:
curr_time = int(time.time())
log_path = os.path.join(SWAGLOG_DIR, log_entry)
setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
with open(log_path, "r") as f:
jsonrpc = {
"method": "forwardLogs",
"params": {
"logs": f.read()
},
"jsonrpc": "2.0",
"id": log_entry
}
log_send_queue.put_nowait(json.dumps(jsonrpc))
except OSError:
pass # file could be deleted by log rotation
log_retries = 0
except Exception:
cloudlog.exception("athena.log_handler.exception")
log_retries += 1
if log_retries != 0:
time.sleep(backoff(log_retries))
def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
@ -345,8 +376,11 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
cloudlog.exception("athenad.ws_proxy_recv.exception")
break
cloudlog.debug("athena.ws_proxy_recv closing sockets")
ssock.close()
local_sock.close()
cloudlog.debug("athena.ws_proxy_recv done closing sockets")
end_event.set()
@ -370,10 +404,13 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
cloudlog.exception("athenad.ws_proxy_send.exception")
end_event.set()
cloudlog.debug("athena.ws_proxy_send closing sockets")
signal_sock.close()
cloudlog.debug("athena.ws_proxy_send done closing sockets")
def ws_recv(ws, end_event):
last_ping = int(sec_since_boot() * 1e9)
while not end_event.is_set():
try:
opcode, data = ws.recv_data(control_frame=True)
@ -382,9 +419,13 @@ def ws_recv(ws, end_event):
data = data.decode("utf-8")
recv_queue.put_nowait(data)
elif opcode == ABNF.OPCODE_PING:
Params().put("LastAthenaPingTime", str(int(sec_since_boot() * 1e9)))
last_ping = int(sec_since_boot() * 1e9)
Params().put("LastAthenaPingTime", str(last_ping))
except WebSocketTimeoutException:
pass
ns_since_last_ping = int(sec_since_boot() * 1e9) - last_ping
if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
cloudlog.exception("athenad.wc_recv.timeout")
end_event.set()
except Exception:
cloudlog.exception("athenad.ws_recv.exception")
end_event.set()
@ -409,26 +450,41 @@ def backoff(retries):
return random.randrange(0, min(128, int(2 ** retries)))
def manage_tokens(api):
if not TICI:
return
try:
params = Params()
mapbox = api.get(f"/v1/tokens/mapbox/{api.dongle_id}/", timeout=5.0, access_token=api.get_token())
if mapbox.status_code == 200:
params.put("MapboxToken", mapbox.json()["token"])
else:
params.delete("MapboxToken")
except Exception:
cloudlog.exception("Failed to update tokens")
def main():
params = Params()
dongle_id = params.get("DongleId", encoding='utf-8')
crash.init()
crash.bind_user(id=dongle_id)
crash.bind_extra(dirty=dirty, origin=origin, branch=branch, commit=commit,
device=HARDWARE.get_device_type())
ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
api = Api(dongle_id)
conn_retries = 0
while 1:
try:
cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri)
ws = create_connection(ws_uri,
cookie="jwt=" + api.get_token(),
enable_multithread=True)
cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
enable_multithread=True,
timeout=1.0)
ws.settimeout(1)
cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
manage_tokens(api)
conn_retries = 0
handle_long_poll(ws)
except (KeyboardInterrupt, SystemExit):
@ -437,7 +493,6 @@ def main():
conn_retries += 1
params.delete("LastAthenaPingTime")
except Exception:
crash.capture_exception()
cloudlog.exception("athenad.main.exception")
conn_retries += 1

36
selfdrive/boardd/boardd.cc
View File

@ -12,8 +12,6 @@
#include <atomic>
#include <bitset>
#include <cassert>
#include <ctime>
#include <iostream>
#include <thread>
#include <unordered_map>
@ -42,21 +40,7 @@ std::atomic<bool> safety_setter_thread_running(false);
std::atomic<bool> ignition(false);
ExitHandler do_exit;
struct tm get_time(){
time_t rawtime;
time(&rawtime);
struct tm sys_time;
gmtime_r(&rawtime, &sys_time);
return sys_time;
}
bool time_valid(struct tm sys_time){
int year = 1900 + sys_time.tm_year;
int month = 1 + sys_time.tm_mon;
return (year > 2020) || (year == 2020 && month >= 10);
}
void safety_setter_thread() {
LOGD("Starting safety setter thread");
@ -164,10 +148,10 @@ bool usb_connect() {
if (tmp_panda->has_rtc){
setenv("TZ","UTC",1);
struct tm sys_time = get_time();
struct tm sys_time = util::get_time();
struct tm rtc_time = tmp_panda->get_rtc();
if (!time_valid(sys_time) && time_valid(rtc_time)) {
if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
LOGE("System time wrong, setting from RTC. "
"System: %d-%02d-%02d %02d:%02d:%02d RTC: %d-%02d-%02d %02d:%02d:%02d",
sys_time.tm_year + 1900, sys_time.tm_mon + 1, sys_time.tm_mday,
@ -320,7 +304,7 @@ void panda_state_thread(bool spoofing_started) {
// clear VIN, CarParams, and set new safety on car start
if (ignition && !ignition_last) {
params.clearAll(CLEAR_ON_IGNITION);
params.clearAll(CLEAR_ON_IGNITION_ON);
if (!safety_setter_thread_running) {
safety_setter_thread_running = true;
@ -328,15 +312,17 @@ void panda_state_thread(bool spoofing_started) {
} else {
LOGW("Safety setter thread already running");
}
} else if (!ignition && ignition_last) {
params.clearAll(CLEAR_ON_IGNITION_OFF);
}
// Write to rtc once per minute when no ignition present
if ((panda->has_rtc) && !ignition && (no_ignition_cnt % 120 == 1)){
// Write time to RTC if it looks reasonable
setenv("TZ","UTC",1);
struct tm sys_time = get_time();
struct tm sys_time = util::get_time();
if (time_valid(sys_time)){
if (util::time_valid(sys_time)){
struct tm rtc_time = panda->get_rtc();
double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
@ -358,7 +344,10 @@ void panda_state_thread(bool spoofing_started) {
// build msg
MessageBuilder msg;
auto ps = msg.initEvent().initPandaState();
auto evt = msg.initEvent();
evt.setValid(panda->comms_healthy);
auto ps = evt.initPandaState();
ps.setUptime(pandaState.uptime);
if (Hardware::TICI()) {
@ -390,6 +379,8 @@ void panda_state_thread(bool spoofing_started) {
ps.setFanSpeedRpm(fan_speed_rpm);
ps.setFaultStatus(cereal::PandaState::FaultStatus(pandaState.fault_status));
ps.setPowerSaveEnabled((bool)(pandaState.power_save_enabled));
ps.setHeartbeatLost((bool)(pandaState.heartbeat_lost));
ps.setHarnessStatus(cereal::PandaState::HarnessStatus(pandaState.car_harness_status));
// Convert faults bitset to capnp list
std::bitset<sizeof(pandaState.faults) * 8> fault_bits(pandaState.faults);
@ -543,6 +534,7 @@ void pigeon_thread() {
} else if (!ignition && ignition_last) {
// power off on falling edge of ignition
LOGD("powering off pigeon\n");
pigeon->stop();
pigeon->set_power(false);
}

6
selfdrive/boardd/panda.cc
View File

@ -3,7 +3,6 @@
#include <unistd.h>
#include <cassert>
#include <iostream>
#include <stdexcept>
#include <vector>
@ -152,6 +151,7 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
if (err == LIBUSB_ERROR_TIMEOUT) {
break; // timeout is okay to exit, recv still happened
} else if (err == LIBUSB_ERROR_OVERFLOW) {
comms_healthy = false;
LOGE_100("overflow got 0x%x", transferred);
} else if (err != 0) {
handle_usb_issue(err, __func__);
@ -296,9 +296,11 @@ int Panda::can_receive(kj::Array<capnp::word>& out_buf) {
size_t num_msg = recv / 0x10;
MessageBuilder msg;
auto canData = msg.initEvent().initCan(num_msg);
auto evt = msg.initEvent();
evt.setValid(comms_healthy);
// populate message
auto canData = evt.initCan(num_msg);
for (int i = 0; i < num_msg; i++) {
if (data[i*4] & 4) {
// extended

4
selfdrive/boardd/panda.h
View File

@ -1,7 +1,5 @@
#pragma once
#include <pthread.h>
#include <atomic>
#include <cstdint>
#include <ctime>
@ -38,6 +36,7 @@ struct __attribute__((packed)) health_t {
int16_t safety_param;
uint8_t fault_status;
uint8_t power_save_enabled;
uint8_t heartbeat_lost;
};
@ -54,6 +53,7 @@ class Panda {
~Panda();
std::atomic<bool> connected = true;
std::atomic<bool> comms_healthy = true;
cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
bool has_rtc = false;

32
selfdrive/boardd/pigeon.cc
View File

@ -6,10 +6,12 @@
#include <unistd.h>
#include <cassert>
#include <optional>
#include "selfdrive/common/gpio.h"
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
#include "selfdrive/locationd/ublox_msg.h"
// Termios on macos doesn't define all baud rate constants
#ifndef B460800
@ -22,7 +24,8 @@ extern ExitHandler do_exit;
const std::string ack = "\xb5\x62\x05\x01\x02\x00";
const std::string nack = "\xb5\x62\x05\x00\x02\x00";
const std::string sos_ack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00";
const std::string sos_nack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00";
Pigeon * Pigeon::connect(Panda * p){
PandaPigeon * pigeon = new PandaPigeon();
@ -38,7 +41,7 @@ Pigeon * Pigeon::connect(const char * tty){
return pigeon;
}
bool Pigeon::wait_for_ack(){
bool Pigeon::wait_for_ack(std::string ack, std::string nack){
std::string s;
while (!do_exit){
s += receive();
@ -59,6 +62,10 @@ bool Pigeon::wait_for_ack(){
return false;
}
bool Pigeon::wait_for_ack(){
return wait_for_ack(ack, nack);
}
bool Pigeon::send_with_ack(std::string cmd){
send(cmd);
return wait_for_ack();
@ -110,6 +117,11 @@ void Pigeon::init() {
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70"s)) continue;
if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue;
auto time = util::get_time();
if (util::time_valid(time)){
LOGW("Sending current time to ublox");
send(ublox::build_ubx_mga_ini_time_utc(time));
}
LOGW("panda GPS on");
return;
@ -117,6 +129,22 @@ void Pigeon::init() {
LOGE("failed to initialize panda GPS");
}
void Pigeon::stop(){
LOGW("Storing almanac in ublox flash");
// Controlled GNSS stop
send("\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74"s);
// Store almanac in flash
send("\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC"s);
if (wait_for_ack(sos_ack, sos_nack)) {
LOGW("Done storing almanac");
} else {
LOGE("Error storing almanac");
}
}
void PandaPigeon::connect(Panda * p) {
panda = p;
}

2
selfdrive/boardd/pigeon.h
View File

@ -14,7 +14,9 @@ class Pigeon {
virtual ~Pigeon(){};
void init();
void stop();
bool wait_for_ack();
bool wait_for_ack(std::string ack, std::string nack);
bool send_with_ack(std::string cmd);
virtual void set_baud(int baud) = 0;
virtual void send(const std::string &s) = 0;

7
selfdrive/camerad/SConscript
View File

@ -1,13 +1,10 @@
Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM', 'QCOM_REPLAY')
Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'USE_WEBCAM')
libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon]
if arch == "aarch64":
libs += ['gsl', 'CB', 'adreno_utils', 'EGL', 'GLESv3', 'cutils', 'ui']
if QCOM_REPLAY:
cameras = ['cameras/camera_frame_stream.cc']
else:
cameras = ['cameras/camera_qcom.cc']
cameras = ['cameras/camera_qcom.cc']
elif arch == "larch64":
libs += ['atomic']
cameras = ['cameras/camera_qcom2.cc']

2
selfdrive/camerad/cameras/camera_common.cc
View File

@ -17,7 +17,7 @@
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#if defined(QCOM) && !defined(QCOM_REPLAY)
#ifdef QCOM
#include "selfdrive/camerad/cameras/camera_qcom.h"
#elif QCOM2
#include "selfdrive/camerad/cameras/camera_qcom2.h"

1
selfdrive/camerad/cameras/camera_common.h
View File

@ -1,6 +1,5 @@
#pragma once
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>

2
selfdrive/camerad/cameras/camera_frame_stream.h
View File

@ -1,7 +1,5 @@
#pragma once
#include <stdbool.h>
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#ifdef __APPLE__
#include <OpenCL/cl.h>

2
selfdrive/camerad/cameras/camera_qcom.cc
View File

@ -4,8 +4,6 @@
#include <fcntl.h>
#include <math.h>
#include <poll.h>
#include <pthread.h>
#include <stdbool.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <unistd.h>

2
selfdrive/camerad/cameras/camera_qcom.h
View File

@ -1,7 +1,5 @@
#pragma once
#include <pthread.h>
#include <stdbool.h>
#include <stdint.h>
#include <atomic>

2
selfdrive/camerad/cameras/camera_qcom2.cc
View File

@ -273,7 +273,7 @@ void sensors_init(int video0_fd, int sensor_fd, int camera_num) {
power->count = 1;
power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
power->power_settings[0].power_seq_type = 0;
power->power_settings[0].config_val_low = 24000000; //Hz
power->power_settings[0].config_val_low = 19200000; //Hz
power = power_set_wait(power, 10);
// 8,1 is this reset?

1
selfdrive/camerad/cameras/camera_qcom2.h
View File

@ -1,7 +1,6 @@
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include <pthread.h>
#include <media/cam_req_mgr.h>

2
selfdrive/camerad/cameras/sensor2_i2c.h
View File

@ -8,7 +8,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x302A, 0x0006}, // VT_PIX_CLK_DIV
{0x302C, 0x0001}, // VT_SYS_CLK_DIV
{0x302E, 0x0002}, // PRE_PLL_CLK_DIV
{0x3030, 0x0028}, // PLL_MULTIPLIER
{0x3030, 0x0032}, // PLL_MULTIPLIER
{0x3036, 0x000A}, // OP_WORD_CLK_DIV
{0x3038, 0x0001}, // OP_SYS_CLK_DIV

2
selfdrive/camerad/main.cc
View File

@ -15,7 +15,7 @@
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#if defined(QCOM) && !defined(QCOM_REPLAY)
#ifdef QCOM
#include "selfdrive/camerad/cameras/camera_qcom.h"
#elif QCOM2
#include "selfdrive/camerad/cameras/camera_qcom2.h"

50
selfdrive/camerad/snapshot/snapshot.py
View File

@ -1,18 +1,21 @@
#!/usr/bin/env python3
import os
import signal
import subprocess
import time
import numpy as np
from PIL import Image
from typing import List
import cereal.messaging as messaging
from common.basedir import BASEDIR
from common.params import Params
from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, leon_d_frame_size, tici_f_frame_size
from common.realtime import DT_MDL
from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size
from selfdrive.hardware import TICI
from selfdrive.controls.lib.alertmanager import set_offroad_alert
from selfdrive.manager.process_config import managed_processes
LM_THRESH = 120 # defined in selfdrive/camerad/imgproc/utils.h
def jpeg_write(fn, dat):
@ -29,8 +32,14 @@ def extract_image(dat, frame_sizes):
return np.dstack([r, g, b])
def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
frame_sizes = [eon_f_frame_size, eon_d_frame_size, leon_d_frame_size, tici_f_frame_size]
def rois_in_focus(lapres: List[float]) -> float:
sz = len(lapres)
return sum([1. / sz for sharpness in
lapres if sharpness >= LM_THRESH])
def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focus_perc_threshold=0.):
frame_sizes = [eon_f_frame_size, eon_d_frame_size, tici_f_frame_size]
frame_sizes = {w * h: (w, h) for (w, h) in frame_sizes}
sockets = []
@ -39,10 +48,17 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
if front_frame is not None:
sockets.append(front_frame)
# wait 4 sec from camerad startup for focus and exposure
sm = messaging.SubMaster(sockets)
while min(sm.logMonoTime.values()) == 0:
while sm[sockets[0]].frameId < int(4. / DT_MDL):
sm.update()
start_t = time.monotonic()
while time.monotonic() - start_t < 10:
sm.update()
if min(sm.rcv_frame.values()) > 1 and rois_in_focus(sm[frame].sharpnessScore) >= focus_perc_threshold:
break
rear = extract_image(sm[frame].image, frame_sizes) if frame is not None else None
front = extract_image(sm[front_frame].image, frame_sizes) if front_frame is not None else None
return rear, front
@ -63,7 +79,6 @@ def snapshot():
# Check if camerad is already started
try:
subprocess.check_call(["pgrep", "camerad"])
print("Camerad already running")
params.put_bool("IsTakingSnapshot", False)
params.delete("Offroad_IsTakingSnapshot")
@ -71,23 +86,19 @@ def snapshot():
except subprocess.CalledProcessError:
pass
env = os.environ.copy()
env["SEND_ROAD"] = "1"
env["SEND_WIDE_ROAD"] = "1"
os.environ["SEND_ROAD"] = "1"
os.environ["SEND_WIDE_ROAD"] = "1"
if front_camera_allowed:
env["SEND_DRIVER"] = "1"
proc = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"),
cwd=os.path.join(BASEDIR, "selfdrive/camerad"), env=env)
time.sleep(3.0)
os.environ["SEND_DRIVER"] = "1"
managed_processes['camerad'].start()
frame = "wideRoadCameraState" if TICI else "roadCameraState"
front_frame = "driverCameraState" if front_camera_allowed else None
rear, front = get_snapshots(frame, front_frame)
focus_perc_threshold = 0. if TICI else 10 / 12.
proc.send_signal(signal.SIGINT)
proc.communicate()
rear, front = get_snapshots(frame, front_frame, focus_perc_threshold)
managed_processes['camerad'].stop()
params.put_bool("IsTakingSnapshot", False)
set_offroad_alert("Offroad_IsTakingSnapshot", False)
@ -103,6 +114,7 @@ if __name__ == "__main__":
if pic is not None:
print(pic.shape)
jpeg_write("/tmp/back.jpg", pic)
jpeg_write("/tmp/front.jpg", fpic)
if fpic is not None:
jpeg_write("/tmp/front.jpg", fpic)
else:
print("Error taking snapshot")

11
selfdrive/car/car_helpers.py
View File

@ -2,7 +2,7 @@ import os
from common.params import Params
from common.basedir import BASEDIR
from selfdrive.version import comma_remote, tested_branch
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from selfdrive.car.vin import get_vin, VIN_UNKNOWN
from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
from selfdrive.swaglog import cloudlog
@ -13,14 +13,17 @@ from cereal import car
EventName = car.CarEvent.EventName
def get_startup_event(car_recognized, controller_available, fuzzy_fingerprint):
def get_startup_event(car_recognized, controller_available, fuzzy_fingerprint, fw_seen):
if comma_remote and tested_branch:
event = EventName.startup
else:
event = EventName.startupMaster
if not car_recognized:
event = EventName.startupNoCar
if fw_seen:
event = EventName.startupNoCar
else:
event = EventName.startupNoFw
elif car_recognized and not controller_available:
event = EventName.startupNoControl
elif car_recognized and fuzzy_fingerprint:
@ -115,7 +118,7 @@ def fingerprint(logcan, sendcan):
Params().put("CarVin", vin)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_known_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
frame = 0
frame_fingerprint = 10 # 0.1s
car_fingerprint = None

69
selfdrive/car/chrysler/carstate.py
View File

@ -9,48 +9,47 @@ from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = can_define.dv["GEAR"]['PRNDL']
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
self.frame = int(cp.vl["EPS_STATUS"]['COUNTER'])
self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
ret.doorOpen = any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
cp.vl["DOORS"]['DOOR_OPEN_FR'],
cp.vl["DOORS"]['DOOR_OPEN_RL'],
cp.vl["DOORS"]['DOOR_OPEN_RR']])
ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 1
ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
cp.vl["DOORS"]["DOOR_OPEN_FR"],
cp.vl["DOORS"]["DOOR_OPEN_RL"],
cp.vl["DOORS"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
ret.brakePressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
ret.brakePressed = cp.vl["BRAKE_2"]["BRAKE_PRESSED_2"] == 5 # human-only
ret.brake = 0
ret.brakeLights = ret.brakePressed
ret.gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
ret.gas = cp.vl["ACCEL_GAS_134"]["ACCEL_134"]
ret.gasPressed = ret.gas > 1e-5
ret.espDisabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)
ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
ret.wheelSpeeds.fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
ret.wheelSpeeds.rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
ret.wheelSpeeds.rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
ret.wheelSpeeds.fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
ret.vEgoRaw = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"]
ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"]
ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"]
ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"]
ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = not ret.vEgoRaw > 0.001
ret.leftBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
ret.rightBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
ret.steeringAngleDeg = cp.vl["STEERING"]['STEER_ANGLE']
ret.steeringRateDeg = cp.vl["STEERING"]['STEERING_RATE']
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl['GEAR']['PRNDL'], None))
ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
ret.cruiseState.enabled = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7 # ACC is green.
ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7 # ACC is green.
ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled
ret.cruiseState.speed = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH'] * CV.KPH_TO_MS
ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
# CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]['CRUISE_STATE'] in [1, 2]
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in [1, 2]
ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@ -58,15 +57,15 @@ class CarState(CarStateBase):
steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
ret.steerError = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]['BLIND_SPOT_LEFT'] == 1
ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]['BLIND_SPOT_RIGHT'] == 1
ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1
ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1
self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
return ret
@ -126,7 +125,7 @@ class CarState(CarStateBase):
]
checks += [("BLIND_SPOT_WARNINGS", 2)]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
@ -142,4 +141,4 @@ class CarState(CarStateBase):
("LKAS_HUD", 4),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

8
selfdrive/car/chrysler/values.py
View File

@ -39,11 +39,9 @@ FINGERPRINTS = {
{55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
{55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
],
CAR.PACIFICA_2020: [
{
55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
}
],
CAR.PACIFICA_2020: [{
55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
}],
CAR.PACIFICA_2018_HYBRID: [
{68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
# based on 9ae7821dc4e92455|2019-07-01--16-42-55

9
selfdrive/car/fingerprints.py
View File

@ -36,7 +36,6 @@ def get_attr_from_cars(attr, result=dict, combine_brands=True):
FW_VERSIONS = get_attr_from_cars('FW_VERSIONS')
_FINGERPRINTS = get_attr_from_cars('FINGERPRINTS')
IGNORED_FINGERPRINTS = get_attr_from_cars('IGNORED_FINGERPRINTS', list)
_DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes
@ -59,9 +58,6 @@ def eliminate_incompatible_cars(msg, candidate_cars):
compatible_cars = []
for car_name in candidate_cars:
if car_name in IGNORED_FINGERPRINTS:
continue
car_fingerprints = _FINGERPRINTS[car_name]
for fingerprint in car_fingerprints:
@ -76,4 +72,9 @@ def eliminate_incompatible_cars(msg, candidate_cars):
def all_known_cars():
"""Returns a list of all known car strings."""
return list({*FW_VERSIONS.keys(), *_FINGERPRINTS.keys()})
def all_legacy_fingerprint_cars():
"""Returns a list of all known car strings, FPv1 only."""
return list(_FINGERPRINTS.keys())

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

@ -10,26 +10,25 @@ WHEEL_RADIUS = 0.33
class CarState(CarStateBase):
def update(self, cp):
ret = car.CarState.new_message()
ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]['WhlRr_W_Meas'] * WHEEL_RADIUS
ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]['WhlRl_W_Meas'] * WHEEL_RADIUS
ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]['WhlFr_W_Meas'] * WHEEL_RADIUS
ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]['WhlFl_W_Meas'] * WHEEL_RADIUS
ret.wheelSpeeds.rr = cp.vl["WheelSpeed_CG1"]["WhlRr_W_Meas"] * WHEEL_RADIUS
ret.wheelSpeeds.rl = cp.vl["WheelSpeed_CG1"]["WhlRl_W_Meas"] * WHEEL_RADIUS
ret.wheelSpeeds.fr = cp.vl["WheelSpeed_CG1"]["WhlFr_W_Meas"] * WHEEL_RADIUS
ret.wheelSpeeds.fl = cp.vl["WheelSpeed_CG1"]["WhlFl_W_Meas"] * WHEEL_RADIUS
ret.vEgoRaw = mean([ret.wheelSpeeds.rr, ret.wheelSpeeds.rl, ret.wheelSpeeds.fr, ret.wheelSpeeds.fl])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = not ret.vEgoRaw > 0.001
ret.steeringAngleDeg = cp.vl["Steering_Wheel_Data_CG1"]['SteWhlRelInit_An_Sns']
ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]['LaHandsOff_B_Actl']
ret.steerError = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl'] == 1
ret.cruiseState.speed = cp.vl["Cruise_Status"]['Set_Speed'] * CV.MPH_TO_MS
ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]['Cruise_State'] in [0, 3])
ret.cruiseState.available = cp.vl["Cruise_Status"]['Cruise_State'] != 0
ret.gas = cp.vl["EngineData_14"]['ApedPosScal_Pc_Actl'] / 100.
ret.steeringAngleDeg = cp.vl["Steering_Wheel_Data_CG1"]["SteWhlRelInit_An_Sns"]
ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"]
ret.steerError = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1
ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS
ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in [0, 3])
ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0
ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100.
ret.gasPressed = ret.gas > 1e-6
ret.brakePressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
ret.brakeLights = bool(cp.vl["BCM_to_HS_Body"]["Brake_Lights"])
ret.genericToggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
# TODO: we also need raw driver torque, needed for Assisted Lane Change
self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]["LaActAvail_D_Actl"]
return ret
@ -50,7 +49,6 @@ class CarState(CarStateBase):
("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
("Dist_Incr", "Steering_Buttons", 0.),
("Brake_Drv_Appl", "Cruise_Status", 0.),
("Brake_Lights", "BCM_to_HS_Body", 0.),
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0, enforce_checks=False)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0, enforce_checks=False)

14
selfdrive/car/fw_versions.py
View File

@ -69,6 +69,11 @@ OBD_VERSION_RESPONSE = b'\x49\x04'
DEFAULT_RX_OFFSET = 0x8
VOLKSWAGEN_RX_OFFSET = 0x6a
MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
MAZDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
# brand, request, response, response offset
REQUESTS = [
# Hyundai
@ -129,6 +134,13 @@ REQUESTS = [
[VOLKSWAGEN_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
),
# Mazda
(
"mazda",
[MAZDA_VERSION_REQUEST],
[MAZDA_VERSION_RESPONSE],
DEFAULT_RX_OFFSET,
)
]
@ -209,7 +221,7 @@ def match_fw_to_car_exact(fw_versions_dict):
continue
# On some Toyota models, the engine can show on two different addresses
if ecu_type == Ecu.engine and candidate in [TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS, TOYOTA.AVALON] and found_version is None:
if ecu_type == Ecu.engine and candidate in [TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS] and found_version is None:
continue
# Ignore non essential ecus

54
selfdrive/car/gm/carstate.py
View File

@ -11,62 +11,62 @@ from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["ECMPRDNL"]["PRNDL"]
def update(self, pt_cp):
ret = car.CarState.new_message()
self.prev_cruise_buttons = self.cruise_buttons
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]['ACCButtons']
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
ret.wheelSpeeds.fl = pt_cp.vl["EBCMWheelSpdFront"]['FLWheelSpd'] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = pt_cp.vl["EBCMWheelSpdFront"]['FRWheelSpd'] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = pt_cp.vl["EBCMWheelSpdRear"]['RLWheelSpd'] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = pt_cp.vl["EBCMWheelSpdRear"]['RRWheelSpd'] * CV.KPH_TO_MS
ret.wheelSpeeds.fl = pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"] * CV.KPH_TO_MS
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.01
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]['PRNDL'], None))
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]['BrakePedalPosition'] / 0xd0
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
# Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
if ret.brake < 10/0xd0:
ret.brake = 0.
ret.gas = pt_cp.vl["AcceleratorPedal"]['AcceleratorPedal'] / 254.
ret.gas = pt_cp.vl["AcceleratorPedal"]["AcceleratorPedal"] / 254.
ret.gasPressed = ret.gas > 1e-5
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelRate']
ret.steeringTorque = pt_cp.vl["PSCMStatus"]['LKADriverAppldTrq']
ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]['LKATorqueDelivered']
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
# 0 inactive, 1 active, 2 temporarily limited, 3 failed
self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
ret.steerWarning = self.lkas_status not in [0, 1]
# 1 - open, 0 - closed
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]['FrontLeftDoor'] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]['FrontRightDoor'] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]['RearLeftDoor'] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]['RearRightDoor'] == 1)
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
# 1 - latched
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]['LeftSeatBelt'] == 0
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]['CruiseMainOn'])
ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
self.park_brake = pt_cp.vl["EPBStatus"]["EPBClosed"]
ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"])
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
ret.brakePressed = ret.brake > 1e-5
# Regen braking is braking
if self.car_fingerprint == CAR.VOLT:
ret.brakePressed = ret.brakePressed or bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
ret.brakePressed = ret.brakePressed or bool(pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"])
ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
@ -129,4 +129,4 @@ class CarState(CarStateBase):
("EBCMRegenPaddle", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CanBus.POWERTRAIN)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN)

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

@ -101,6 +101,10 @@ class CarController():
# send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
pcm_cancel_cmd = True
# Never send cancel command if we never enter cruise state (no cruise if pedal)
# Cancel cmd causes brakes to release at a standstill causing grinding
pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.enableCruise
# *** rate limit after the enable check ***
self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)

174
selfdrive/car/honda/carstate.py
View File

@ -5,7 +5,10 @@ from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
TransmissionType = car.CarParams.TransmissionType
def calc_cruise_offset(offset, speed):
# euristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
@ -19,7 +22,7 @@ def calc_cruise_offset(offset, speed):
return min(_K0 + _K1 * speed + _K2 * speed * offset, 0.)
def get_can_signals(CP):
def get_can_signals(CP, gearbox_msg="GEARBOX"):
# this function generates lists for signal, messages and initial values
signals = [
("XMISSION_SPEED", "ENGINE_DATA", 0),
@ -33,7 +36,7 @@ def get_can_signals(CP):
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
("GEAR", "GEARBOX", 0),
("GEAR", gearbox_msg, 0),
("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
@ -43,7 +46,7 @@ def get_can_signals(CP):
("USER_BRAKE", "VSA_STATUS", 0),
("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
("STEER_STATUS", "STEER_STATUS", 5),
("GEAR_SHIFTER", "GEARBOX", 0),
("GEAR_SHIFTER", gearbox_msg, 0),
("PEDAL_GAS", "POWERTRAIN_DATA", 0),
("CRUISE_SETTING", "SCM_BUTTONS", 0),
("ACC_STATUS", "POWERTRAIN_DATA", 0),
@ -74,19 +77,18 @@ def get_can_signals(CP):
if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G):
checks += [
("GEARBOX", 50),
(gearbox_msg, 50),
]
else:
checks += [
("GEARBOX", 100),
(gearbox_msg, 100),
]
if CP.carFingerprint in HONDA_BOSCH:
# Civic is only bosch to use the same brake message as other hondas.
if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
checks += [("BRAKE_MODULE", 50)]
if CP.carFingerprint in HONDA_BOSCH:
signals += [
("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
@ -118,7 +120,8 @@ def get_can_signals(CP):
checks += [("CRUISE_PARAMS", 10)]
else:
checks += [("CRUISE_PARAMS", 50)]
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
elif CP.carFingerprint == CAR.ODYSSEY_CHN:
signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
@ -195,13 +198,17 @@ def get_can_signals(CP):
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.gearbox_msg = "GEARBOX"
if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt:
self.gearbox_msg = "GEARBOX_15T"
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.brake_switch_prev_ts = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.cruise_mode = 0
@ -219,119 +226,115 @@ class CarState(CarStateBase):
# ******************* parse out can *******************
# TODO: find wheels moving bit in dbc
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN'])
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 0.1
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint == CAR.HRV:
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN'])
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
else:
ret.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
ret.doorOpen = any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],
cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] or not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED'])
ret.standstill = not cp.vl["STANDSTILL"]["WHEELS_MOVING"]
ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]['STEER_STATUS']]
ret.steerError = steer_status not in ['NORMAL', 'NO_TORQUE_ALERT_1', 'NO_TORQUE_ALERT_2', 'LOW_SPEED_LOCKOUT', 'TMP_FAULT']
steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
ret.steerError = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT"]
# NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
self.steer_not_allowed = steer_status not in ['NORMAL', 'NO_TORQUE_ALERT_2']
self.steer_not_allowed = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_2"]
# LOW_SPEED_LOCKOUT is not worth a warning
ret.steerWarning = steer_status not in ['NORMAL', 'LOW_SPEED_LOCKOUT', 'NO_TORQUE_ALERT_2']
ret.steerWarning = steer_status not in ["NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2"]
if not self.CP.openpilotLongitudinalControl:
self.brake_error = 0
else:
self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
ret.espDisabled = cp.vl["VSA_STATUS"]['ESP_DISABLED'] != 0
self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor
ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor
ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS * speed_factor
ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS * speed_factor
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS * speed_factor
ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS * speed_factor
ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS * speed_factor
ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS * speed_factor
v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr)/4.
# blend in transmission speed at low speed, since it has more low speed accuracy
v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + v_weight * v_wheel
ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * speed_factor + v_weight * v_wheel
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
ret.leftBlinker = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER'] != 0
ret.rightBlinker = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER'] != 0
self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
ret.leftBlinker = cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"] != 0
ret.rightBlinker = cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"] != 0
self.brake_hold = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"]
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH,
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G):
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
main_on = cp.vl["SCM_FEEDBACK"]["MAIN_ON"]
elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
main_on = cp.vl["SCM_BUTTONS"]["MAIN_ON"]
else:
self.park_brake = 0 # TODO
main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
main_on = cp.vl["SCM_BUTTONS"]["MAIN_ON"]
gear = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
# crv doesn't include cruise control
if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.HRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
ret.gas = self.pedal_gas / 256.
else:
ret.gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS'] / 256.
ret.gas = cp.vl["GAS_PEDAL_2"]["CAR_GAS"] / 256.
# this is a hack for the interceptor. This is now only used in the simulation
# TODO: Replace tests by toyota so this can go away
if self.CP.enableGasInterceptor:
self.user_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
self.user_gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
self.user_gas_pressed = self.user_gas > 1e-5 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
ret.gasPressed = self.user_gas_pressed
else:
ret.gasPressed = self.pedal_gas > 1e-5
ret.steeringTorque = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]['MOTOR_TORQUE']
ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.CP.carFingerprint]
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != 0
if self.CP.carFingerprint in HONDA_BOSCH:
self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL']
ret.cruiseState.standstill = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
self.cruise_mode = cp.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"]
ret.cruiseState.standstill = cp.vl["ACC_HUD"]["CRUISE_SPEED"] == 252.
ret.cruiseState.speedOffset = calc_cruise_offset(0, ret.vEgo)
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.ACCORDH, CAR.CRV_HYBRID, CAR.INSIGHT):
ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or
(self.brake_switch and self.brake_switch_prev and
cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts))
self.brake_switch_prev = self.brake_switch
self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
else:
ret.brakePressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED'] != 0
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]['CRUISE_SPEED'] > 160.0 else cp.vl["ACC_HUD"]['CRUISE_SPEED'] * CV.KPH_TO_MS
ret.cruiseState.speed = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]["CRUISE_SPEED"] > 160.0 else cp.vl["ACC_HUD"]["CRUISE_SPEED"] * CV.KPH_TO_MS
self.v_cruise_pcm_prev = ret.cruiseState.speed
else:
ret.cruiseState.speedOffset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], ret.vEgo)
ret.cruiseState.speed = cp.vl["CRUISE"]['CRUISE_SPEED_PCM'] * CV.KPH_TO_MS
ret.cruiseState.speedOffset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]["CRUISE_SPEED_OFFSET"], ret.vEgo)
ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
self.brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
else:
# brake switch has shown some single time step noise, so only considered when
# switch is on for at least 2 consecutive CAN samples
ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or
(self.brake_switch and self.brake_switch_prev and
cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts))
self.brake_switch_prev = self.brake_switch
self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
# panda safety only checks BRAKE_PRESSED signal
ret.brakePressed = bool(cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] or
(self.brake_switch and self.brake_switch_prev and cp.ts["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != self.brake_switch_prev_ts))
ret.brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS'] != 0
self.brake_switch_prev = self.brake_switch
self.brake_switch_prev_ts = cp.ts["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
ret.cruiseState.available = bool(main_on)
ret.cruiseState.nonAdaptive = self.cruise_mode != 0
@ -341,7 +344,7 @@ class CarState(CarStateBase):
ret.brakePressed = True
# TODO: discover the CAN msg that has the imperial unit bit for all other cars
self.is_metric = not cp.vl["HUD_SETTING"]['IMPERIAL_UNIT'] if self.CP.carFingerprint in (CAR.CIVIC) else False
self.is_metric = not cp.vl["HUD_SETTING"]["IMPERIAL_UNIT"] if self.CP.carFingerprint in (CAR.CIVIC) else False
if self.CP.carFingerprint in HONDA_BOSCH:
ret.stockAeb = bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
@ -359,16 +362,15 @@ class CarState(CarStateBase):
if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
# more info here: https://github.com/commaai/openpilot/pull/1867
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]['BSM_ALERT'] == 1
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]['BSM_ALERT'] == 1
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
return ret
@staticmethod
def get_can_parser(CP):
signals, checks = get_can_signals(CP)
def get_can_parser(self, CP):
signals, checks = get_can_signals(CP, self.gearbox_msg)
bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus_pt)
@staticmethod
def get_cam_can_parser(CP):
@ -393,7 +395,7 @@ class CarState(CarStateBase):
("BRAKE_COMMAND", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
@staticmethod
def get_body_can_parser(CP):
@ -406,5 +408,5 @@ class CarState(CarStateBase):
("BSM_STATUS_RIGHT", 3),
]
bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
return CANParser(DBC[CP.carFingerprint]['body'], signals, checks, bus_body)
return CANParser(DBC[CP.carFingerprint]["body"], signals, checks, bus_body)
return None

50
selfdrive/car/honda/interface.py
View File

@ -2,11 +2,9 @@
import numpy as np
from cereal import car
from common.numpy_fast import clip, interp
from common.realtime import DT_CTRL
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.events import ET
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.controls.lib.longitudinal_planner import _A_CRUISE_MAX_V_FOLLOWING
from selfdrive.car.interfaces import CarInterfaceBase
@ -15,6 +13,7 @@ A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType
def compute_gb_honda(accel, speed):
@ -75,9 +74,6 @@ class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.last_enable_pressed = 0
self.last_enable_sent = 0
if self.CS.CP.carFingerprint == CAR.ACURA_ILX:
self.compute_gb = get_compute_gb_acura()
else:
@ -138,6 +134,10 @@ class CarInterface(CarInterfaceBase):
if candidate == CAR.CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
# Accord 1.5T CVT has different gearbox message
if candidate == CAR.ACCORD and 0x191 in fingerprint[0]:
ret.transmissionType = TransmissionType.cvt
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
@ -196,10 +196,8 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kiV = [0.18, 0.12]
elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
elif candidate in (CAR.ACCORD, CAR.ACCORDH):
stop_and_go = True
if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.centerToFront = ret.wheelbase * 0.39
@ -246,7 +244,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.CRV_5G:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.66
ret.centerToFront = ret.wheelbase * 0.41
@ -324,7 +321,6 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.ACURA_RDX_3G:
stop_and_go = True
ret.safetyParam = 1 # Accord(ICE), CRV 5G, and RDX 3G use an alternate user brake msg
ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.41
@ -410,6 +406,10 @@ class CarInterface(CarInterfaceBase):
else:
raise ValueError("unsupported car %s" % candidate)
# These cars use alternate user brake msg (0x1BE)
if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
ret.safetyParam = 1
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
@ -450,10 +450,6 @@ class CarInterface(CarInterfaceBase):
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
ret.yawRate = self.VM.yaw_rate(ret.steeringAngleDeg * CV.DEG_TO_RAD, ret.vEgo)
# FIXME: read sendcan for brakelights
brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1
ret.brakeLights = bool(self.CS.brake_switch or
c.actuators.brake > brakelights_threshold)
buttonEvents = []
@ -492,7 +488,7 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = buttonEvents
# events
events = self.create_common_events(ret, pcm_enable=False)
events = self.create_common_events(ret, pcm_enable=self.CP.enableCruise)
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
if self.CS.brake_hold and self.CS.CP.openpilotLongitudinalControl:
@ -515,34 +511,18 @@ class CarInterface(CarInterfaceBase):
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
events.add(EventName.manualRestart)
cur_time = self.frame * DT_CTRL
enable_pressed = False
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
self.last_enable_pressed = cur_time
enable_pressed = True
if not self.CP.enableCruise:
events.add(EventName.buttonEnable)
# do disable on button down
if b.type == "cancel" and b.pressed:
if b.type == ButtonType.cancel and b.pressed:
events.add(EventName.buttonCancel)
if self.CP.enableCruise:
# KEEP THIS EVENT LAST! send enable event if button is pressed and there are
# NO_ENTRY events, so controlsd will display alerts. Also not send enable events
# too close in time, so a no_entry will not be followed by another one.
# TODO: button press should be the only thing that triggers enable
if ((cur_time - self.last_enable_pressed) < 0.2 and
(cur_time - self.last_enable_sent) > 0.2 and
ret.cruiseState.enabled) or \
(enable_pressed and events.any(ET.NO_ENTRY)):
events.add(EventName.buttonEnable)
self.last_enable_sent = cur_time
elif enable_pressed:
events.add(EventName.buttonEnable)
ret.events = events.to_msg()
self.CS.out = ret.as_reader()

191
selfdrive/car/honda/values.py
View File

@ -34,8 +34,7 @@ VISUAL_HUD = {
VisualAlert.speedTooHigh: 8}
class CAR:
ACCORD = "HONDA ACCORD 2T 2018"
ACCORD_15 = "HONDA ACCORD 1.5T 2018"
ACCORD = "HONDA ACCORD 2018"
ACCORDH = "HONDA ACCORD HYBRID 2018"
CIVIC = "HONDA CIVIC 2016"
CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
@ -63,9 +62,6 @@ FINGERPRINTS = {
CAR.ACCORD: [{
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
}],
CAR.ACCORD_15: [{
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
}],
CAR.ACCORDH: [{
148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
}],
@ -76,9 +72,6 @@ FINGERPRINTS = {
CAR.ACURA_RDX: [{
57: 3, 145: 8, 229: 4, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 392: 6, 398: 3, 399: 6, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5, 1424: 5, 1729: 1
}],
CAR.ACURA_RDX_3G: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 507: 1, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 6, 1092: 1, 1108: 8, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
}],
CAR.CIVIC: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 450: 8, 464: 8, 470: 2, 476: 7, 487: 4, 490: 8, 493: 5, 506: 8, 512: 6, 513: 6, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1633: 8,
}],
@ -90,29 +83,12 @@ FINGERPRINTS = {
{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1092: 1, 1108: 8, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
}],
CAR.CIVIC_BOSCH_DIESEL: [{
# 2019 Civic Sedan 1.6 i-dtec Diesel European
57: 3, 148: 8, 228: 5, 308: 5, 316: 8, 330: 8, 344: 8, 380: 8, 399: 7, 419: 8, 420: 8, 426: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 507: 1, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 801: 3, 804: 8, 806: 8, 808: 8, 815: 8, 824: 8, 825: 4, 829: 5, 837: 5, 862: 8, 881: 8, 882: 4, 884: 8, 887: 8, 888: 8, 891: 8, 902: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1092: 1, 1108: 8, 1115: 2, 1125: 8, 1296: 8, 1302: 8, 1322: 5, 1337: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8
}],
CAR.CRV: [{
57: 3, 145: 8, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 401: 8, 404: 4, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
}],
CAR.CRV_5G: [{
57: 3, 148: 8, 199: 4, 228: 5, 231: 5, 232: 7, 304: 8, 330: 8, 340: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 467: 2, 469: 3, 470: 2, 474: 8, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 507: 1, 545: 6, 597: 8, 661: 4, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 817: 4, 825: 4, 829: 5, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 927: 8, 918: 7, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1108: 8, 1092: 1, 1115: 2, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1618: 5, 1633: 8, 1670: 5
}],
# 1057: 5 1024: 5 are also on the OBD2 bus. their lengths differ from the camera's f-can bus. re-fingerprint after obd2 connection is split in panda firmware from bus 1.
CAR.CRV_EU: [{
57: 3, 145: 8, 308: 5, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 6, 404: 4, 419: 8, 420: 8, 422: 8, 426: 8, 432: 7, 464: 8, 474: 5, 476: 4, 487: 4, 490: 8, 493: 3, 506: 8, 507: 1, 510: 3, 538: 3, 542: 7, 545: 4, 597: 8, 660: 8, 661: 4, 768: 8, 769: 8, 773: 7, 777: 8, 780: 8, 800: 8, 801: 3, 803: 8, 804: 8, 808: 8, 824: 8, 829: 5, 837: 5, 862: 8, 882: 2, 884: 7, 888: 8, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 930: 8, 931: 8, 983: 8, 1024: 8, 1027: 5, 1029: 8, 1033: 5, 1036: 8, 1039: 8, 1040: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1045: 8, 1046: 8, 1047: 8, 1056: 8, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1064: 7, 1072: 8, 1073: 8, 1074: 8, 1075: 8, 1076: 8, 1077: 8, 1078: 8, 1079: 8, 1080: 8, 1081: 8, 1088: 8, 1089: 8, 1090: 8, 1091: 8, 1092: 8, 1093: 8, 1108: 8, 1125: 8, 1279: 8, 1280: 8, 1296: 8, 1297: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8,
}],
CAR.CRV_HYBRID: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 415: 6, 419: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 490: 8, 495: 8, 525: 8, 531: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 814: 4, 829: 5, 833: 6, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 930: 8, 931: 8, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1626: 5, 1627: 5
}],
CAR.FIT: [{
57: 3, 145: 8, 228: 5, 304: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 427: 3, 428: 8, 432: 7, 464: 8, 487: 4, 490: 8, 506: 8, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8
}],
CAR.HRV: [{
57: 3, 145: 8, 228: 5, 316: 8, 340: 8, 342: 6, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 422: 8, 423: 2, 426: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 474: 8, 490: 8, 493: 3, 506: 8, 538: 5, 578: 2, 597: 8, 660: 8, 661: 4, 773: 7, 777: 8, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 882: 2, 884: 7, 892: 8, 929: 8, 985: 3, 1030: 5, 1033: 5, 1108: 8, 1137: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1618: 5
}],
# 2018 Odyssey w/ Added Comma Pedal Support (512L & 513L)
CAR.ODYSSEY: [{
57: 3, 148: 8, 228: 5, 229: 4, 316: 8, 342: 6, 344: 8, 380: 8, 399: 7, 411: 5, 419: 8, 420: 8, 427: 3, 432: 7, 450: 8, 463: 8, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 817: 4, 819: 7, 821: 5, 825: 4, 829: 5, 837: 5, 856: 7, 862: 8, 871: 8, 881: 8, 882: 4, 884: 8, 891: 8, 892: 8, 905: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1029: 8, 1036: 8, 1052: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1110: 8, 1125: 8, 1296: 8, 1302: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1614: 5, 1615: 8, 1616: 5, 1619: 5, 1623: 5, 1668: 5
@ -136,23 +112,8 @@ FINGERPRINTS = {
{
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 411: 5, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 817: 4, 819: 7, 821: 5, 829: 5, 871: 8, 881: 8, 882: 2, 884: 7, 891: 8, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1424: 5, 1445: 8, 1600: 5, 1601: 8, 1612: 5, 1613: 5, 1616: 5, 1617: 8, 1618: 5, 1623: 5, 1668: 5
}],
# Ridgeline w/ Added Comma Pedal Support (512L & 513L)
CAR.RIDGELINE: [{
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 471: 3, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 927: 8, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1613: 5, 1616: 5, 1618: 5, 1668: 5, 2015: 3
},
# 2019 Ridgeline
{
57: 3, 145: 8, 228: 5, 229: 4, 308: 5, 316: 8, 339: 7, 342: 6, 344: 8, 380: 8, 392: 6, 399: 7, 419: 8, 420: 8, 422: 8, 425: 8, 426: 8, 427: 3, 432: 7, 464: 8, 476: 4, 490: 8, 512: 6, 513: 6, 545: 5, 546: 3, 597: 8, 660: 8, 773: 7, 777: 8, 795: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 871: 8, 882: 2, 884: 7, 892: 8, 923: 2, 929: 8, 963: 8, 965: 8, 966: 8, 967: 8, 983: 8, 985: 3, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1088: 8, 1089: 8, 1092: 1, 1108: 8, 1125: 8, 1296: 8, 1365: 5, 424: 5, 1613: 5, 1616: 5, 1618: 5, 1623: 5, 1668: 5
}],
# 2019 Insight
CAR.INSIGHT: [{
57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 476: 8, 477: 8, 479: 8, 490: 8, 495: 8, 507: 1, 525: 8, 531: 8, 545: 6, 547: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 804: 8, 806: 8, 808: 8, 814: 4, 815: 8, 829: 5, 832: 3, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 954: 2, 985: 3, 1029: 8, 1093: 4, 1115: 2, 1302: 8, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1652: 8, 2015: 3
}]
}
# Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
IGNORED_FINGERPRINTS = [CAR.INSIGHT, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_EU, CAR.HRV, CAR.ACURA_RDX_3G]
# add DIAG_MSGS to fingerprints
for c in FINGERPRINTS:
for f, _ in enumerate(FINGERPRINTS[c]):
@ -173,6 +134,19 @@ FW_VERSIONS = {
b'37805-6B2-A820\x00\x00',
b'37805-6B2-A920\x00\x00',
b'37805-6B2-M520\x00\x00',
b'37805-6A0-9520\x00\x00',
b'37805-6A0-9620\x00\x00',
b'37805-6A0-9720\x00\x00',
b'37805-6A0-A540\x00\x00',
b'37805-6A0-A550\x00\x00',
b'37805-6A0-A650\x00\x00',
b'37805-6A0-A740\x00\x00',
b'37805-6A0-A750\x00\x00',
b'37805-6A0-A840\x00\x00',
b'37805-6A0-A850\x00\x00',
b'37805-6A0-C540\x00\x00',
b'37805-6A1-H650\x00\x00',
b'37805-6M4-B730\x00\x00',
],
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TVC-A910\x00\x00',
@ -184,25 +158,43 @@ FW_VERSIONS = {
b'28102-6B8-A800\x00\x00',
b'28102-6B8-C570\x00\x00',
b'28102-6B8-M520\x00\x00',
b'28101-6A7-A220\x00\x00',
b'28101-6A7-A230\x00\x00',
b'28101-6A7-A320\x00\x00',
b'28101-6A7-A330\x00\x00',
b'28101-6A7-A410\x00\x00',
b'28101-6A7-A510\x00\x00',
b'28101-6A9-H140\x00\x00',
b'28101-6A9-H420\x00\x00',
],
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
b'46114-TVA-A060\x00\x00',
b'46114-TVA-A080\x00\x00',
b'46114-TVA-A120\x00\x00',
b'46114-TVA-A320\x00\x00',
b'46114-TVA-A050\x00\x00',
b'46114-TVE-H550\x00\x00',
b'46114-TVE-H560\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TVA-C040\x00\x00',
b'57114-TVA-C050\x00\x00',
b'57114-TVA-C060\x00\x00',
b'57114-TVA-C530\x00\x00',
b'57114-TVA-B040\x00\x00',
b'57114-TVA-B050\x00\x00',
b'57114-TVA-B060\x00\x00',
b'57114-TVE-H250\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TVA,A150\x00\x00', # modified firmware
b'39990-TVA,A150\x00\x00',
b'39990-TVA-A150\x00\x00',
b'39990-TVA-A160\x00\x00',
b'39990-TVA-A340\x00\x00',
b'39990-TVA-X030\x00\x00',
b'39990-TVA-A140\x00\x00',
b'39990-TVE-H130\x00\x00',
b'39990-TBX-H120\x00\x00',
],
(Ecu.unknown, 0x18da3af1, None): [
b'39390-TVA-A020\x00\x00',
@ -211,6 +203,8 @@ FW_VERSIONS = {
b'77959-TVA-A460\x00\x00',
b'77959-TVA-L420\x00\x00',
b'77959-TVA-X330\x00\x00',
b'77959-TVA-H230\x00\x00',
b'77959-TBX-H230\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TVA-A210\x00\x00',
@ -225,71 +219,11 @@ FW_VERSIONS = {
b'78109-TVC-L010\x00\x00',
b'78109-TVC-L210\x00\x00',
b'78109-TVC-M510\x00\x00',
],
(Ecu.hud, 0x18da61f1, None): [
b'78209-TVA-A010\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TVA-A160\x00\x00',
b'36802-TVA-A170\x00\x00',
b'36802-TVC-A330\x00\x00',
b'36802-TWA-A070\x00\x00',
],
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'36161-TVA-A060\x00\x00',
b'36161-TVC-A330\x00\x00',
b'36161-TWA-A070\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TVA-A010\x00\x00',
b'38897-TVA-A020\x00\x00',
],
},
CAR.ACCORD_15: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-6A0-9520\x00\x00',
b'37805-6A0-9620\x00\x00',
b'37805-6A0-9720\x00\x00',
b'37805-6A0-A540\x00\x00',
b'37805-6A0-A550\x00\x00',
b'37805-6A0-A640\x00\x00',
b'37805-6A0-A650\x00\x00',
b'37805-6A0-A740\x00\x00',
b'37805-6A0-A750\x00\x00',
b'37805-6A0-A840\x00\x00',
b'37805-6A0-A850\x00\x00',
b'37805-6A0-C540\x00\x00',
b'37805-6A1-H650\x00\x00',
b'37805-6M4-B730\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-6A7-A220\x00\x00',
b'28101-6A7-A230\x00\x00',
b'28101-6A7-A320\x00\x00',
b'28101-6A7-A330\x00\x00',
b'28101-6A7-A410\x00\x00',
b'28101-6A7-A510\x00\x00',
b'28101-6A9-H140\x00\x00',
b'28101-6A9-H420\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TVA-A230\x00\x00',
],
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
b'46114-TVA-A050\x00\x00',
b'46114-TVA-A060\x00\x00',
b'46114-TVA-A080\x00\x00',
b'46114-TVA-A120\x00\x00',
b'46114-TVE-H550\x00\x00',
b'46114-TVE-H560\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TBX-H310\x00\x00',
b'78109-TVA-A010\x00\x00',
b'78109-TVA-A020\x00\x00',
b'78109-TVA-A110\x00\x00',
b'78109-TVA-A120\x00\x00',
b'78109-TVA-A210\x00\x00',
b'78109-TVA-A220\x00\x00',
b'78109-TVA-A310\x00\x00',
b'78109-TVA-C010\x00\x00',
@ -301,35 +235,26 @@ FW_VERSIONS = {
(Ecu.hud, 0x18da61f1, None): [
b'78209-TVA-A010\x00\x00',
],
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'36161-TVA-A060\x00\x00',
b'36161-TVE-H050\x00\x00',
b'36161-TBX-H130\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TVA-A460\x00\x00',
b'77959-TVA-H230\x00\x00',
b'77959-TBX-H230\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TVA-B040\x00\x00',
b'57114-TVA-B050\x00\x00',
b'57114-TVA-B060\x00\x00',
b'57114-TVE-H250\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TVA-A150\x00\x00',
b'36802-TVA-A160\x00\x00',
b'36802-TVA-A170\x00\x00',
b'36802-TVC-A330\x00\x00',
b'36802-TWA-A070\x00\x00',
b'36802-TVA-A150\x00\x00',
b'36802-TVE-H070\x00\x00',
b'36802-TBX-H140\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TVA-A140\x00\x00',
b'39990-TVA-A150\x00\x00', # Are these two different steerRatio?
b'39990-TVA-A160\x00\x00', # Sport, Sport 2.0T and Touring 2.0T have different ratios
b'39990-TVE-H130\x00\x00',
b'39990-TBX-H120\x00\x00',
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'36161-TVA-A060\x00\x00',
b'36161-TVC-A330\x00\x00',
b'36161-TWA-A070\x00\x00',
b'36161-TVE-H050\x00\x00',
b'36161-TBX-H130\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TVA-A010\x00\x00',
b'38897-TVA-A020\x00\x00',
b'38897-TVA-A230\x00\x00',
],
},
CAR.ACCORDH: {
@ -1072,12 +997,16 @@ FW_VERSIONS = {
b'36161-TG7-A310\x00\x00',
b'36161-TG7-A630\x00\x00',
b'36161-TG7-A930\x00\x00',
b'36161-TG7-D630\x00\x00',
b'36161-TG7-Y630\x00\x00',
b'36161-TG8-A630\x00\x00',
b'36161-TG8-A830\x00\x00',
b'36161-TGS-A130\x00\x00',
b'36161-TGT-A030\x00\x00',
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TG7-A210\x00\x00',
b'77959-TG7-Y210\x00\x00',
b'77959-TGS-A010\x00\x00',
],
(Ecu.combinationMeter, 0x18da60f1, None): [
@ -1090,8 +1019,11 @@ FW_VERSIONS = {
b'78109-TG7-AP20\x00\x00',
b'78109-TG7-AS20\x00\x00',
b'78109-TG7-AU20\x00\x00',
b'78109-TG7-DJ10\x00\x00',
b'78109-TG7-YK20\x00\x00',
b'78109-TG8-AJ10\x00\x00',
b'78109-TG8-AJ20\x00\x00',
b'78109-TG8-AK20\x00\x00',
b'78109-TGS-AK20\x00\x00',
b'78109-TGS-AP20\x00\x00',
b'78109-TGT-AJ20\x00\x00',
@ -1100,6 +1032,7 @@ FW_VERSIONS = {
b'57114-TG7-A630\x00\x00',
b'57114-TG7-A730\x00\x00',
b'57114-TG8-A630\x00\x00',
b'57114-TG8-A730\x00\x00',
b'57114-TGS-A530\x00\x00',
b'57114-TGT-A530\x00\x00',
],
@ -1295,9 +1228,8 @@ FW_VERSIONS = {
}
DBC = {
CAR.ACCORD: dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACCORD_15: dbc_dict('honda_accord_lx15t_2018_can_generated', None),
CAR.ACCORDH: dbc_dict('honda_accord_s2t_2018_can_generated', None),
CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
@ -1320,7 +1252,6 @@ DBC = {
STEER_THRESHOLD = {
CAR.ACCORD: 1200,
CAR.ACCORD_15: 1200,
CAR.ACCORDH: 1200,
CAR.ACURA_ILX: 1200,
CAR.ACURA_RDX: 400,
@ -1344,7 +1275,6 @@ STEER_THRESHOLD = {
SPEED_FACTOR = {
CAR.ACCORD: 1.,
CAR.ACCORD_15: 1.,
CAR.ACCORDH: 1.,
CAR.ACURA_ILX: 1.,
CAR.ACURA_RDX: 1.,
@ -1366,4 +1296,5 @@ SPEED_FACTOR = {
CAR.INSIGHT: 1.,
}
HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])

8
selfdrive/car/hyundai/carcontroller.py
View File

@ -49,8 +49,8 @@ class CarController():
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
self.steer_rate_limited = new_steer != apply_steer
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
lkas_active = enabled and abs(CS.out.steeringAngleDeg) < CS.CP.maxSteeringAngleDeg
# disable when temp fault is active
lkas_active = enabled and not CS.out.steerWarning
# fix for Genesis hard fault at low speed
if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:
@ -81,8 +81,8 @@ class CarController():
self.last_resume_frame = frame
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV,
CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS]:
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KONA_EV,
CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
can_sends.append(create_lfahda_mfc(self.packer, enabled))
return can_sends

76
selfdrive/car/hyundai/carstate.py
View File

@ -12,58 +12,55 @@ class CarState(CarStateBase):
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.doorOpen = any([cp.vl["CGW1"]['CF_Gway_DrvDrSw'], cp.vl["CGW1"]['CF_Gway_AstDrSw'],
cp.vl["CGW2"]['CF_Gway_RLDrSw'], cp.vl["CGW2"]['CF_Gway_RRDrSw']])
ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
ret.seatbeltUnlatched = cp.vl["CGW1"]['CF_Gway_DrvSeatBeltSw'] == 0
ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
ret.wheelSpeeds.fl = cp.vl["WHL_SPD11"]['WHL_SPD_FL'] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["WHL_SPD11"]['WHL_SPD_FR'] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["WHL_SPD11"]['WHL_SPD_RL'] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = cp.vl["WHL_SPD11"]['WHL_SPD_RR'] * CV.KPH_TO_MS
ret.wheelSpeeds.fl = cp.vl["WHL_SPD11"]["WHL_SPD_FL"] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["WHL_SPD11"]["WHL_SPD_FR"] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["WHL_SPD11"]["WHL_SPD_RL"] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = cp.vl["WHL_SPD11"]["WHL_SPD_RR"] * CV.KPH_TO_MS
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.1
ret.steeringAngleDeg = cp.vl["SAS11"]['SAS_Angle']
ret.steeringRateDeg = cp.vl["SAS11"]['SAS_Speed']
ret.yawRate = cp.vl["ESP12"]['YAW_RATE']
ret.leftBlinker, ret.rightBlinker = self.update_blinker(50, cp.vl["CGW1"]['CF_Gway_TurnSigLh'],
cp.vl["CGW1"]['CF_Gway_TurnSigRh'])
ret.steeringTorque = cp.vl["MDPS12"]['CR_Mdps_StrColTq']
ret.steeringTorqueEps = cp.vl["MDPS12"]['CR_Mdps_OutTq']
ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
ret.leftBlinker, ret.rightBlinker = self.update_blinker(50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"],
cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0 or cp.vl["MDPS12"]['CF_Mdps_ToiFlt'] != 0
ret.steerWarning = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
# cruise state
if self.CP.openpilotLongitudinalControl:
ret.cruiseState.available = cp.vl["TCS13"]['ACCEnable'] == 0
ret.cruiseState.enabled = cp.vl["TCS13"]['ACC_REQ'] == 1
ret.cruiseState.standstill = cp.vl["TCS13"]['StandStill'] == 1
ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
ret.cruiseState.standstill = cp.vl["TCS13"]["StandStill"] == 1
else:
ret.cruiseState.available = cp.vl["SCC11"]['MainMode_ACC'] == 1
ret.cruiseState.enabled = cp.vl["SCC12"]['ACCMode'] != 0
ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1
ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0
ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4.
if ret.cruiseState.enabled:
speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
ret.cruiseState.speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
else:
ret.cruiseState.speed = 0
# TODO: Find brake pressure
ret.brake = 0
ret.brakePressed = cp.vl["TCS13"]['DriverBraking'] != 0
# TODO: Check this
ret.brakeLights = bool(cp.vl["TCS13"]['BrakeLight'] or ret.brakePressed)
ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
if self.CP.carFingerprint in EV_HYBRID:
ret.gas = cp.vl["E_EMS11"]['Accel_Pedal_Pos'] / 256.
ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 256.
ret.gasPressed = ret.gas > 0
else:
ret.gas = cp.vl["EMS12"]['PV_AV_CAN'] / 100
ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100
ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
# TODO: refactor gear parsing in function
@ -119,11 +116,11 @@ class CarState(CarStateBase):
ret.gearShifter = GearShifter.unknown
if self.CP.carFingerprint in FEATURES["use_fca"]:
ret.stockAeb = cp.vl["FCA11"]['FCA_CmdAct'] != 0
ret.stockFcw = cp.vl["FCA11"]['CF_VSM_Warn'] == 2
ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
else:
ret.stockAeb = cp.vl["SCC12"]['AEB_CmdAct'] != 0
ret.stockFcw = cp.vl["SCC12"]['CF_VSM_Warn'] == 2
ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
@ -132,11 +129,11 @@ class CarState(CarStateBase):
# save the entire LKAS11 and CLU11
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.park_brake = cp.vl["TCS13"]['PBRAKE_ACT'] == 1
self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] # 0 NOT ACTIVE, 1 ACTIVE
self.lead_distance = cp.vl["SCC11"]['ACC_ObjDist']
self.brake_hold = cp.vl["TCS15"]['AVH_LAMP'] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
self.brake_error = cp.vl["TCS13"]['ACCEnable'] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
self.park_brake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.lead_distance = cp.vl["SCC11"]["ACC_ObjDist"]
self.brake_hold = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
self.prev_cruise_buttons = self.cruise_buttons
self.cruise_buttons = cp.vl["CLU11"]["CF_Clu_CruiseSwState"]
@ -181,7 +178,6 @@ class CarState(CarStateBase):
("ACCEnable", "TCS13", 0),
("ACC_REQ", "TCS13", 0),
("BrakeLight", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("StandStill", "TCS13", 0),
("PBRAKE_ACT", "TCS13", 0),
@ -290,7 +286,7 @@ class CarState(CarStateBase):
("CF_VSM_Warn", "SCC12", 0),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
@ -318,4 +314,4 @@ class CarState(CarStateBase):
("LKAS11", 100)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

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

@ -17,7 +17,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
values["CF_Lkas_ActToi"] = steer_req
values["CF_Lkas_MsgCount"] = frame % 0x10
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.KIA_SELTOS]:
if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2

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

@ -27,14 +27,8 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
tire_stiffness_factor = 1.
ret.maxSteeringAngleDeg = 90.
ret.startAccel = 1.0
eps_modified = False
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True
if candidate == CAR.SANTA_FE:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
@ -66,8 +60,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.75 * 1.15
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
if eps_modified:
ret.maxSteeringAngleDeg = 1000.
elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
ret.lateralTuning.pid.kf = 0.00006
ret.mass = 1275. + STD_CARGO_KG
@ -77,6 +69,14 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
ret.minSteerSpeed = 32 * CV.MPH_TO_MS
elif candidate == CAR.ELANTRA_2021:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
ret.wheelbase = 2.72
ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable
tire_stiffness_factor = 0.65
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
elif candidate == CAR.HYUNDAI_GENESIS:
ret.lateralTuning.pid.kf = 0.00005
ret.mass = 2060. + STD_CARGO_KG
@ -222,7 +222,7 @@ class CarInterface(CarInterfaceBase):
# these cars require a special panda safety mode due to missing counters and checksums in the messages
if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO,
CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.KIA_SELTOS,
CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED]:
CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA]:
ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
ret.centerToFront = ret.wheelbase * 0.4

57
selfdrive/car/hyundai/values.py
View File

@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
# Steer torque limits
class CarControllerParams:
def __init__(self, CP):
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS]:
if CP.carFingerprint in [CAR.SONATA, CAR.PALISADE, CAR.SANTA_FE, CAR.VELOSTER, CAR.GENESIS_G70, CAR.IONIQ_EV_2020, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.ELANTRA_2021]:
self.STEER_MAX = 384
else:
self.STEER_MAX = 255
@ -21,6 +21,7 @@ class CarControllerParams:
class CAR:
# Hyundai
ELANTRA = "HYUNDAI ELANTRA 2017"
ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
@ -109,9 +110,6 @@ FINGERPRINTS = {
CAR.KIA_STINGER: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
}],
CAR.GENESIS_G70: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832:8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173:8, 1184: 8, 1186: 2, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1419:8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}],
CAR.GENESIS_G80: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8
},
@ -133,18 +131,12 @@ FINGERPRINTS = {
CAR.IONIQ: [{
68:8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576:8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
}],
CAR.KONA: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832 : 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1193: 8, 1265: 4,1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1378: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8
}],
CAR.KONA_EV: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
}],
CAR.KIA_NIRO_EV: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}],
CAR.KIA_CEED: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1427: 6, 1456: 4, 2015: 8
}],
CAR.KIA_FORTE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 354: 3, 356: 4, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1156: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1384: 8, 1394: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}],
@ -154,19 +146,11 @@ FINGERPRINTS = {
{
68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
}],
CAR.KIA_SELTOS: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 524: 8, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 905: 8, 909: 8, 910: 5, 911: 5, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1102: 8, 1107: 5, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1470: 8, 1485: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}],
CAR.PALISADE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8
}],
CAR.VELOSTER: [{
64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1181: 5, 1186: 2, 1191: 2, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1378: 4, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 1872: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}]
}
# Don't use these fingerprints for fingerprinting, they are still used for ECU detection
IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA, CAR.KIA_CEED, CAR.KIA_SELTOS]
FW_VERSIONS = {
CAR.IONIQ_EV_2020: {
@ -397,6 +381,7 @@ FW_VERSIONS = {
b'\xf1\x00LX ESC \x01 103\x31\t\020 58910-S8360\xf1\xa01.03',
b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330\xf1\xa01.01',
b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330\xf1\xa01.03',
b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360',
b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360\xf1\xa01.04',
b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360\xf1\xa01.00',
@ -436,6 +421,7 @@ FW_VERSIONS = {
b'\xf1\x87LDLVBN673087KF37\x97www\x86fvgx\x99\x97\x89\x99\xaa\xa9\x9ag\x88\x86x\xe9_\xf8\xff\x98w\x7f\xff"\xad\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
b'\xf1\x87LDLVBN681363KF37\x98\x88\x88\x88\x97x\x87\x88y\xaa\xa7\x9a\x88\x88\x98\x88\x88\x88\x88\x88vo\xf6\xffvD\x7f\xff%v\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
b'\xf1\x87LDLVBN713890KF26\xb9\x99\x89\x98\xa9\x99\x99\x99x\x99\x97\x89\x88\x99\xa8\x89\x88\x99\xb8\x89Do\xf7\xff\xa9\x88o\xffs\r\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
b'\xf1\x87LDLVBN733215KF37\x99\x98y\x87\x97wwwi\x99\xa6\x99x\x99\xa7\x89V\x88\x95h\x86o\xf7\xffeDO\xff\x12\xe7\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
b'\xf1\x87LDLVBN750044KF37\xca\xa9\x8a\x98\xa7wwwy\xaa\xb7\x9ag\x88\x96x\x88\x99\xa8\x89\xb9\x7f\xf6\xff\xa8w\x7f\xff\xbe\xde\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
b'\xf1\x87LDLVBN752612KF37\xba\xaa\x8a\xa8\x87w\x87xy\xaa\xa7\x9a\x88\x99\x98\x89x\x88\x97\x88\x96o\xf6\xffvU_\xffh\x1b\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
b'\xf1\x87LDLVBN755553KF37\x87xw\x87\x97w\x87xy\x99\xa7\x99\x99\x99\xa9\x99Vw\x95gwo\xf6\xffwUO\xff\xb5T\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
@ -558,12 +544,20 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81616D2051\000\000\000\000\000\000\000\000',
b'\001TSP2KNL06F100J0K',
b'\001TSP2KNL06F200J0K',
],
(Ecu.eps, 0x7d4, None): [b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200 ',],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\000SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114',],
(Ecu.eps, 0x7d4, None): [
b'\xf1\000SP2 MDPS C 1.00 1.04 56300Q5200 ',
b'\xf1\000SP2 MDPS C 1.01 1.05 56300Q5200 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\000SP2 MFC AT USA LHD 1.00 1.04 99210-Q5000 191114',
b'\xf1\000SP2 MFC AT USA LHD 1.00 1.05 99210-Q5000 201012',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x87CZLUB49370612JF7h\xa8y\x87\x99\xa7hv\x99\x97fv\x88\x87x\x89x\x96O\xff\x88\xff\xff\xff.@\xf1\x816V2C2051\000\000\xf1\0006V2B0_C2\000\0006V2C2051\000\000CSP4N20NS3\000\000\000\000',
b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS6\xd30\xa5\xb9',
b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b',
],
},
CAR.KIA_OPTIMA: {
@ -577,10 +571,28 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31'],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
},
CAR.ELANTRA_2021: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 '],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106\xf1\xa01.06',
b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06',
],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819'],
(Ecu.esp, 0x7d1, None): [
b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01',
b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\xe8\xba\xce\xfa',
b'\xf1\x87CXMQFM2135005JB2E\xb9\x89\x98W\xa9y\x97h\xa9\x98\x99wxvwh\x87\177\xffx\xff\xff\xff,,\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [b'\xf1\x82CNCWD0AMFCXCSFFA'],
}
}
CHECKSUM = {
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS],
"crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021],
"6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
}
@ -591,13 +603,14 @@ FEATURES = {
"use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020]),
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS]),
}
EV_HYBRID = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_NIRO_EV])
DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),

7
selfdrive/car/isotp_parallel_query.py
View File

@ -1,6 +1,7 @@
import time
from collections import defaultdict
from functools import partial
from typing import Optional
import cereal.messaging as messaging
from selfdrive.swaglog import cloudlog
@ -8,7 +9,7 @@ from selfdrive.boardd.boardd import can_list_to_can_capnp
from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
class IsoTpParallelQuery():
class IsoTpParallelQuery:
def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False):
self.sendcan = sendcan
self.logcan = logcan
@ -103,7 +104,7 @@ class IsoTpParallelQuery():
break
for tx_addr, msg in msgs.items():
dat = msg.recv()
dat: Optional[bytes] = msg.recv()
if not dat:
continue
@ -121,7 +122,7 @@ class IsoTpParallelQuery():
request_done[tx_addr] = True
else:
request_done[tx_addr] = True
cloudlog.warning(f"iso-tp query bad response: 0x{bytes.hex(dat)}")
cloudlog.warning(f"iso-tp query bad response: 0x{dat.hex()}")
if time.time() - start_time > timeout:
break

61
selfdrive/car/mazda/carstate.py
View File

@ -9,8 +9,8 @@ class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = can_define.dv["GEAR"]['GEAR']
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["GEAR"]["GEAR"]
self.cruise_speed = 0
self.acc_active_last = False
@ -21,43 +21,42 @@ class CarState(CarStateBase):
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]['FL'] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]['FR'] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]['RL'] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]['RR'] * CV.KPH_TO_MS
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["FL"] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["FR"] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["RL"] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["RR"] * CV.KPH_TO_MS
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
# Match panda speed reading
speed_kph = cp.vl["ENGINE_DATA"]['SPEED']
speed_kph = cp.vl["ENGINE_DATA"]["SPEED"]
ret.standstill = speed_kph < .1
can_gear = int(cp.vl["GEAR"]['GEAR'])
can_gear = int(cp.vl["GEAR"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.leftBlinker = cp.vl["BLINK_INFO"]['LEFT_BLINK'] == 1
ret.rightBlinker = cp.vl["BLINK_INFO"]['RIGHT_BLINK'] == 1
ret.leftBlinker = cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1
ret.rightBlinker = cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1
ret.steeringAngleDeg = cp.vl["STEER"]['STEER_ANGLE']
ret.steeringTorque = cp.vl["STEER_TORQUE"]['STEER_TORQUE_SENSOR']
ret.steeringAngleDeg = cp.vl["STEER"]["STEER_ANGLE"]
ret.steeringTorque = cp.vl["STEER_TORQUE"]["STEER_TORQUE_SENSOR"]
ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD
ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]['STEER_TORQUE_MOTOR']
ret.steeringRateDeg = cp.vl["STEER_RATE"]['STEER_ANGLE_RATE']
ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]["STEER_TORQUE_MOTOR"]
ret.steeringRateDeg = cp.vl["STEER_RATE"]["STEER_ANGLE_RATE"]
ret.brakePressed = cp.vl["PEDALS"]['BRAKE_ON'] == 1
ret.brake = cp.vl["BRAKE"]['BRAKE_PRESSURE']
ret.brakeLights = ret.brakePressed
ret.brakePressed = cp.vl["PEDALS"]["BRAKE_ON"] == 1
ret.brake = cp.vl["BRAKE"]["BRAKE_PRESSURE"]
ret.seatbeltUnlatched = cp.vl["SEATBELT"]['DRIVER_SEATBELT'] == 0
ret.doorOpen = any([cp.vl["DOORS"]['FL'], cp.vl["DOORS"]['FR'],
cp.vl["DOORS"]['BL'], cp.vl["DOORS"]['BR']])
ret.seatbeltUnlatched = cp.vl["SEATBELT"]["DRIVER_SEATBELT"] == 0
ret.doorOpen = any([cp.vl["DOORS"]["FL"], cp.vl["DOORS"]["FR"],
cp.vl["DOORS"]["BL"], cp.vl["DOORS"]["BR"]])
ret.gas = cp.vl["ENGINE_DATA"]['PEDAL_GAS']
ret.gas = cp.vl["ENGINE_DATA"]["PEDAL_GAS"]
ret.gasPressed = ret.gas > 0
ret.leftBlindspot = cp.vl["BSM"]['LEFT_BS1'] == 1
ret.rightBlindspot = cp.vl["BSM"]['RIGHT_BS1'] == 1
ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1
ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1
# LKAS is enabled at 52kph going up and disabled at 45kph going down
if speed_kph > LKAS_LIMITS.ENABLE_SPEED:
@ -66,13 +65,13 @@ class CarState(CarStateBase):
self.lkas_allowed = False
# if any of the cruize buttons is pressed force state update
if any([cp.vl["CRZ_BTNS"]['RES'],
cp.vl["CRZ_BTNS"]['SET_P'],
cp.vl["CRZ_BTNS"]['SET_M']]):
if any([cp.vl["CRZ_BTNS"]["RES"],
cp.vl["CRZ_BTNS"]["SET_P"],
cp.vl["CRZ_BTNS"]["SET_M"]]):
self.cruise_speed = ret.vEgoRaw
ret.cruiseState.available = True
ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]['CRZ_ACTIVE'] == 1
ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]["CRZ_ACTIVE"] == 1
ret.cruiseState.speed = self.cruise_speed
if ret.cruiseState.enabled:
@ -86,12 +85,12 @@ class CarState(CarStateBase):
self.low_speed_alert = False
# On if no driver torque the last 5 seconds
ret.steerWarning = cp.vl["STEER_RATE"]['HANDS_OFF_5_SECONDS'] == 1
ret.steerWarning = cp.vl["STEER_RATE"]["HANDS_OFF_5_SECONDS"] == 1
self.acc_active_last = ret.cruiseState.enabled
self.cam_lkas = cp_cam.vl["CAM_LKAS"]
ret.steerError = cp_cam.vl["CAM_LKAS"]['ERR_BIT_1'] == 1
ret.steerError = cp_cam.vl["CAM_LKAS"]["ERR_BIT_1"] == 1
return ret
@ -158,7 +157,7 @@ class CarState(CarStateBase):
("BSM", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
@ -185,4 +184,4 @@ class CarState(CarStateBase):
("CAM_LKAS", 16),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

9
selfdrive/car/mazda/interface.py
View File

@ -44,13 +44,20 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.Mazda3:
elif candidate == CAR.MAZDA3:
ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.7
ret.steerRatio = 14.0
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
elif candidate == CAR.MAZDA6:
ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.83
ret.steerRatio = 15.5
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
ret.lateralTuning.pid.kf = 0.00006
# No steer below disable speed
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS

163
selfdrive/car/mazda/values.py
View File

@ -17,9 +17,10 @@ class CarControllerParams:
STEER_DRIVER_FACTOR = 1 # from dbc
class CAR:
CX5 = "Mazda CX-5 2017"
CX9 = "Mazda CX-9 2017"
Mazda3 = "Mazda3 2017"
CX5 = "MAZDA CX-5"
CX9 = "MAZDA CX-9"
MAZDA3 = "MAZDA 3"
MAZDA6 = "MAZDA 6"
class LKAS_LIMITS:
STEER_THRESHOLD = 15
@ -33,49 +34,137 @@ class Buttons:
RESUME = 3
CANCEL = 4
FINGERPRINTS = {
CAR.CX5: [
# CX-5 2017 GT
{
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 608: 8, 628: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8
},
# CX-5 2019 GTR
{
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 254: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 608: 8, 628: 8, 736: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1170: 8, 1171: 8, 1173: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1244: 8, 1260: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8, 1776: 8, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
}
],
FW_VERSIONS = {
CAR.CX5: {
(Ecu.eps, 0x730, None): [
b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.esp, 0x760, None): [
b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.CX9: [
# CX-9 2017 Australia - old CAM connector
{
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 138: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 522: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 583: 8, 605: 8, 606: 8, 628: 8, 832: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1078: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1170: 8, 1177: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1247: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1271: 8, 1272: 8, 1274: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8
},
CAR.CX9 : {
(Ecu.eps, 0x730, None): [
b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.esp, 0x760, None): [
b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
# CX-9 2016 - old CAM connector
{
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 583: 8, 605: 8, 606: 8, 608: 8, 628: 8, 832: 8, 836: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1170: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1244: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1271: 8, 1272: 8, 1274: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}
],
CAR.MAZDA3: {
(Ecu.eps, 0x730, None): [
b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.esp, 0x760, None): [
b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b'PY2S-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'P52G-21PS1-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.Mazda3: [
# Mazda 3 2017
{
19: 5, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 138: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 522: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 628: 8, 832: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1169: 8, 1170: 8, 1173: 8, 1177: 8, 1180: 8, 1182: 8, 1183: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8,1240: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1246: 8, 1247: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1456: 8, 1479: 8, 2015: 8, 2024: 8, 2025: 8
},
# Mazda 6 2017 GT
{
64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 628: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1182: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1456: 8, 1479: 8
}
],
CAR.MAZDA6: {
(Ecu.eps, 0x730, None): [
b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.esp, 0x760, None): [
b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.transmission, 0x7e1, None): [
b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
}
}
DBC = {
CAR.CX5: dbc_dict('mazda_2017', None),
CAR.CX9: dbc_dict('mazda_2017', None),
CAR.Mazda3: dbc_dict('mazda_2017', None),
CAR.MAZDA3: dbc_dict('mazda_2017', None),
CAR.MAZDA6: dbc_dict('mazda_2017', None),
}
GEN1 = [ CAR.CX5, CAR.CX9, CAR.Mazda3 ]
GEN1 = [ CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6 ]

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

@ -12,7 +12,7 @@ TORQUE_SAMPLES = 12
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.lkas_hud_msg = None
self.lkas_hud_info_msg = None
@ -35,9 +35,6 @@ class CarState(CarStateBase):
elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
ret.brakePressed = bool(cp.vl["BRAKE_PEDAL"]["BRAKE_PEDAL"] > 3)
if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
ret.brakeLights = bool(cp.vl["DOORS_LIGHTS"]["BRAKE_LIGHT"])
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
@ -158,7 +155,6 @@ class CarState(CarStateBase):
if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
signals += [
("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
("BRAKE_LIGHT", "DOORS_LIGHTS", 1),
("GAS_PEDAL", "GAS_PEDAL", 0),
("SEATBELT_DRIVER_LATCHED", "HUD", 0),
@ -220,7 +216,7 @@ class CarState(CarStateBase):
("LKAS_SETTINGS", 10),
("PROPILOT_HUD", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
@ -229,7 +225,7 @@ class CarState(CarStateBase):
("STEER_TORQUE_SENSOR", 100),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
def get_adas_can_parser(CP):
@ -341,7 +337,7 @@ class CarState(CarStateBase):
("LKAS", 100),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
@staticmethod
def get_cam_can_parser(CP):
@ -362,7 +358,7 @@ class CarState(CarStateBase):
checks += [
("STEER_TORQUE_SENSOR", 100),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 1)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)

2
selfdrive/car/nissan/values.py
View File

@ -50,7 +50,7 @@ FINGERPRINTS = {
],
CAR.ALTIMA: [
{
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 386: 8, 397: 8, 398: 8, 520: 2, 523: 6, 548: 8, 634: 7, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1266: 8, 1273: 7, 1306: 1, 1342: 1, 1376: 8, 1401: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
},
]
}

16
selfdrive/car/subaru/carcontroller.py
View File

@ -10,7 +10,7 @@ class CarController():
self.es_distance_cnt = -1
self.es_accel_cnt = -1
self.es_lkas_cnt = -1
self.fake_button_prev = 0
self.cruise_button_prev = 0
self.steer_rate_limited = False
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@ -48,19 +48,19 @@ class CarController():
# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
# disengage ACC when OP is disengaged
if pcm_cancel_cmd:
fake_button = 1
cruise_button = 1
# turn main on if off and past start-up state
elif not CS.out.cruiseState.available and CS.ready:
fake_button = 1
cruise_button = 1
else:
fake_button = CS.button
cruise_button = CS.cruise_button
# unstick previous mocked button press
if fake_button == 1 and self.fake_button_prev == 1:
fake_button = 0
self.fake_button_prev = fake_button
if cruise_button == 1 and self.cruise_button_prev == 1:
cruise_button = 0
self.cruise_button_prev = cruise_button
can_sends.append(subarucan.create_es_throttle_control(self.packer, fake_button, CS.es_accel_msg))
can_sends.append(subarucan.create_es_throttle_control(self.packer, cruise_button, CS.es_accel_msg))
self.es_accel_cnt = CS.es_accel_msg["Counter"]
else:

82
selfdrive/car/subaru/carstate.py
View File

@ -10,70 +10,68 @@ from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CAR
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = can_define.dv["Transmission"]['Gear']
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["Transmission"]["Gear"]
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.gas = cp.vl["Throttle"]['Throttle_Pedal'] / 255.
ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255.
ret.gasPressed = ret.gas > 1e-5
if self.car_fingerprint in PREGLOBAL_CARS:
ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 2
ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
else:
ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 1e-5
ret.brakeLights = ret.brakePressed
ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 1e-5
ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["Wheel_Speeds"]['FR'] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["Wheel_Speeds"]['RL'] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = cp.vl["Wheel_Speeds"]['RR'] * CV.KPH_TO_MS
ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]["FL"] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["Wheel_Speeds"]["FR"] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["Wheel_Speeds"]["RL"] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = cp.vl["Wheel_Speeds"]["RR"] * CV.KPH_TO_MS
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
# Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.01
# continuous blinker signals for assisted lane change
ret.leftBlinker, ret.rightBlinker = self.update_blinker(50, cp.vl["Dashlights"]['LEFT_BLINKER'],
cp.vl["Dashlights"]['RIGHT_BLINKER'])
ret.leftBlinker, ret.rightBlinker = self.update_blinker(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
cp.vl["Dashlights"]["RIGHT_BLINKER"])
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['L_APPROACHING'] == 1)
ret.rightBlindspot = (cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['R_APPROACHING'] == 1)
ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
can_gear = int(cp.vl["Transmission"]['Gear'])
can_gear = int(cp.vl["Transmission"]["Gear"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.steeringAngleDeg = cp.vl["Steering_Torque"]['Steering_Angle']
ret.steeringTorque = cp.vl["Steering_Torque"]['Steer_Torque_Sensor']
ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
ret.cruiseState.enabled = cp.vl["CruiseControl"]['Cruise_Activated'] != 0
ret.cruiseState.available = cp.vl["CruiseControl"]['Cruise_On'] != 0
ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]['Cruise_Set_Speed'] * CV.KPH_TO_MS
ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0
ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0
ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
# UDM Forester, Legacy: mph = 0
if self.car_fingerprint in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]['Units'] == 0:
if self.car_fingerprint in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]["Units"] == 0:
ret.cruiseState.speed *= CV.MPH_TO_KPH
# EDM Global: mph = 1, 2; All Outback: mph = 1, UDM Forester: mph = 7
elif self.car_fingerprint not in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]['Units'] in [1, 2, 7]:
elif self.car_fingerprint not in [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL] and cp.vl["Dash_State"]["Units"] in [1, 2, 7]:
ret.cruiseState.speed *= CV.MPH_TO_KPH
ret.seatbeltUnlatched = cp.vl["Dashlights"]['SEATBELT_FL'] == 1
ret.doorOpen = any([cp.vl["BodyInfo"]['DOOR_OPEN_RR'],
cp.vl["BodyInfo"]['DOOR_OPEN_RL'],
cp.vl["BodyInfo"]['DOOR_OPEN_FR'],
cp.vl["BodyInfo"]['DOOR_OPEN_FL']])
ret.seatbeltUnlatched = cp.vl["Dashlights"]["SEATBELT_FL"] == 1
ret.doorOpen = any([cp.vl["BodyInfo"]["DOOR_OPEN_RR"],
cp.vl["BodyInfo"]["DOOR_OPEN_RL"],
cp.vl["BodyInfo"]["DOOR_OPEN_FR"],
cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
ret.steerError = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
if self.car_fingerprint in PREGLOBAL_CARS:
ret.steerError = cp.vl["Steering_Torque"]["LKA_Lockout"] == 1
self.button = cp_cam.vl["ES_CruiseThrottle"]["Button"]
self.cruise_button = cp_cam.vl["ES_CruiseThrottle"]["Cruise_Button"]
self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
self.es_accel_msg = copy.copy(cp_cam.vl["ES_CruiseThrottle"])
else:
ret.steerError = cp.vl["Steering_Torque"]['Steer_Error_1'] == 1
ret.steerWarning = cp.vl["Steering_Torque"]['Steer_Warning'] == 1
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]['Conventional_Cruise'] == 1
ret.steerWarning = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
@ -86,6 +84,7 @@ class CarState(CarStateBase):
# sig_name, sig_address, default
("Steer_Torque_Sensor", "Steering_Torque", 0),
("Steering_Angle", "Steering_Torque", 0),
("Steer_Error_1", "Steering_Torque", 0),
("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0),
("Brake_Pedal", "Brake_Pedal", 0),
@ -128,13 +127,8 @@ class CarState(CarStateBase):
("BSD_RCTA", 17),
]
if CP.carFingerprint in PREGLOBAL_CARS:
if CP.carFingerprint not in PREGLOBAL_CARS:
signals += [
("LKA_Lockout", "Steering_Torque", 0),
]
else:
signals += [
("Steer_Error_1", "Steering_Torque", 0),
("Steer_Warning", "Steering_Torque", 0),
]
@ -157,7 +151,7 @@ class CarState(CarStateBase):
("CruiseControl", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
@ -171,17 +165,17 @@ class CarState(CarStateBase):
("Cruise_Activated", "ES_CruiseThrottle", 0),
("Signal2", "ES_CruiseThrottle", 0),
("Brake_On", "ES_CruiseThrottle", 0),
("DistanceSwap", "ES_CruiseThrottle", 0),
("Distance_Swap", "ES_CruiseThrottle", 0),
("Standstill", "ES_CruiseThrottle", 0),
("Signal3", "ES_CruiseThrottle", 0),
("CloseDistance", "ES_CruiseThrottle", 0),
("Close_Distance", "ES_CruiseThrottle", 0),
("Signal4", "ES_CruiseThrottle", 0),
("Standstill_2", "ES_CruiseThrottle", 0),
("ES_Error", "ES_CruiseThrottle", 0),
("Cruise_Fault", "ES_CruiseThrottle", 0),
("Signal5", "ES_CruiseThrottle", 0),
("Counter", "ES_CruiseThrottle", 0),
("Signal6", "ES_CruiseThrottle", 0),
("Button", "ES_CruiseThrottle", 0),
("Cruise_Button", "ES_CruiseThrottle", 0),
("Signal7", "ES_CruiseThrottle", 0),
]
@ -237,4 +231,4 @@ class CarState(CarStateBase):
("ES_LKAS_State", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

3
selfdrive/car/subaru/interface.py
View File

@ -19,15 +19,16 @@ class CarInterface(CarInterfaceBase):
if candidate in PREGLOBAL_CARS:
ret.safetyModel = car.CarParams.SafetyModel.subaruLegacy
ret.enableBsm = 0x25c in fingerprint[0]
else:
ret.safetyModel = car.CarParams.SafetyModel.subaru
ret.enableBsm = 0x228 in fingerprint[0]
# Subaru port is a community feature, since we don't own one to test
ret.communityFeature = True
ret.dashcamOnly = candidate in PREGLOBAL_CARS
ret.enableCamera = True
ret.enableBsm = 0x228 in fingerprint[0]
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4

4
selfdrive/car/subaru/subarucan.py
View File

@ -57,10 +57,10 @@ def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
return packer.make_can_msg("ES_LKAS", 0, values)
def create_es_throttle_control(packer, fake_button, es_accel_msg):
def create_es_throttle_control(packer, cruise_button, es_accel_msg):
values = copy.copy(es_accel_msg)
values["Button"] = fake_button
values["Cruise_Button"] = cruise_button
values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_CruiseThrottle")

5
selfdrive/car/tests/test_car_interfaces.py
View File

@ -13,7 +13,10 @@ class TestCarInterfaces(unittest.TestCase):
@parameterized.expand([(car,) for car in all_known_cars()])
def test_car_interfaces(self, car_name):
print(car_name)
fingerprint = FINGERPRINTS[car_name][0]
if car_name in FINGERPRINTS:
fingerprint = FINGERPRINTS[car_name][0]
else:
fingerprint = {}
CarInterface, CarController, CarState = interfaces[car_name]
fingerprints = {

39
selfdrive/car/toyota/carcontroller.py
View File

@ -4,7 +4,8 @@ from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command,
from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, CarControllerParams
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -32,8 +33,8 @@ class CarController():
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.steer_rate_limited = False
self.use_interceptor = False
self.fake_ecus = set()
if CP.enableCamera:
@ -49,18 +50,24 @@ class CarController():
# *** compute control surfaces ***
# gas and brake
apply_gas = clip(actuators.gas, 0., 1.)
interceptor_gas_cmd = 0.
pcm_accel_cmd = actuators.gas - actuators.brake
if CS.CP.enableGasInterceptor:
# send only negative accel if interceptor is detected. otherwise, send the regular value
# +0.06 offset to reduce ABS pump usage when OP is engaged
apply_accel = 0.06 - actuators.brake
else:
apply_accel = actuators.gas - actuators.brake
# handle hysteresis when around the minimum acc speed
if CS.out.vEgo < MIN_ACC_SPEED:
self.use_interceptor = True
elif CS.out.vEgo > MIN_ACC_SPEED + PEDAL_HYST_GAP:
self.use_interceptor = False
apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady, enabled)
apply_accel = clip(apply_accel * CarControllerParams.ACCEL_SCALE, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
if self.use_interceptor and enabled:
# only send negative accel when using interceptor. gas handles acceleration
# +0.06 offset to reduce ABS pump usage when OP is engaged
interceptor_gas_cmd = clip(actuators.gas, 0., 1.)
pcm_accel_cmd = 0.06 - actuators.brake
pcm_accel_cmd, self.accel_steady = accel_hysteresis(pcm_accel_cmd, self.accel_steady, enabled)
pcm_accel_cmd = clip(pcm_accel_cmd * CarControllerParams.ACCEL_SCALE, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
# steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
@ -86,7 +93,7 @@ class CarController():
self.standstill_req = False
self.last_steer = apply_steer
self.last_accel = apply_accel
self.last_accel = pcm_accel_cmd
self.last_standstill = CS.out.standstill
can_sends = []
@ -115,14 +122,14 @@ class CarController():
if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
can_sends.append(create_acc_cancel_command(self.packer))
elif CS.CP.openpilotLongitudinalControl:
can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead))
else:
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead))
if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
if frame % 2 == 0 and CS.CP.enableGasInterceptor:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
# This prevents unexpected pedal range rescaling
can_sends.append(create_gas_command(self.packer, apply_gas, frame//2))
can_sends.append(create_gas_command(self.packer, interceptor_gas_cmd, frame // 2))
# ui mesg is at 100Hz but we send asap if:
# - there is something to display

82
selfdrive/car/toyota/carstate.py
View File

@ -10,10 +10,10 @@ from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = can_define.dv["GEAR_PACKET"]['GEAR']
can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"]
# On cars with cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
# On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
# the signal is zeroed to where the steering angle is at start.
# Need to apply an offset as soon as the steering angle measurements are both received
self.needs_angle_offset = True
@ -23,83 +23,82 @@ class CarState(CarStateBase):
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.doorOpen = any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
ret.seatbeltUnlatched = cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED'] != 0
ret.doorOpen = any([cp.vl["SEATS_DOORS"]["DOOR_OPEN_FL"], cp.vl["SEATS_DOORS"]["DOOR_OPEN_FR"],
cp.vl["SEATS_DOORS"]["DOOR_OPEN_RL"], cp.vl["SEATS_DOORS"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["SEATS_DOORS"]["SEATBELT_DRIVER_UNLATCHED"] != 0
ret.brakePressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED'] != 0
ret.brakeLights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or ret.brakePressed)
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
if self.CP.enableGasInterceptor:
ret.gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
ret.gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
ret.gasPressed = ret.gas > 15
else:
ret.gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
ret.gasPressed = cp.vl["PCM_CRUISE"]['GAS_RELEASED'] == 0
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
ret.gasPressed = cp.vl["PCM_CRUISE"]["GAS_RELEASED"] == 0
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
ret.wheelSpeeds.rr = cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"] * CV.KPH_TO_MS
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.001
# Some newer models have a more accurate angle measurement in the TORQUE_SENSOR message. Use if non-zero
if abs(cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']) > 1e-3:
if abs(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]) > 1e-3:
self.accurate_steer_angle_seen = True
if self.accurate_steer_angle_seen:
ret.steeringAngleDeg = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
ret.steeringAngleDeg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] - self.angle_offset
if self.needs_angle_offset:
angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
if abs(angle_wheel) > 1e-3:
self.needs_angle_offset = False
self.angle_offset = ret.steeringAngleDeg - angle_wheel
else:
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.leftBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
ret.rightBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"]
# we could use the override bit from dbc, but it's triggered at too high torque values
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerWarning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in [1, 5]
if self.CP.carFingerprint == CAR.LEXUS_IS:
ret.cruiseState.available = cp.vl["DSU_CRUISE"]['MAIN_ON'] != 0
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]['SET_SPEED'] * CV.KPH_TO_MS
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
self.low_speed_lockout = False
else:
ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]['MAIN_ON'] != 0
ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]['SET_SPEED'] * CV.KPH_TO_MS
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command. Also if interceptor is detected
ret.cruiseState.standstill = False
else:
ret.cruiseState.standstill = self.pcm_acc_status == 7
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [1, 2, 3, 4, 5, 6]
ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in [1, 2, 3, 4, 5, 6]
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
ret.espDisabled = cp.vl["ESP_CONTROL"]['TC_DISABLED'] != 0
ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSM"]['L_ADJACENT'] == 1) or (cp.vl["BSM"]['L_APPROACHING'] == 1)
ret.rightBlindspot = (cp.vl["BSM"]['R_ADJACENT'] == 1) or (cp.vl["BSM"]['R_APPROACHING'] == 1)
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
return ret
@ -132,7 +131,6 @@ class CarState(CarStateBase):
("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
@ -178,7 +176,7 @@ class CarState(CarStateBase):
("BSM", 1)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
@ -194,4 +192,4 @@ class CarState(CarStateBase):
("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

56
selfdrive/car/toyota/interface.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, CarControllerParams
from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.swaglog import cloudlog
from selfdrive.car.interfaces import CarInterfaceBase
@ -24,26 +24,6 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
# Improved longitudinal tune
if candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]:
ret.longitudinalTuning.deadzoneBP = [0., 8.05]
ret.longitudinalTuning.deadzoneV = [.0, .14]
ret.longitudinalTuning.kpBP = [0., 5., 20.]
ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
ret.startingBrakeRate = 2.0 # release brakes fast
ret.startAccel = 1.2 # Accelerate from 0 faster
else:
# Default longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@ -176,7 +156,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # community tuning
ret.lateralTuning.pid.kf = 0.00012 # community tuning
elif candidate == CAR.AVALON:
elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
stop_and_go = False
ret.safetyParam = 73
ret.wheelbase = 2.82
@ -335,17 +315,39 @@ class CarInterface(CarInterfaceBase):
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 19. * CV.MPH_TO_MS
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
# removing the DSU disables AEB and it's considered a community maintained feature
# intercepting the DSU is a community feature since it requires unofficial hardware
ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu
if ret.enableGasInterceptor:
ret.gasMaxBP = [0., 9., 35]
ret.gasMaxV = [0.2, 0.5, 0.7]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
ret.longitudinalTuning.kiV = [0.18, 0.12]
# Transitions from original pedal tuning at MIN_ACC_SPEED to default tuning at MIN_ACC_SPEED + hysteresis gap
ret.gasMaxBP = [0., MIN_ACC_SPEED]
ret.gasMaxV = [0.2, 0.5]
ret.longitudinalTuning.kpBP = [0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5]
ret.longitudinalTuning.kiBP = [0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.]
ret.longitudinalTuning.kiV = [0.18, 0.165, 0.489, 0.36]
elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]:
# Improved longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 8.05]
ret.longitudinalTuning.deadzoneV = [.0, .14]
ret.longitudinalTuning.kpBP = [0., 5., 20.]
ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7]
ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.]
ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1]
ret.stoppingBrakeRate = 0.1 # reach stopping target smoothly
ret.startingBrakeRate = 2.0 # release brakes fast
ret.startAccel = 1.2 # Accelerate from 0 faster
else:
# Default longitudinal tune
ret.longitudinalTuning.deadzoneBP = [0., 9.]
ret.longitudinalTuning.deadzoneV = [0., .15]
ret.longitudinalTuning.kpBP = [0., 5., 35.]
ret.longitudinalTuning.kiBP = [0., 35.]
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
ret.longitudinalTuning.kiV = [0.54, 0.36]
return ret

Some files were not shown because too many files have changed in this diff Show More