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Merge pull request #634 from commaai/devel 0.5.11 Release 

0.5.11 Devel -> Release2
pull/646/head v0.5.11
Nigel Armstrong 2019-05-09 16:45:28 -07:00 committed by GitHub
parent ff4c1557d8 127998ca8b
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.pylintrc 100644
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@ -0,0 +1,585 @@
[MASTER]
# A comma-separated list of package or module names from where C extensions may
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extension-pkg-whitelist=scipy
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ignore=CVS
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persistent=yes
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# Enable the message, report, category or checker with the given id(s). You can
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# multiple time (only on the command line, not in the configuration file where
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enable=c-extension-no-member
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#msg-template=
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ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
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no-space-check=trailing-comma,
dict-separator
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[BASIC]
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bar,
baz,
toto,
tutu,
tata
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# style
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[DESIGN]
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known-third-party=enchant
[EXCEPTIONS]
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# "Exception"
overgeneral-exceptions=Exception

8
.travis.yml
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@ -7,8 +7,12 @@ install:
- docker build -t tmppilot -f Dockerfile.openpilot .
script:
- docker run
tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'
- docker run
tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pyflakes $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")'
- docker run
tmppilot /bin/sh -c 'cd /tmp/openpilot/ && pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda"); exit $(($? & 3))'
- docker run
-v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
- docker run
tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/ && ./test_fingerprints.py'

3
Dockerfile.openpilot
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@ -21,6 +21,7 @@ RUN apt-get update && apt-get install -y \
ocl-icd-opencl-dev \
opencl-headers
RUN pip install --upgrade pip==18.0
RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib==2.1.2
COPY requirements_openpilot.txt /tmp/
@ -28,12 +29,14 @@ RUN pip install -r /tmp/requirements_openpilot.txt
ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
COPY ./.pylintrc /tmp/openpilot/.pylintrc
COPY ./common /tmp/openpilot/common
COPY ./cereal /tmp/openpilot/cereal
COPY ./opendbc /tmp/openpilot/opendbc
COPY ./selfdrive /tmp/openpilot/selfdrive
COPY ./phonelibs /tmp/openpilot/phonelibs
COPY ./pyextra /tmp/openpilot/pyextra
COPY ./panda /tmp/openpilot/panda
RUN mkdir -p /tmp/openpilot/selfdrive/test/out
RUN make -C /tmp/openpilot/selfdrive/controls/lib/longitudinal_mpc clean

13
README.md
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@ -68,6 +68,7 @@ Supported Cars
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chrysler | Pacifica 2018 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
@ -76,26 +77,30 @@ Supported Cars
| Honda | Civic Hatchback 2017-19 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V Hybrid 2019 | All | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Passport 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Jeep | Grand Cherokee 2017-19 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Jeep | Grand Cherokee 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | FCA |
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Yes | Stock | 0mph | 39mph | FCA |
| Kia | Optima 2019 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Lexus | RX Hybrid 2016-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Subaru | Impreza 2019 | EyeSight | Yes | Stock | 0mph | 0mph | Subaru |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-19 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph<sup>1</sup>| 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |

20
RELEASES.md
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@ -1,13 +1,27 @@
Version 0.5.11 (2019-04-17)
========================
* Add support for Subaru
* Reduce panda power consumption by 60% when car is off
* Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
* Fix bug in controls with new angle-offset learner in MPC
* Reduce cpu consumption of ubloxd by rewriting it in C++
* Improve driver monitoring model and face detection
* Improve performance of visiond and ui
* Honda Passport 2019 support
* Lexus RX Hybrid 2019 support thanks to schomems!
* Improve road selection heuristic in mapd
* Add Lane Departure Warning to dashboard for Toyota thanks to arne182
Version 0.5.10 (2019-03-19)
========================
* Self-tuning vehicle parameters: steering offset, tires stiffness and steering ratio
* Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
* Improve longitudinal control at low speed when lead vehicle harshly decelerates
* Fix panda bug going unexpectedly in DCP mode when EON is connected
* Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
* New Driver Monitoring Model
* Support QR codes for login using comma connect
* Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
* Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
* Additional speed limit rules for Germany thanks to arne182
* Allow negative speed limit offsets

13
SAFETY.md
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@ -133,6 +133,19 @@ Chrysler/Jeep/Fiat (Lateral only)
units above the actual EPS generated motor torque to ensure limited differences between
commanded and actual torques.
Subaru (Lateral only)
------
- While the system is engaged, steer commands are subject to the same limits used by
the stock system.
- Steering torque is controlled through the 0x122 CAN message and it's limited by the panda firmware and by
openpilot to a value between -255 and 255. In addition, the vehicle EPS unit will fault for
commands outside the values of -2047 and 2047. A steering torque rate limit is enforced by the panda firmware and by
openpilot, so that the commanded steering torque must rise from 0 to max value no faster than
0.41s. Commanded steering torque is gradually limited by the panda firmware and by openpilot if the driver's
torque exceeds 60 units in the opposite dicrection to ensure limited applied torque against the
driver's will.
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
not fully meeting the above requirements.

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apk/ai.comma.plus.offroad.apk
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2
cereal/car.capnp
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@ -247,6 +247,8 @@ struct CarControl {
audibleAlert @5: AudibleAlert;
rightLaneVisible @6: Bool;
leftLaneVisible @7: Bool;
rightLaneDepart @8: Bool;
leftLaneDepart @9: Bool;
enum VisualAlert {
# these are the choices from the Honda

25
common/dbc.py
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@ -7,9 +7,9 @@ from collections import namedtuple, defaultdict
def int_or_float(s):
# return number, trying to maintain int format
try:
return int(s)
except ValueError:
if s.isdigit():
return int(s, 10)
else:
return float(s)
DBCSignal = namedtuple(
@ -21,7 +21,7 @@ class dbc(object):
def __init__(self, fn):
self.name, _ = os.path.splitext(os.path.basename(fn))
with open(fn) as f:
self.txt = f.read().split("\n")
self.txt = f.readlines()
self._warned_addresses = set()
# regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
@ -51,7 +51,8 @@ class dbc(object):
dat = bo_regexp.match(l)
if dat is None:
print "bad BO", l
print("bad BO {0}".format(l))
name = dat.group(2)
size = int(dat.group(3))
ids = int(dat.group(1), 0) # could be hex
@ -67,8 +68,9 @@ class dbc(object):
if dat is None:
dat = sgm_regexp.match(l)
go = 1
if dat is None:
print "bad SG", l
print("bad SG {0}".format(l))
sgname = dat.group(1)
start_bit = int(dat.group(go+2))
@ -90,12 +92,13 @@ class dbc(object):
dat = val_regexp.match(l)
if dat is None:
print "bad VAL", l
print("bad VAL {0}".format(l))
ids = int(dat.group(1), 0) # could be hex
sgname = dat.group(2)
defvals = dat.group(3)
defvals = defvals.replace("?","\?") #escape sequence in C++
defvals = defvals.replace("?",r"\?") #escape sequence in C++
defvals = defvals.split('"')[:-1]
defs = defvals[1::2]
@ -109,7 +112,7 @@ class dbc(object):
self.def_vals[ids].append((sgname, defvals))
for msg in self.msgs.viewvalues():
for msg in self.msgs.values():
msg[1].sort(key=lambda x: x.start_bit)
self.msg_name_to_address = {}
@ -208,7 +211,7 @@ class dbc(object):
name = msg[0][0]
if debug:
print name
print(name)
st = x[2].ljust(8, '\x00')
le, be = None, None
@ -252,7 +255,7 @@ class dbc(object):
tmp = tmp * factor + offset
# if debug:
# print "%40s %2d %2d %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1])
# print("%40s %2d %2d %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1]))
if arr is None:
out[s[0]] = tmp

6
common/ffi_wrapper.py
View File

@ -4,10 +4,8 @@ import fcntl
import hashlib
from cffi import FFI
TMPDIR = "/tmp/ccache"
def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=None):
def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
if libraries is None:
libraries = []
@ -24,7 +22,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=None):
try:
mod = __import__(cache)
except Exception:
print "cache miss", cache
print("cache miss {0}".format(cache))
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
mod = __import__(cache)
finally:

2
common/fingerprints.py
View File

@ -61,4 +61,4 @@ def eliminate_incompatible_cars(msg, candidate_cars):
def all_known_cars():
"""Returns a list of all known car strings."""
return _FINGERPRINTS.keys()
return list(_FINGERPRINTS.keys())

4
common/sympy_helpers.py
View File

@ -75,7 +75,7 @@ def sympy_into_c(sympy_functions):
routines.append(r)
[(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
c_code = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_code.split("\n")))
c_header = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_header.split("\n")))
c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
c_header = '\n'.join(x for x in c_header.split("\n") if len(x) > 0 and x[0] != '#')
return c_header, c_code

72
common/transformations/camera.py
View File

@ -1,6 +1,7 @@
import numpy as np
import common.transformations.orientation as orient
import cv2
import math
FULL_FRAME_SIZE = (1164, 874)
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@ -12,6 +13,17 @@ eon_intrinsics = np.array([
[ 0., FOCAL, H/2.],
[ 0., 0., 1.]])
leon_dcam_intrinsics = np.array([
[650, 0, 816//2],
[ 0, 650, 612//2],
[ 0, 0, 1]])
eon_dcam_intrinsics = np.array([
[860, 0, 1152//2],
[ 0, 860, 864//2],
[ 0, 0, 1]])
# aka 'K_inv' aka view_frame_from_camera_frame
eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
@ -64,7 +76,7 @@ def normalize(img_pts, intrinsics=eon_intrinsics):
input_shape = img_pts.shape
img_pts = np.atleast_2d(img_pts)
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
img_pts_normalized = intrinsics_inv.dot(img_pts.T).T
img_pts_normalized = img_pts.dot(intrinsics_inv.T)
img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
return img_pts_normalized[:,:2].reshape(input_shape)
@ -76,7 +88,7 @@ def denormalize(img_pts, intrinsics=eon_intrinsics):
input_shape = img_pts.shape
img_pts = np.atleast_2d(img_pts)
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
img_pts_denormalized = intrinsics.dot(img_pts.T).T
img_pts_denormalized = img_pts.dot(intrinsics.T)
img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
@ -147,28 +159,44 @@ def transform_img(base_img,
from_intr=eon_intrinsics,
to_intr=eon_intrinsics,
calib_rot_view=None,
output_size=None):
cy = from_intr[1,2]
output_size=None,
pretransform=None,
top_hacks=True):
size = base_img.shape[:2]
if not output_size:
output_size = size[::-1]
h = 1.22
quadrangle = np.array([[0, cy + 20],
[size[1]-1, cy + 20],
[0, size[0]-1],
[size[1]-1, size[0]-1]], dtype=np.float32)
quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
h*np.ones(4),
h/quadrangle_norm[:,1]))
rot = orient.rot_from_euler(augment_eulers)
if calib_rot_view is not None:
rot = calib_rot_view.dot(rot)
to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
to_KE = to_intr.dot(to_extrinsics)
warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
cy = from_intr[1,2]
def get_M(h=1.22):
quadrangle = np.array([[0, cy + 20],
[size[1]-1, cy + 20],
[0, size[0]-1],
[size[1]-1, size[0]-1]], dtype=np.float32)
quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
h*np.ones(4),
h/quadrangle_norm[:,1]))
rot = orient.rot_from_euler(augment_eulers)
if calib_rot_view is not None:
rot = calib_rot_view.dot(rot)
to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
to_KE = to_intr.dot(to_extrinsics)
warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
return M
M = get_M()
if pretransform is not None:
M = M.dot(pretransform)
augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
if top_hacks:
cyy = int(math.ceil(to_intr[1,2]))
M = get_M(1000)
if pretransform is not None:
M = M.dot(pretransform)
augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
return augmented_rgb

8
common/transformations/model.py
View File

@ -1,9 +1,9 @@
import numpy as np
from common.transformations.camera import eon_focal_length, \
vp_from_ke, \
get_view_frame_from_road_frame, \
FULL_FRAME_SIZE
vp_from_ke, \
get_view_frame_from_road_frame, \
FULL_FRAME_SIZE
# segnet
@ -32,7 +32,7 @@ model_intrinsics = np.array(
# MED model
MEDMODEL_INPUT_SIZE = (640, 240)
MEDMODEL_INPUT_SIZE = (512, 256)
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
MEDMODEL_CY = 47.6

2
launch_chffrplus.sh
View File

@ -19,6 +19,8 @@ function launch {
echo 0-3 > /dev/cpuset/foreground/cpus
echo 0-3 > /dev/cpuset/android/cpus
# handle pythonpath
ln -s /data/openpilot /data/pythonpath
export PYTHONPATH="$PWD"
# start manager

BIN
models/monitoring_model.dlc
View File

Binary file not shown.

2
opendbc/ford_cgea1_2_bodycan_2011.dbc
View File

@ -31,6 +31,8 @@ NS_ :
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX

2
opendbc/ford_cgea1_2_ptcan_2011.dbc
View File

@ -31,6 +31,8 @@ NS_ :
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX

2
opendbc/ford_fusion_2018_adas.dbc
View File

@ -31,6 +31,8 @@ NS_ :
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX
BO_ 1280 Object_00: 8 XXX

5
opendbc/ford_fusion_2018_pt.dbc
View File

@ -31,6 +31,8 @@ NS_ :
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: XXX
BO_ 130 EPAS_INFO: 8 XXX
@ -128,9 +130,10 @@ BO_ 984 Lane_Keep_Assist_Ui: 8 XXX
SG_ Hands_Warning : 49|1@0+ (1,0) [0|1] "" XXX
SG_ Set_Me_X30 : 63|8@0+ (1,0) [0|255] "" XXX
CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ;
VAL_ 357 Cruise_State 4 "active" 3 "standby" 0 "off" ;
VAL_ 970 Lkas_Action 15 "off" 9 "abrupt" 8 "abrupt2" 5 "smooth" 4 "smooth2" ;
VAL_ 970 Lkas_Alert 15 "no_alert" 3 "high_intensity" 2 "mid_intensity" 1 "low_intensity" ;
VAL_ 972 LaActAvail_D_Actl 3 "available" 2 "tbd" 1 "not_available" 0 "fault" ;
VAL_ 984 Lines_Hud 15 "none" 11 "grey_yellow" 8 "green_red" 7 "yellow_grey" 6 "grey_grey" 4 "red_green" 3 "green_green" ;
CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ;

4
opendbc/generator/honda/honda_civic_touring_2016_can.dbc
View File

@ -50,6 +50,9 @@ BO_ 450 EPB_STATUS: 8 EPB
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 493 HUD_SETTING: 8 XXX
SG_ SPEED_UNIT : 5|1@0+ (1,0) [0|1] "" EON
BO_ 487 BRAKE_PRESSURE: 4 VSA
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
@ -125,6 +128,7 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
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_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
VAL_ 493 SPEED_UNIT 1 "mph" 0 "kph" ;
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" ;

6
opendbc/generator/toyota/_toyota_2017.dbc
View File

@ -254,9 +254,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

1
opendbc/generator/toyota/toyota_corolla_2017_pt.dbc
View File

@ -23,6 +23,7 @@ BO_ 610 EPS_STATUS: 5 EPS
BO_ 956 GEAR_PACKET: 8 XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
SG_ SPORT_ON : 3|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";

4
opendbc/honda_civic_touring_2016_can_generated.dbc
View File

@ -288,6 +288,9 @@ BO_ 450 EPB_STATUS: 8 EPB
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
BO_ 493 HUD_SETTING: 8 XXX
SG_ SPEED_UNIT : 5|1@0+ (1,0) [0|1] "" EON
BO_ 487 BRAKE_PRESSURE: 4 VSA
SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
@ -363,6 +366,7 @@ VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_spe
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_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ;
VAL_ 493 SPEED_UNIT 1 "mph" 0 "kph" ;
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" ;

2
opendbc/honda_clarity_hybrid_2018_can.dbc
View File

@ -409,6 +409,7 @@ BO_TX_BU_ 862 : NEO,ADAS;
BO_TX_BU_ 927 : NEO,ADAS;
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";
CM_ SG_ 401 GEAR "10 = reverse, 11 = transition";
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
@ -430,4 +431,3 @@ VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ;
VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ;
CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

2
opendbc/honda_odyssey_extreme_edition_2018_china_can.dbc
View File

@ -276,6 +276,7 @@ BO_ 1302 ODOMETER: 8 XXX
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
@ -295,4 +296,3 @@ VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ;
VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";

6
opendbc/lexus_is_2018_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

40
opendbc/lexus_is_hybrid_2017_pt_generated.dbc
View File

@ -15,16 +15,18 @@ BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
BO_ 512 GAS_COMMAND: 6 EON
SG_ GAS_COMMAND : 7|16@0+ (0.0244140625,0) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0244140625,0) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.0244140625,-11.962890625) [0|1] "" EON
SG_ STATE : 39|8@0+ (1,0) [0|255] "" EON
SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
@ -76,7 +78,7 @@ BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
BO_ 166 BRAKE: 8 XXX
SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
@ -92,6 +94,9 @@ BO_ 180 SPEED: 8 XXX
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
BO_ 353 DSU_SPEED: 8 XXX
SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
BO_ 466 PCM_CRUISE: 8 XXX
SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
@ -140,7 +145,10 @@ BO_ 742 LEAD_INFO: 8 DSU
BO_ 835 ACC_CONTROL: 8 DSU
SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
SG_ SET_ME_X63 : 23|8@0+ (1,0) [0|255] "" HCU
SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
@ -180,7 +188,7 @@ BO_ 1042 LKAS_HUD: 8 XXX
BO_ 1553 UI_SEETING: 8 XXX
SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
BO_ 1556 STEERING_LEVERS: 8 XXX
SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
@ -224,7 +232,7 @@ BO_ 1162 RSA2: 8 FCM
SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
BO_ 1163 RSA3: 8 FCM
SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
@ -274,15 +282,15 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none";
VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

6
opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

14
opendbc/mazda_cx5_gt_2017.dbc
View File

@ -247,7 +247,7 @@ BO_ 1277 NEW_MSG_10: 8 XXX
SG_ NEW_SIGNAL_2 : 15|8@0+ (1,0) [0|255] "" XXX
SG_ counter : 7|8@0+ (1,0) [0|255] "" XXX
BO_ 1275 2017_5: 8 XXX
BO_ 1275 MSG_2017_5: 8 XXX
SG_ counter : 4|5@0+ (1,0) [0|255] "" XXX
BO_ 1274 NEW_MSG_12: 8 XXX
@ -565,23 +565,23 @@ BO_ 121 EPB: 8 XXX
SG_ NEW_SIGNAL_11 : 45|1@0+ (1,0) [0|1] "" XXX
SG_ EPB_ACTIVE : 29|1@0+ (1,0) [0|15] "" XXX
BO_ 1070 2017_1: 8 XXX
BO_ 1070 MSG_2017_1: 8 XXX
BO_ 1183 2017_2: 8 XXX
BO_ 1183 MSG_2017_2: 8 XXX
BO_ 1243 2017_3: 8 XXX
BO_ 1243 MSG_2017_3: 8 XXX
SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
BO_ 1269 MSG_2017_4: 8 XXX
SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|18446744073709552000] "" XXX
BO_ 1178 2017_6: 8 XXX
BO_ 1178 MSG_2017_6: 8 XXX
SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
BO_ 1179 2017_7: 8 XXX
BO_ 1179 MSG_2017_7: 8 XXX
SG_ NEW_SIGNAL_1 : 7|64@0+ (1,0) [0|18446744073709552000] "" XXX
BO_ 1435 2017_8: 8 XXX
BO_ 1435 MSG_2017_8: 8 XXX
BO_ 253 NEW_MSG_7: 8 XXX
SG_ NEW_SIGNAL_1 : 16|1@0+ (1,0) [0|65535] "" XXX

38
opendbc/subaru_global_2017.dbc
View File

@ -48,7 +48,7 @@ BO_ 64 Throttle: 8 XXX
SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|255] "" XXX
SG_ Engine_RPM : 16|12@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Combo : 55|8@1+ (0.392157,0) [0|255] "" XXX
SG_ Throttle_Combo : 55|8@1+ (1,0) [0|255] "" XXX
SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX
@ -70,12 +70,14 @@ BO_ 72 NEW_MSG_2: 8 XXX
BO_ 316 NEW_MSG_3: 8 XXX
BO_ 326 NEW_MSG_4: 8 XXX
BO_ 326 Cruise_Buttons: 8 XXX
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ NEW_SIGNAL_1 : 16|12@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_2 : 32|8@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_3 : 40|2@1+ (1,0) [0|255] "" XXX
SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX
SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX
SG_ set : 43|1@1+ (1,0) [0|1] "" XXX
SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX
BO_ 315 G_Sensor: 8 XXX
SG_ longitudinal : 63|8@0- (1,0) [0|255] "" XXX
@ -140,19 +142,10 @@ BO_ 544 ES_Brake: 8 XXX
BO_ 545 ES_Distance: 8 XXX
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Close_Distance : 40|8@1+ (1,0) [0|255] "" XXX
SG_ Distance_Swap : 37|1@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_5 : 39|1@1+ (1,0) [0|31] "" XXX
SG_ NEW_SIGNAL_9 : 38|1@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_4 : 34|1@1+ (1,0) [0|3] "" XXX
SG_ Brake_Pedal : 33|1@1+ (1,0) [0|255] "" XXX
SG_ NEW_SIGNAL_10 : 35|1@1+ (1,0) [0|3] "" XXX
SG_ Throttle : 16|12@1+ (1,0) [0|65535] "" XXX
SG_ NEW_SIGNAL_1 : 31|4@0+ (1,0) [0|15] "" XXX
SG_ SET_1 : 12|1@0+ (1,0) [0|3] "" XXX
SG_ ACC_ENABLE_BTN : 56|1@0+ (1,0) [0|1] "" XXX
SG_ Car_Follow : 32|1@1+ (1,0) [0|3] "" XXX
SG_ Brake : 36|1@0+ (1,0) [0|3] "" XXX
SG_ Signal1 : 12|20@1+ (1,0) [0|15] "" XXX
SG_ Signal2 : 32|24@1+ (1,0) [0|15] "" XXX
SG_ Main : 56|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 57|7@1+ (1,0) [0|1] "" XXX
BO_ 546 ES_Status: 8 XXX
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX
@ -225,19 +218,20 @@ BO_ 802 ES_LKAS_State: 8 XXX
SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Keep_Hands_On_Wheel : 12|1@1+ (1,0) [0|1] "" XXX
SG_ Empty_Box : 13|1@1+ (1,0) [0|1] "" XXX
SG_ Signal1 : 14|3@1+ (1,0) [0|7] "" XXX
SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|3] "" XXX
SG_ Signal2 : 18|5@1+ (1,0) [0|7] "" XXX
SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_ENABLE_3 : 24|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 25|1@1+ (1,0) [0|1] "" XXX
SG_ LKAS_ENABLE_2 : 26|1@1+ (1,0) [0|1] "" XXX
SG_ NEW_SIGNAL_7 : 28|1@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_2 : 30|1@1+ (1,0) [0|3] "" XXX
SG_ Signal4 : 27|5@1+ (1,0) [0|1] "" XXX
SG_ FCW_Cont_Beep : 32|1@1+ (1,0) [0|1] "" XXX
SG_ FCW_Repeated_Beep : 33|1@1+ (1,0) [0|1] "" XXX
SG_ Throttle_Management_Activated : 34|1@1+ (1,0) [0|1] "" XXX
SG_ Traffic_light_Ahead : 35|1@1+ (1,0) [0|1] "" XXX
SG_ Right_Depart : 36|1@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_4 : 44|1@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_5 : 56|2@1+ (1,0) [0|3] "" XXX
SG_ Signal5 : 37|27@1+ (1,0) [0|1] "" XXX
BO_ 805 ES_NEW_MSG_22: 8 XXX
SG_ Checksum : 0|8@1+ (1,0) [0|255] "" XXX

26
opendbc/subaru_outback_2015_eyesight.dbc
View File

@ -33,7 +33,7 @@ NS_ :
BS_:
BU_: XXX 0
BU_: XXX
BO_ 2 Steering: 8 XXX
@ -211,24 +211,24 @@ BO_ 358 ES_Status: 8 XXX
SG_ NEW_SIGNAL_5_Blank : 33|1@1+ (1,0) [0|3] "" XXX
SG_ NEW_SIGNAL_4_Blank : 34|1@1+ (1,0) [0|7] "" XXX
SG_ NEW_SIGNAL_1 : 35|1@0+ (1,0) [0|31] "" XXX
SG_ 3SecondDisengage : 13|2@0+ (1,0) [0|3] "" XXX
SG_ Sig3SecondDisengage : 13|2@0+ (1,0) [0|3] "" XXX
SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX
SG_ Steep_Hill_Disengage : 44|1@0+ (1,0) [0|3] "" XXX
SG_ Disengage_Alert : 15|2@0+ (1,0) [0|3] "" XXX
BO_ 359 ES_LDW: 8 XXX
SG_ 2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
SG_ 2All_Depart : 28|1@0+ (1,0) [0|3] "" XXX
SG_ 3All_Depart : 52|1@0+ (1,0) [0|3] "" XXX
SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|7] "" XXX
SG_ Sig2All_Depart : 28|1@0+ (1,0) [0|3] "" XXX
SG_ Sig3All_Depart : 52|1@0+ (1,0) [0|3] "" XXX
SG_ Left_Depart_Front : 51|1@0+ (1,0) [0|3] "" XXX
SG_ All_depart_2015 : 0|1@1+ (1,0) [0|255] "" XXX
SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|3] "" XXX
SG_ LKAS_Steer_Active_2017 : 37|1@0+ (1,0) [0|3] "" XXX
SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|7] "" XXX
SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|3] "" XXX
SG_ 1All_Depart : 31|1@0+ (1,0) [0|15] "" XXX
SG_ 1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
SG_ 1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
SG_ Sig1All_Depart : 31|1@0+ (1,0) [0|15] "" XXX
SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|3] "" XXX
SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|3] "" XXX
BO_ 392 Counter_0: 8 XXX
SG_ Counter : 16|4@1+ (1,0) [0|15] "" XXX
@ -350,15 +350,15 @@ CM_ SG_ 353 Brake_On "long activatedish";
CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission";
CM_ SG_ 358 Cruise_Activated "is 1 when cruise is able to go";
CM_ SG_ 358 Car_Follow "front car detected";
CM_ SG_ 358 3SecondDisengage "seatbelt disengage";
CM_ SG_ 358 Sig3SecondDisengage "seatbelt disengage";
CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage";
CM_ SG_ 359 2All_Depart "Left and right depart";
CM_ SG_ 359 Sig2All_Depart "Left and right depart";
CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart";
CM_ SG_ 359 All_depart_2015 "always 1 on 2017";
CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering";
CM_ SG_ 359 1All_Depart "Left and right depart";
CM_ SG_ 359 1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
CM_ SG_ 359 1Right_Depart "right depart, hill steep and seatbelt disengage";
CM_ SG_ 359 Sig1All_Depart "Left and right depart";
CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert ";
CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage";
CM_ SG_ 642 Counter "Affected by signals";
CM_ SG_ 642 RIGHT_BLINKER "0 off, 2 right, 1 left";
CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371";

4
opendbc/tesla_can.dbc
View File

@ -307,6 +307,8 @@ BO_ 840 GTW_status: 8 GTW
SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] "" NEO
SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] "" NEO
CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";
VAL_ 3 StW_Angl 16383 "SNA" ;
VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ;
@ -417,5 +419,3 @@ VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";

6
opendbc/toyota_avalon_2017_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

6
opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

6
opendbc/toyota_chr_2018_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

6
opendbc/toyota_chr_hybrid_2018_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

7
opendbc/toyota_corolla_2017_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
@ -321,6 +321,7 @@ BO_ 610 EPS_STATUS: 5 EPS
BO_ 956 GEAR_PACKET: 8 XXX
SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
SG_ SPORT_ON : 3|1@0+ (1,0) [0|1] "" XXX
CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";

6
opendbc/toyota_highlander_2017_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

6
opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

2
opendbc/toyota_prius_2010_pt.dbc
View File

@ -169,6 +169,7 @@ BO_ 452 POWERTRAIN: 8 XXX
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
CM_ SG_ 36 ACCEL_Y "unit is tbd";
CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
CM_ SG_ 36 YAW_RATE "verify";
@ -200,4 +201,3 @@ VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ;
VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ;
VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none" ;
VAL_ 1553 UNITS 1 "km" 2 "miles" ;
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

6
opendbc/toyota_prius_2017_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

6
opendbc/toyota_rav4_2017_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

6
opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

6
opendbc/toyota_sienna_xle_2018_pt_generated.dbc
View File

@ -288,9 +288,9 @@ VAL_ 1553 UNITS 1 "km" 2 "miles";
VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 65 "no overtake" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 5 "rain" 0 "none";
VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";

3
panda/.dockerignore 100644
View File

@ -0,0 +1,3 @@
.git
.DS_Store
boardesp/esp-open-sdk

64
panda/Dockerfile 100644
View File

@ -0,0 +1,64 @@
FROM ubuntu:16.04
ENV PYTHONUNBUFFERED 1
RUN apt-get update && apt-get install -y \
autoconf \
automake \
bash \
bison \
bzip2 \
curl \
dfu-util \
flex \
g++ \
gawk \
gcc \
git \
gperf \
help2man \
iputils-ping \
libexpat-dev \
libstdc++-arm-none-eabi-newlib \
libtool \
libtool-bin \
libusb-1.0-0 \
make \
ncurses-dev \
network-manager \
python-dev \
python-serial \
sed \
texinfo \
unrar-free \
unzip \
wget \
build-essential \
python-dev \
python-pip \
screen \
vim \
wget \
wireless-tools
RUN pip install --upgrade pip==18.0
COPY requirements.txt /tmp/
RUN pip install -r /tmp/requirements.txt
RUN mkdir -p /home/batman
ENV HOME /home/batman
ENV PYTHONPATH /tmp:$PYTHONPATH
COPY ./boardesp/get_sdk_ci.sh /tmp/panda/boardesp/
RUN useradd --system -s /sbin/nologin pandauser
RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk
RUN chown pandauser /tmp/panda/boardesp/esp-open-sdk
USER pandauser
RUN cd /tmp/panda/boardesp && ./get_sdk_ci.sh
USER root
COPY ./xx/pandaextra /tmp/pandaextra
ADD ./panda.tar.gz /tmp/panda

55
panda/Jenkinsfile vendored 100644
View File

@ -0,0 +1,55 @@
pipeline {
agent any
environment {
AUTHOR = """${sh(
returnStdout: true,
script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}"
).trim()}"""
DOCKER_IMAGE_TAG = "panda:build-${env.BUILD_ID}"
DOCKER_NAME = "panda-test-${env.BUILD_ID}"
}
stages {
stage('Build Docker Image') {
steps {
timeout(time: 60, unit: 'MINUTES') {
script {
sh 'git clone --no-checkout --depth 1 git@github.com:commaai/xx.git || true'
sh 'cd xx && git fetch origin && git checkout origin/master -- pandaextra && cd ..' // Needed for certs for panda flashing
sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
}
}
}
}
stage('Test Dev Build') {
steps {
lock(resource: "Pandas", inversePrecedence: true, quantity:1){
timeout(time: 60, unit: 'MINUTES') {
sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; ./run_automated_tests.sh '"
}
}
}
}
stage('Test EON Build') {
steps {
lock(resource: "Pandas", inversePrecedence: true, quantity:1){
timeout(time: 60, unit: 'MINUTES') {
sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
sh "touch EON && docker cp EON ${env.DOCKER_NAME}:/EON"
sh "docker start -a ${env.DOCKER_NAME}"
}
}
}
}
}
post {
always {
script {
sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_EON.xml"
sh "docker rm ${env.DOCKER_NAME}"
}
junit "test_results*.xml"
}
}
}

2
panda/VERSION
View File

@ -1 +1 @@
v1.2.0
v1.2.1

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

@ -3,6 +3,8 @@
#define ALL_CAN_BUT_MAIN_SILENT 0xFE
#define ALL_CAN_LIVE 0
#include "lline_relay.h"
int can_live = 0, pending_can_live = 0, can_loopback = 0, can_silent = ALL_CAN_SILENT;
// ********************* instantiate queues *********************
@ -23,6 +25,11 @@ can_buffer(tx2_q, 0x100)
can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q};
#endif
#ifdef PANDA
// Forward declare
void power_save_reset_timer();
#endif
// ********************* interrupt safe queue *********************
int can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
@ -213,7 +220,7 @@ void can_init(uint8_t can_number) {
CAN->FMR &= ~(CAN_FMR_FINIT);
// enable certain CAN interrupts
CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0;
CAN->IER |= CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_WKUIE;
switch (can_number) {
case 0:
@ -293,7 +300,6 @@ void can_set_gmlan(int bus) {
void can_sce(CAN_TypeDef *CAN) {
enter_critical_section();
can_err_cnt += 1;
#ifdef DEBUG
if (CAN==CAN1) puts("CAN1: ");
if (CAN==CAN2) puts("CAN2: ");
@ -315,16 +321,32 @@ void can_sce(CAN_TypeDef *CAN) {
uint8_t can_number = CAN_NUM_FROM_CANIF(CAN);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
can_autobaud_speed_increment(can_number);
can_set_speed(can_number);
if (CAN->MSR & CAN_MSR_WKUI) {
//Waking from sleep
#ifdef DEBUG
puts("WAKE\n");
#endif
set_can_enable(CAN, 1);
CAN->MSR &= ~(CAN_MSR_WKUI);
CAN->MSR = CAN->MSR;
#ifdef PANDA
power_save_reset_timer();
#endif
} else {
can_err_cnt += 1;
if (can_autobaud_enabled[bus_number] && (CAN->ESR & CAN_ESR_LEC)) {
can_autobaud_speed_increment(can_number);
can_set_speed(can_number);
}
// clear current send
CAN->TSR |= CAN_TSR_ABRQ0;
CAN->MSR &= ~(CAN_MSR_ERRI);
CAN->MSR = CAN->MSR;
}
// clear current send
CAN->TSR |= CAN_TSR_ABRQ0;
CAN->MSR &= ~(CAN_MSR_ERRI);
CAN->MSR = CAN->MSR;
exit_critical_section();
}
@ -332,6 +354,9 @@ void can_sce(CAN_TypeDef *CAN) {
void process_can(uint8_t can_number) {
if (can_number == 0xff) return;
#ifdef PANDA
power_save_reset_timer();
#endif
enter_critical_section();
@ -375,6 +400,13 @@ void process_can(uint8_t can_number) {
}
if (can_pop(can_queues[bus_number], &to_send)) {
if (CAN->MCR & CAN_MCR_SLEEP) {
set_can_enable(CAN, 1);
CAN->MCR &= ~(CAN_MCR_SLEEP);
CAN->MCR |= CAN_MCR_INRQ;
while((CAN->MSR & CAN_MSR_INAK) != CAN_MSR_INAK);
CAN->MCR &= ~(CAN_MCR_INRQ);
}
can_tx_cnt += 1;
// only send if we have received a packet
CAN->sTxMailBox[0].TDLR = to_send.RDLR;
@ -390,6 +422,9 @@ void process_can(uint8_t can_number) {
// CAN receive handlers
// blink blue when we are receiving CAN messages
void can_rx(uint8_t can_number) {
#ifdef PANDA
power_save_reset_timer();
#endif
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
while (CAN->RF0R & CAN_RF0R_FMP0) {
@ -420,14 +455,16 @@ void can_rx(uint8_t can_number) {
// forwarding (panda only)
#ifdef PANDA
int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
if (bus_fwd_num != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR | 1; // TXRQ
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
can_send(&to_send, bus_fwd_num);
if ((get_lline_status() != 0) || !relay_control) { //Relay engaged or relay isn't controlled, allow fwd
int bus_fwd_num = can_forwarding[bus_number] != -1 ? can_forwarding[bus_number] : safety_fwd_hook(bus_number, &to_push);
if (bus_fwd_num != -1) {
CAN_FIFOMailBox_TypeDef to_send;
to_send.RIR = to_push.RIR | 1; // TXRQ
to_send.RDTR = to_push.RDTR;
to_send.RDLR = to_push.RDLR;
to_send.RDHR = to_push.RDHR;
can_send(&to_send, bus_fwd_num);
}
}
#endif

88
panda/board/drivers/lline_relay.h 100644
View File

@ -0,0 +1,88 @@
#ifdef PANDA
int relay_control = 0; // True if relay is controlled through l-line
/* Conrol a relay connected to l-line pin */
// 160us cycles, 1 high, 25 low
volatile int turn_on_relay = 0;
volatile int on_cycles = 25;
//5s timeout
#define LLINE_TIMEOUT_CYCLES 31250
volatile int timeout_cycles = LLINE_TIMEOUT_CYCLES;
void TIM5_IRQHandler(void) {
if (TIM5->SR & TIM_SR_UIF) {
on_cycles--;
timeout_cycles--;
if (timeout_cycles == 0) {
turn_on_relay = 0;
}
if (on_cycles > 0) {
if (turn_on_relay) {
set_gpio_output(GPIOC, 10, 0);
}
}
else {
set_gpio_output(GPIOC, 10, 1);
on_cycles = 25;
}
}
TIM5->ARR = 160-1;
TIM5->SR = 0;
}
void lline_relay_init (void) {
set_lline_output(0);
relay_control = 1;
set_gpio_output(GPIOC, 10, 1);
// setup
TIM5->PSC = 48-1; // tick on 1 us
TIM5->CR1 = TIM_CR1_CEN; // enable
TIM5->ARR = 50-1; // 50 us
TIM5->DIER = TIM_DIER_UIE; // update interrupt
TIM5->CNT = 0;
NVIC_EnableIRQ(TIM5_IRQn);
#ifdef DEBUG
puts("INIT LLINE\n");
puts(" SR ");
putui(TIM5->SR);
puts(" PSC ");
putui(TIM5->PSC);
puts(" CR1 ");
putui(TIM5->CR1);
puts(" ARR ");
putui(TIM5->ARR);
puts(" DIER ");
putui(TIM5->DIER);
puts(" SR ");
putui(TIM5->SR);
puts(" CNT ");
putui(TIM5->CNT);
puts("\n");
#endif
}
void lline_relay_release (void) {
set_lline_output(0);
relay_control = 0;
puts("RELEASE LLINE\n");
set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
NVIC_DisableIRQ(TIM5_IRQn);
}
void set_lline_output(int to_set) {
timeout_cycles = LLINE_TIMEOUT_CYCLES;
turn_on_relay = to_set;
}
int get_lline_status() {
return turn_on_relay;
}
#endif

7
panda/board/gpio.h
View File

@ -120,6 +120,8 @@ void periph_init() {
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
RCC->APB1ENR |= RCC_APB1ENR_TIM5EN;
RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
RCC->APB2ENR |= RCC_APB2ENR_USART1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
@ -390,7 +392,9 @@ void gpio_init() {
set_gpio_output(GPIOA, 14, 1);
// C10,C11: L-Line setup on USART 3
set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
// LLine now used for relay output
set_gpio_output(GPIOC, 10, 1);
//set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3);
set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3);
set_gpio_pullup(GPIOC, 11, PULL_UP);
#endif
@ -475,4 +479,3 @@ void early() {
enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
}
}

26
panda/board/main.c
View File

@ -20,6 +20,8 @@
#include "drivers/spi.h"
#include "drivers/timer.h"
#include "power_saving.h"
// ***************************** fan *****************************
@ -141,6 +143,7 @@ void usb_cb_ep2_out(uint8_t *usbdata, int len, int hardwired) {
uart_ring *ur = get_ring_by_number(usbdata[0]);
if (!ur) return;
if ((usbdata[0] < 2) || safety_tx_lin_hook(usbdata[0]-2, usbdata+1, len-1)) {
if (ur == &esp_ring) power_save_reset_timer();
for (int i = 1; i < len; i++) while (!putc(ur, usbdata[i]));
}
}
@ -160,6 +163,14 @@ void usb_cb_ep3_out(uint8_t *usbdata, int len, int hardwired) {
uint8_t bus_number = (to_push.RDTR >> 4) & CAN_BUS_NUM_MASK;
can_send(&to_push, bus_number);
#ifdef PANDA
// Enable relay on can message if allowed.
// Temporary until OP has support for relay
if (safety_relay_hook()) {
set_lline_output(1);
}
#endif
}
}
@ -441,6 +452,16 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
}
break;
}
// **** 0xf3: set l-line relay
case 0xf3:
{
#ifdef PANDA
if (safety_relay_hook()) {
set_lline_output(setup->b.wValue.w == 1);
}
#endif
break;
}
default:
puts("NO HANDLER ");
puth(setup->b.bRequest);
@ -572,6 +593,9 @@ int main() {
#ifdef PANDA
spi_init();
#endif
#ifdef DEBUG
puts("DEBUG ENABLED\n");
#endif
// set PWM
fan_init();
@ -581,6 +605,8 @@ int main() {
__enable_irq();
power_save_init();
// if the error interrupt is enabled to quickly when the CAN bus is active
// something bad happens and you can't connect to the device over USB
delay(10000000);

2
panda/board/pedal/main.c
View File

@ -295,6 +295,7 @@ int main() {
puts("**** INTERRUPTS ON ****\n");
__enable_irq();
// main pedal loop
while (1) {
pedal();
@ -302,4 +303,3 @@ int main() {
return 0;
}

157
panda/board/power_saving.h 100644
View File

@ -0,0 +1,157 @@
#define POWER_SAVE_STATUS_DISABLED 0
//Moving to enabled, but can wakeup not yet enabled
#define POWER_SAVE_STATUS_SWITCHING 1
#define POWER_SAVE_STATUS_ENABLED 2
volatile int power_save_status = POWER_SAVE_STATUS_DISABLED;
void power_save_enable(void) {
power_save_status = POWER_SAVE_STATUS_SWITCHING;
puts("Saving power\n");
//Turn off can transciever
set_can_enable(CAN1, 0);
set_can_enable(CAN2, 0);
#ifdef PANDA
set_can_enable(CAN3, 0);
#endif
//Turn off GMLAN
set_gpio_output(GPIOB, 14, 0);
set_gpio_output(GPIOB, 15, 0);
#ifdef PANDA
//Turn off LIN K
if (revision == PANDA_REV_C) {
set_gpio_output(GPIOB, 7, 0); // REV C
} else {
set_gpio_output(GPIOB, 4, 0); // REV AB
}
// LIN L
set_gpio_output(GPIOA, 14, 0);
#endif
if (is_grey_panda) {
char* UBLOX_SLEEP_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x08\x00\x17\x78";
int len = 12;
uart_ring *ur = get_ring_by_number(1);
for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_SLEEP_MSG[i]));
}
//Setup timer for can enable
TIM6->PSC = 48-1; // tick on 1 us
TIM6->ARR = 12; // 12us
// Enable, One-Pulse Mode, Only overflow interrupt
TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
TIM6->EGR = TIM_EGR_UG;
TIM6->CR1 |= TIM_CR1_CEN;
}
void power_save_enable_can_wake(void) {
// CAN Automatic Wake must be done a little while after the sleep
// On some cars turning off the can transciver can trigger the wakeup
power_save_status = POWER_SAVE_STATUS_ENABLED;
puts("Turning can off\n");
CAN1->MCR |= CAN_MCR_SLEEP;
CAN1->MCR |= CAN_MCR_AWUM;
CAN2->MCR |= CAN_MCR_SLEEP;
CAN2->MCR |= CAN_MCR_AWUM;
#ifdef PANDA
CAN3->MCR |= CAN_MCR_SLEEP;
CAN3->MCR |= CAN_MCR_AWUM;
#endif
//set timer back
TIM6->PSC = 48000-1; // tick on 1 ms
TIM6->ARR = 10000; // 10s
// Enable, One-Pulse Mode, Only overflow interrupt
TIM6->CR1 = TIM_CR1_OPM | TIM_CR1_URS;
TIM6->EGR = TIM_EGR_UG;
}
void power_save_disable(void) {
power_save_status = POWER_SAVE_STATUS_DISABLED;
puts("not Saving power\n");
TIM6->CR1 |= TIM_CR1_CEN; //Restart timer
TIM6->CNT = 0;
//Turn on can
set_can_enable(CAN1, 1);
set_can_enable(CAN2, 1);
#ifdef PANDA
set_can_enable(CAN3, 1);
#endif
//Turn on GMLAN
set_gpio_output(GPIOB, 14, 1);
set_gpio_output(GPIOB, 15, 1);
#ifdef PANDA
//Turn on LIN K
if (revision == PANDA_REV_C) {
set_gpio_output(GPIOB, 7, 1); // REV C
} else {
set_gpio_output(GPIOB, 4, 1); // REV AB
}
// LIN L
set_gpio_output(GPIOA, 14, 1);
#endif
if (is_grey_panda) {
char* UBLOX_WAKE_MSG = "\xb5\x62\x06\x04\x04\x00\x01\x00\x09\x00\x18\x7a";
int len = 12;
uart_ring *ur = get_ring_by_number(1);
for (int i = 0; i < len; i++) while (!putc(ur, UBLOX_WAKE_MSG[i]));
}
//set timer back
TIM6->PSC = 48000-1; // tick on 1 ms
TIM6->ARR = 10000; // 10s
// Enable, One-Pulse Mode, Only overflow interrupt
TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
TIM6->EGR = TIM_EGR_UG;
TIM6->CR1 |= TIM_CR1_CEN;
}
// Reset timer when activity
void power_save_reset_timer() {
TIM6->CNT = 0;
if (power_save_status != POWER_SAVE_STATUS_DISABLED){
power_save_disable();
}
}
void power_save_init(void) {
puts("Saving power init\n");
TIM6->PSC = 48000-1; // tick on 1 ms
TIM6->ARR = 10000; // 10s
// Enable, One-Pulse Mode, Only overflow interrupt
TIM6->CR1 = TIM_CR1_CEN | TIM_CR1_OPM | TIM_CR1_URS;
TIM6->EGR = TIM_EGR_UG;
NVIC_EnableIRQ(TIM6_DAC_IRQn);
puts("Saving power init done\n");
TIM6->DIER = TIM_DIER_UIE;
TIM6->CR1 |= TIM_CR1_CEN;
}
void TIM6_DAC_IRQHandler(void) {
//Timeout switch to power saving mode.
if (TIM6->SR & TIM_SR_UIF) {
TIM6->SR = 0;
#ifdef EON
if (power_save_status == POWER_SAVE_STATUS_DISABLED) {
power_save_enable();
} else if (power_save_status == POWER_SAVE_STATUS_SWITCHING) {
power_save_enable_can_wake();
}
#endif
} else {
TIM6->CR1 |= TIM_CR1_CEN;
}
}

10
panda/board/safety.h
View File

@ -29,6 +29,10 @@ int driver_limit_check(int val, int val_last, struct sample_t *val_driver,
int rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA);
#ifdef PANDA
float interpolate(struct lookup_t xy, float x);
void lline_relay_init (void);
void lline_relay_release (void);
void set_lline_output(int to_set);
#endif
typedef void (*safety_hook_init)(int16_t param);
@ -37,6 +41,7 @@ typedef int (*tx_hook)(CAN_FIFOMailBox_TypeDef *to_send);
typedef int (*tx_lin_hook)(int lin_num, uint8_t *data, int len);
typedef int (*ign_hook)();
typedef int (*fwd_hook)(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd);
typedef int (*relay_hook)();
typedef struct {
safety_hook_init init;
@ -45,6 +50,7 @@ typedef struct {
tx_hook tx;
tx_lin_hook tx_lin;
fwd_hook fwd;
relay_hook relay;
} safety_hooks;
// This can be set by the safety hooks.
@ -91,6 +97,10 @@ int safety_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return current_hooks->fwd(bus_num, to_fwd);
}
int safety_relay_hook(void) {
return current_hooks->relay();
}
typedef struct {
uint16_t id;
const safety_hooks *hooks;

4
panda/board/safety/safety_cadillac.h
View File

@ -115,6 +115,9 @@ static int cadillac_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void cadillac_init(int16_t param) {
controls_allowed = 0;
cadillac_ign = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
static int cadillac_ign_hook() {
@ -128,4 +131,5 @@ const safety_hooks cadillac_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = cadillac_ign_hook,
.fwd = alloutput_fwd_hook,
.relay = nooutput_relay_hook,
};

27
panda/board/safety/safety_chrysler.h
View File

@ -5,7 +5,7 @@ const int CHRYSLER_MAX_RATE_UP = 3;
const int CHRYSLER_MAX_RATE_DOWN = 3;
const int CHRYSLER_MAX_TORQUE_ERROR = 80; // max torque cmd in excess of torque motor
int chrysler_camera_detected = 0;
int chrysler_camera_detected = 0; // is giraffe switch 2 high?
int chrysler_rt_torque_last = 0;
int chrysler_desired_torque_last = 0;
int chrysler_cruise_engaged_last = 0;
@ -125,12 +125,33 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
return true;
}
static void chrysler_init(int16_t param) {
chrysler_camera_detected = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int32_t addr = to_fwd->RIR >> 21;
// forward CAN 0 -> 2 so stock LKAS camera sees messages
if (bus_num == 0 && !chrysler_camera_detected) {
return 2;
}
// forward all messages from camera except LKAS_COMMAND and LKAS_HUD
if (bus_num == 2 && !chrysler_camera_detected && addr != 658 && addr != 678) {
return 0;
}
return -1; // do not forward
}
const safety_hooks chrysler_hooks = {
.init = nooutput_init,
.init = chrysler_init,
.rx = chrysler_rx_hook,
.tx = chrysler_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = nooutput_fwd_hook,
.fwd = chrysler_fwd_hook,
.relay = nooutput_relay_hook,
};

16
panda/board/safety/safety_defaults.h
View File

@ -8,6 +8,9 @@ int default_ign_hook() {
static void nooutput_init(int16_t param) {
controls_allowed = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@ -22,6 +25,10 @@ static int nooutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return -1;
}
static int nooutput_relay_hook(int to_set) {
return false;
}
const safety_hooks nooutput_hooks = {
.init = nooutput_init,
.rx = default_rx_hook,
@ -29,12 +36,16 @@ const safety_hooks nooutput_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = nooutput_fwd_hook,
.relay = nooutput_relay_hook,
};
// *** all output safety mode ***
static void alloutput_init(int16_t param) {
controls_allowed = 1;
#ifdef PANDA
lline_relay_release();
#endif
}
static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@ -49,6 +60,10 @@ static int alloutput_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
return -1;
}
static int alloutput_relay_hook(int to_set) {
return true;
}
const safety_hooks alloutput_hooks = {
.init = alloutput_init,
.rx = default_rx_hook,
@ -56,4 +71,5 @@ const safety_hooks alloutput_hooks = {
.tx_lin = alloutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = alloutput_fwd_hook,
.relay = alloutput_relay_hook,
};

1
panda/board/safety/safety_elm327.h
View File

@ -42,4 +42,5 @@ const safety_hooks elm327_hooks = {
.tx_lin = elm327_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = elm327_fwd_hook,
.relay = nooutput_relay_hook,
};

1
panda/board/safety/safety_ford.h
View File

@ -90,4 +90,5 @@ const safety_hooks ford_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = nooutput_fwd_hook,
.relay = nooutput_relay_hook,
};

5
panda/board/safety/safety_gm.h
View File

@ -228,6 +228,9 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
static void gm_init(int16_t param) {
controls_allowed = 0;
gm_ignition_started = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
static int gm_ign_hook() {
@ -241,5 +244,5 @@ const safety_hooks gm_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = gm_ign_hook,
.fwd = nooutput_fwd_hook,
.relay = nooutput_relay_hook,
};

1
panda/board/safety/safety_gm_ascm.h
View File

@ -48,5 +48,6 @@ const safety_hooks gm_ascm_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = gm_ascm_fwd_hook,
.relay = nooutput_relay_hook,
};

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

@ -136,6 +136,9 @@ static void honda_init(int16_t param) {
controls_allowed = 0;
bosch_hardware = false;
honda_alt_brake_msg = false;
#ifdef PANDA
lline_relay_release();
#endif
}
static void honda_bosch_init(int16_t param) {
@ -143,6 +146,9 @@ static void honda_bosch_init(int16_t param) {
bosch_hardware = true;
// Checking for alternate brake override from safety parameter
honda_alt_brake_msg = param == 1 ? true : false;
#ifdef PANDA
lline_relay_release();
#endif
}
static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@ -176,6 +182,7 @@ const safety_hooks honda_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = honda_fwd_hook,
.relay = nooutput_relay_hook,
};
const safety_hooks honda_bosch_hooks = {
@ -185,4 +192,5 @@ const safety_hooks honda_bosch_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = honda_bosch_fwd_hook,
.relay = nooutput_relay_hook,
};

4
panda/board/safety/safety_hyundai.h
View File

@ -152,6 +152,9 @@ static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
static void hyundai_init(int16_t param) {
controls_allowed = 0;
hyundai_giraffe_switch_2 = 0;
#ifdef PANDA
lline_relay_release();
#endif
}
const safety_hooks hyundai_hooks = {
@ -161,4 +164,5 @@ const safety_hooks hyundai_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = hyundai_fwd_hook,
.relay = nooutput_relay_hook,
};

13
panda/board/safety/safety_subaru.h
View File

@ -14,6 +14,11 @@ int subaru_desired_torque_last = 0;
uint32_t subaru_ts_last = 0;
struct sample_t subaru_torque_driver; // last few driver torques measured
static void subaru_init(int16_t param) {
#ifdef PANDA
lline_relay_init();
#endif
}
static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
int bus_number = (to_push->RDTR >> 4) & 0xFF;
@ -100,6 +105,7 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
// forward CAN 0 > 1
if (bus_num == 0) {
return 2; // ES CAN
}
// forward CAN 1 > 0, except ES_LKAS
@ -113,6 +119,10 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
if (addr == 0x122) {
return -1;
}
// ES Distance
if (addr == 545) {
return -1;
}
return 0; // Main CAN
}
@ -122,10 +132,11 @@ static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
}
const safety_hooks subaru_hooks = {
.init = nooutput_init,
.init = subaru_init,
.rx = subaru_rx_hook,
.tx = subaru_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = subaru_fwd_hook,
.relay = alloutput_relay_hook,
};

4
panda/board/safety/safety_tesla.h
View File

@ -230,6 +230,9 @@ static void tesla_init(int16_t param)
controls_allowed = 0;
tesla_ignition_started = 0;
gmlan_switch_init(1); //init the gmlan switch with 1s timeout enabled
#ifdef PANDA
lline_relay_release();
#endif
}
static int tesla_ign_hook()
@ -284,4 +287,5 @@ const safety_hooks tesla_hooks = {
.tx_lin = tesla_tx_lin_hook,
.ignition = tesla_ign_hook,
.fwd = tesla_fwd_hook,
.relay = nooutput_relay_hook,
};

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

@ -160,6 +160,9 @@ static void toyota_init(int16_t param) {
toyota_giraffe_switch_1 = 0;
toyota_camera_forwarded = 0;
toyota_dbc_eps_torque_factor = param;
#ifdef PANDA
lline_relay_release();
#endif
}
static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
@ -181,6 +184,7 @@ const safety_hooks toyota_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = toyota_fwd_hook,
.relay = nooutput_relay_hook,
};
static void toyota_nolimits_init(int16_t param) {
@ -189,6 +193,9 @@ static void toyota_nolimits_init(int16_t param) {
toyota_giraffe_switch_1 = 0;
toyota_camera_forwarded = 0;
toyota_dbc_eps_torque_factor = param;
#ifdef PANDA
lline_relay_release();
#endif
}
const safety_hooks toyota_nolimits_hooks = {
@ -198,4 +205,5 @@ const safety_hooks toyota_nolimits_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = toyota_fwd_hook,
.relay = nooutput_relay_hook,
};

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

@ -152,5 +152,5 @@ const safety_hooks toyota_ipas_hooks = {
.tx_lin = nooutput_tx_lin_hook,
.ignition = default_ign_hook,
.fwd = toyota_fwd_hook,
.relay = nooutput_relay_hook,
};

5
panda/boardesp/get_sdk_ci.sh 100755
View File

@ -0,0 +1,5 @@
#!/bin/bash
git clone --recursive https://github.com/pfalcon/esp-open-sdk.git
cd esp-open-sdk
git checkout 03f5e898a059451ec5f3de30e7feff30455f7cec
LD_LIBRARY_PATH="" make STANDALONE=y

19
panda/python/__init__.py
View File

@ -182,6 +182,7 @@ class Panda(object):
traceback.print_exc()
if wait == False or self._handle != None:
break
context = usb1.USBContext() #New context needed so new devices show up
assert(self._handle != None)
print("connected")
@ -280,11 +281,14 @@ class Panda(object):
if reconnect:
self.reconnect()
def recover(self):
def recover(self, timeout=None):
self.reset(enter_bootloader=True)
t_start = time.time()
while len(PandaDFU.list()) == 0:
print("waiting for DFU...")
time.sleep(0.1)
if timeout is not None and (time.time() - t_start) > timeout:
return False
dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial))
dfu.recover()
@ -292,6 +296,7 @@ class Panda(object):
# reflash after recover
self.connect(True, True)
self.flash()
return True
@staticmethod
def flash_ota_st():
@ -300,8 +305,9 @@ class Panda(object):
return ret==0
@staticmethod
def flash_ota_wifi():
ret = os.system("cd %s && make clean && make ota" % (os.path.join(BASEDIR, "boardesp")))
def flash_ota_wifi(release=False):
release_str = "RELEASE=1" if release else ""
ret = os.system("cd {} && make clean && {} make ota".format(os.path.join(BASEDIR, "boardesp"),release_str))
time.sleep(1)
return ret==0
@ -386,10 +392,17 @@ class Panda(object):
elif bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdb, 1, bus, b'')
def set_lline_relay(self, enable):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, int(enable), 0, b'')
def set_can_loopback(self, enable):
# set can loopback mode for all buses
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe5, int(enable), 0, b'')
def set_can_enable(self, bus_num, enable):
# sets the can transciever enable pin
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf4, int(bus_num), int(enable), b'')
def set_can_speed_kbps(self, bus, speed):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xde, bus, int(speed*10), b'')

5
panda/requirements.txt
View File

@ -1,4 +1,7 @@
libusb1
libusb1 == 1.6.6
hexdump
pycrypto
tqdm
nose
parameterized
requests

8
panda/run_automated_tests.sh
View File

@ -1,3 +1,9 @@
#!/bin/bash
PYTHONPATH="." nosetests -x -s tests/automated/$1*.py
TEST_FILENAME=${TEST_FILENAME:-nosetests.xml}
if [ ! -f "/EON" ]; then
TESTSUITE_NAME="Panda_Test-EON"
else
TESTSUITE_NAME="Panda_Test-DEV"
fi
PYTHONPATH="." nosetests -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s tests/automated/$1*.py

2
panda/setup.py
View File

@ -46,7 +46,7 @@ setup(
platforms='any',
license='MIT',
install_requires=[
'libusb1 >= 1.6.4',
'libusb1 == 1.6.6',
'hexdump >= 3.3',
'pycrypto >= 2.6.1',
'tqdm >= 4.14.0',

16
panda/tests/automated/1_program.py
View File

@ -1,11 +1,15 @@
import os
from panda import Panda
from helpers import panda_color_to_serial, test_white_and_grey
def test_recover():
p = Panda()
p.recover()
@test_white_and_grey
@panda_color_to_serial
def test_recover(serial=None):
p = Panda(serial=serial)
assert p.recover(timeout=30)
def test_flash():
p = Panda()
@test_white_and_grey
@panda_color_to_serial
def test_flash(serial=None):
p = Panda(serial=serial)
p.flash()

49
panda/tests/automated/2_usb_to_can.py
View File

@ -3,14 +3,16 @@ import os
import sys
import time
from panda import Panda
from nose.tools import timed, assert_equal, assert_less, assert_greater
from helpers import time_many_sends, connect_wo_esp
from nose.tools import assert_equal, assert_less, assert_greater
from helpers import time_many_sends, connect_wo_esp, test_white_and_grey, panda_color_to_serial
SPEED_NORMAL = 500
SPEED_GMLAN = 33.3
def test_can_loopback():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_can_loopback(serial=None):
p = connect_wo_esp(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
@ -42,8 +44,10 @@ def test_can_loopback():
assert 0x1aa == sr[0][0] == lb[0][0]
assert "message" == sr[0][2] == lb[0][2]
def test_safety_nooutput():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_safety_nooutput(serial=None):
p = connect_wo_esp(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_NOOUTPUT)
@ -59,8 +63,10 @@ def test_safety_nooutput():
r = p.can_recv()
assert len(r) == 0
def test_reliability():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_reliability(serial=None):
p = connect_wo_esp(serial)
LOOP_COUNT = 100
MSG_COUNT = 100
@ -97,8 +103,10 @@ def test_reliability():
sys.stdout.write("P")
sys.stdout.flush()
def test_throughput():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_throughput(serial=None):
p = connect_wo_esp(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
@ -120,8 +128,10 @@ def test_throughput():
print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
def test_gmlan():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_gmlan(serial=None):
p = connect_wo_esp(serial)
if p.legacy:
return
@ -135,7 +145,7 @@ def test_gmlan():
p.set_can_speed_kbps(1, SPEED_NORMAL)
p.set_can_speed_kbps(2, SPEED_NORMAL)
p.set_can_speed_kbps(3, SPEED_GMLAN)
# set gmlan on CAN2
for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
p.set_gmlan(bus)
@ -150,8 +160,10 @@ def test_gmlan():
print("%d: %.2f kbps vs %.2f kbps" % (bus, comp_kbps_gmlan, comp_kbps_normal))
def test_gmlan_bad_toggle():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_gmlan_bad_toggle(serial=None):
p = connect_wo_esp(serial)
if p.legacy:
return
@ -178,9 +190,10 @@ def test_gmlan_bad_toggle():
# this will fail if you have hardware serial connected
def test_serial_debug():
p = connect_wo_esp()
@test_white_and_grey
@panda_color_to_serial
def test_serial_debug(serial=None):
p = connect_wo_esp(serial)
junk = p.serial_read(Panda.SERIAL_DEBUG)
p.call_control_api(0xc0)
assert(p.serial_read(Panda.SERIAL_DEBUG).startswith("can "))

55
panda/tests/automated/3_wifi.py
View File

@ -1,33 +1,60 @@
from __future__ import print_function
import os
import time
from panda import Panda
from helpers import connect_wifi
from helpers import connect_wifi, test_white, test_white_and_grey, panda_color_to_serial
import requests
def test_get_serial():
p = Panda()
@test_white_and_grey
@panda_color_to_serial
def test_get_serial(serial=None):
p = Panda(serial)
print(p.get_serial())
def test_get_serial_in_flash_mode():
p = Panda()
@test_white_and_grey
@panda_color_to_serial
def test_get_serial_in_flash_mode(serial=None):
p = Panda(serial)
p.reset(enter_bootstub=True)
assert(p.bootstub)
print(p.get_serial())
p.reset()
def test_connect_wifi():
connect_wifi()
@test_white
@panda_color_to_serial
def test_connect_wifi(serial=None):
connect_wifi(serial)
def test_flash_wifi():
Panda.flash_ota_wifi()
connect_wifi()
@test_white
@panda_color_to_serial
def test_flash_wifi(serial=None):
connect_wifi(serial)
assert Panda.flash_ota_wifi(release=True), "OTA Wifi Flash Failed"
connect_wifi(serial)
def test_wifi_flash_st():
Panda.flash_ota_st()
@test_white
@panda_color_to_serial
def test_wifi_flash_st(serial=None):
connect_wifi(serial)
assert Panda.flash_ota_st(), "OTA ST Flash Failed"
connected = False
st = time.time()
while not connected and (time.time() - st) < 20:
try:
p = Panda(serial=serial)
p.get_serial()
connected = True
except:
time.sleep(1)
def test_webpage_fetch():
if not connected:
assert False, "Panda failed to connect on USB after flashing"
@test_white
@panda_color_to_serial
def test_webpage_fetch(serial=None):
connect_wifi(serial)
r = requests.get("http://192.168.0.10/")
print(r.text)
assert "This is your comma.ai panda" in r.text

25
panda/tests/automated/4_wifi_functionality.py
View File

@ -1,17 +1,22 @@
from __future__ import print_function
import time
from panda import Panda
from helpers import time_many_sends, connect_wifi
from helpers import time_many_sends, connect_wifi, test_white, panda_color_to_serial
from nose.tools import timed, assert_equal, assert_less, assert_greater
def test_get_serial_wifi():
connect_wifi()
@test_white
@panda_color_to_serial
def test_get_serial_wifi(serial=None):
connect_wifi(serial)
p = Panda("WIFI")
print(p.get_serial())
def test_throughput():
p = Panda()
@test_white
@panda_color_to_serial
def test_throughput(serial=None):
connect_wifi(serial)
p = Panda(serial)
# enable output mode
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
@ -24,7 +29,7 @@ def test_throughput():
for speed in [100,250,500,750,1000]:
# set bus 0 speed to speed
p.set_can_speed_kbps(0, speed)
time.sleep(0.05)
time.sleep(0.1)
comp_kbps = time_many_sends(p, 0)
@ -35,8 +40,11 @@ def test_throughput():
print("WIFI loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct))
def test_recv_only():
p = Panda()
@test_white
@panda_color_to_serial
def test_recv_only(serial=None):
connect_wifi(serial)
p = Panda(serial)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
pwifi = Panda("WIFI")
@ -49,4 +57,3 @@ def test_recv_only():
saturation_pct = (comp_kbps/speed) * 100.0
print("HT WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))

43
panda/tests/automated/5_wifi_udp.py
View File

@ -1,14 +1,16 @@
from __future__ import print_function
import sys
import time
from helpers import time_many_sends, connect_wifi
from helpers import time_many_sends, connect_wifi, test_white, panda_color_to_serial
from panda import Panda, PandaWifiStreaming
from nose.tools import timed, assert_equal, assert_less, assert_greater
def test_udp_doesnt_drop():
connect_wifi()
@test_white
@panda_color_to_serial
def test_udp_doesnt_drop(serial=None):
connect_wifi(serial)
p = Panda()
p = Panda(serial)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p.set_can_loopback(True)
@ -18,6 +20,7 @@ def test_udp_doesnt_drop():
break
for msg_count in [1, 100]:
saturation_pcts = []
for i in range({1: 0x80, 100: 0x20}[msg_count]):
pwifi.kick()
@ -31,9 +34,33 @@ def test_udp_doesnt_drop():
sys.stdout.flush()
else:
print("UDP WIFI loopback %d messages at speed %d, comp speed is %.2f, percent %.2f" % (msg_count, speed, comp_kbps, saturation_pct))
assert_greater(saturation_pct, 40)
assert_greater(saturation_pct, 20) #sometimes the wifi can be slow...
assert_less(saturation_pct, 100)
print("")
saturation_pcts.append(saturation_pct)
if len(saturation_pcts) > 0:
assert_greater(sum(saturation_pcts)/len(saturation_pcts), 60)
time.sleep(5)
usb_ok_cnt = 0
REQ_USB_OK_CNT = 500
st = time.time()
msg_id = 0x1bb
bus = 0
last_missing_msg = 0
while usb_ok_cnt < REQ_USB_OK_CNT and (time.time() - st) < 40:
p.can_send(msg_id, "message", bus)
time.sleep(0.01)
r = [1]
missing = True
while len(r) > 0:
r = p.can_recv()
r = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
if len(r) > 0:
missing = False
usb_ok_cnt += len(r)
if missing:
last_missing_msg = time.time()
et = time.time() - st
last_missing_msg = last_missing_msg - st
print("waited {} for panda to recv can on usb, {} msgs, last missing at {}".format(et, usb_ok_cnt, last_missing_msg))
assert usb_ok_cnt >= REQ_USB_OK_CNT, "Unable to recv can on USB after UDP"

121
panda/tests/automated/6_two_panda.py 100644
View File

@ -0,0 +1,121 @@
from __future__ import print_function
import time
from panda import Panda
from nose.tools import assert_equal, assert_less, assert_greater
from helpers import time_many_sends, test_two_panda, panda_color_to_serial
@test_two_panda
@panda_color_to_serial
def test_send_recv(serial_sender=None, serial_reciever=None):
p_send = Panda(serial_sender)
p_recv = Panda(serial_reciever)
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_send.set_can_loopback(False)
p_recv.set_can_loopback(False)
assert not p_send.legacy
assert not p_recv.legacy
p_send.can_send_many([(0x1ba, 0, "message", 0)]*2)
time.sleep(0.05)
p_recv.can_recv()
p_send.can_recv()
busses = [0,1,2]
for bus in busses:
for speed in [100, 250, 500, 750, 1000]:
p_send.set_can_speed_kbps(bus, speed)
p_recv.set_can_speed_kbps(bus, speed)
time.sleep(0.05)
comp_kbps = time_many_sends(p_send, bus, p_recv, two_pandas=True)
saturation_pct = (comp_kbps/speed) * 100.0
assert_greater(saturation_pct, 80)
assert_less(saturation_pct, 100)
print("two pandas bus {}, 100 messages at speed {:4d}, comp speed is {:7.2f}, percent {:6.2f}".format(bus, speed, comp_kbps, saturation_pct))
@test_two_panda
@panda_color_to_serial
def test_latency(serial_sender=None, serial_reciever=None):
p_send = Panda(serial_sender)
p_recv = Panda(serial_reciever)
p_send.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
p_send.set_can_loopback(False)
p_recv.set_can_loopback(False)
assert not p_send.legacy
assert not p_recv.legacy
p_send.set_can_speed_kbps(0, 100)
p_recv.set_can_speed_kbps(0, 100)
time.sleep(0.05)
p_send.can_send_many([(0x1ba, 0, "testmsg", 0)]*10)
time.sleep(0.05)
p_recv.can_recv()
p_send.can_recv()
busses = [0,1,2]
for bus in busses:
for speed in [100, 250, 500, 750, 1000]:
p_send.set_can_speed_kbps(bus, speed)
p_recv.set_can_speed_kbps(bus, speed)
time.sleep(0.1)
#clear can buffers
r = [1]
while len(r) > 0:
r = p_send.can_recv()
r = [1]
while len(r) > 0:
r = p_recv.can_recv()
time.sleep(0.05)
latencies = []
comp_kbps_list = []
saturation_pcts = []
num_messages = 100
for i in range(num_messages):
st = time.time()
p_send.can_send(0x1ab, "message", bus)
r = []
while len(r) < 1 and (time.time() - st) < 5:
r = p_recv.can_recv()
et = time.time()
r_echo = []
while len(r_echo) < 1 and (time.time() - st) < 10:
r_echo = p_send.can_recv()
if len(r) == 0 or len(r_echo) == 0:
print("r: {}, r_echo: {}".format(r, r_echo))
assert_equal(len(r),1)
assert_equal(len(r_echo),1)
et = (et - st)*1000.0
comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7) / et
latency = et - ((1+11+1+1+1+4+8*8+15+1+1+1+7) / speed)
assert_less(latency, 5.0)
saturation_pct = (comp_kbps/speed) * 100.0
latencies.append(latency)
comp_kbps_list.append(comp_kbps)
saturation_pcts.append(saturation_pct)
average_latency = sum(latencies)/num_messages
assert_less(average_latency, 1.0)
average_comp_kbps = sum(comp_kbps_list)/num_messages
average_saturation_pct = sum(saturation_pcts)/num_messages
print("two pandas bus {}, {} message average at speed {:4d}, latency is {:5.3f}ms, comp speed is {:7.2f}, percent {:6.2f}"\
.format(bus, num_messages, speed, average_latency, average_comp_kbps, average_saturation_pct))

131
panda/tests/automated/helpers.py
View File

@ -4,12 +4,34 @@ import time
import random
import subprocess
import requests
from functools import wraps
from panda import Panda
from nose.tools import timed, assert_equal, assert_less, assert_greater
from parameterized import parameterized, param
def connect_wo_esp():
test_white_and_grey = parameterized([param(panda_color="White"),
param(panda_color="Grey")])
test_white = parameterized([param(panda_color="White")])
test_grey = parameterized([param(panda_color="Grey")])
test_two_panda = parameterized([param(panda_color=["Grey", "White"]),
param(panda_color=["White", "Grey"])])
_serials = {}
def get_panda_serial(is_grey=None):
global _serials
if is_grey not in _serials:
for serial in Panda.list():
p = Panda(serial=serial)
if is_grey is None or p.is_grey() == is_grey:
_serials[is_grey] = serial
return serial
raise IOError("Panda not found. is_grey: {}".format(is_grey))
else:
return _serials[is_grey]
def connect_wo_esp(serial=None):
# connect to the panda
p = Panda()
p = Panda(serial=serial)
# power down the ESP
p.set_esp_power(False)
@ -20,15 +42,28 @@ def connect_wo_esp():
return p
def connect_wifi():
p = Panda()
def connect_wifi(serial=None):
p = Panda(serial=serial)
p.set_esp_power(True)
dongle_id, pw = p.get_serial()
assert(dongle_id.isalnum())
_connect_wifi(dongle_id, pw)
FNULL = open(os.devnull, 'w')
def _connect_wifi(dongle_id, pw, insecure_okay=False):
ssid = str("panda-" + dongle_id)
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
if not r:
#Can already ping, try connecting on wifi
try:
p = Panda("WIFI")
p.get_serial()
print("Already connected")
return
except:
pass
print("WIFI: connecting to %s" % ssid)
while 1:
@ -39,8 +74,8 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
cnt = 0
MAX_TRIES = 10
while cnt < MAX_TRIES:
print "WIFI: scanning %d" % cnt
os.system("sudo iwlist %s scanning > /dev/null" % wlan_interface)
print("WIFI: scanning %d" % cnt)
os.system("iwlist %s scanning > /dev/null" % wlan_interface)
os.system("nmcli device wifi rescan")
wifi_scan = filter(lambda x: ssid in x, subprocess.check_output(["nmcli","dev", "wifi", "list"]).split("\n"))
if len(wifi_scan) != 0:
@ -51,45 +86,107 @@ def _connect_wifi(dongle_id, pw, insecure_okay=False):
assert cnt < MAX_TRIES
if "-pair" in wifi_scan[0]:
os.system("nmcli d wifi connect %s-pair" % (ssid))
connect_cnt = 0
MAX_TRIES = 20
while connect_cnt < MAX_TRIES:
connect_cnt += 1
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
if r:
print("Waiting for panda to ping...")
time.sleep(0.1)
else:
break
if insecure_okay:
break
# fetch webpage
print "connecting to insecure network to secure"
r = requests.get("http://192.168.0.10/")
print("connecting to insecure network to secure")
try:
r = requests.get("http://192.168.0.10/")
except requests.ConnectionError:
r = requests.get("http://192.168.0.10/")
assert r.status_code==200
print "securing"
print("securing")
try:
r = requests.get("http://192.168.0.10/secure", timeout=0.01)
except requests.exceptions.Timeout:
print("timeout http request to secure")
pass
else:
os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
break
ret = os.system("nmcli d wifi connect %s password %s" % (ssid, pw))
if os.WEXITSTATUS(ret) == 0:
#check ping too
ping_ok = False
connect_cnt = 0
MAX_TRIES = 10
while connect_cnt < MAX_TRIES:
connect_cnt += 1
r = subprocess.call(["ping", "-W", "4", "-c", "1", "192.168.0.10"], stdout=FNULL, stderr=subprocess.STDOUT)
if r:
print("Waiting for panda to ping...")
time.sleep(0.1)
else:
ping_ok = True
break
if ping_ok:
break
# TODO: confirm that it's connected to the right panda
def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None):
def time_many_sends(p, bus, precv=None, msg_count=100, msg_id=None, two_pandas=False):
if precv == None:
precv = p
if msg_id == None:
msg_id = random.randint(0x100, 0x200)
if p == precv and two_pandas:
raise ValueError("Cannot have two pandas that are the same panda")
st = time.time()
p.can_send_many([(msg_id, 0, "\xaa"*8, bus)]*msg_count)
r = []
r_echo = []
r_len_expected = msg_count if two_pandas else msg_count*2
r_echo_len_exected = msg_count if two_pandas else 0
while len(r) < (msg_count*2) and (time.time() - st) < 3:
while len(r) < r_len_expected and (time.time() - st) < 5:
r.extend(precv.can_recv())
et = time.time()
if two_pandas:
while len(r_echo) < r_echo_len_exected and (time.time() - st) < 10:
r_echo.extend(p.can_recv())
sent_echo = filter(lambda x: x[3] == 0x80 | bus and x[0] == msg_id, r)
loopback_resp = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
sent_echo.extend(filter(lambda x: x[3] == 0x80 | bus and x[0] == msg_id, r_echo))
resp = filter(lambda x: x[3] == bus and x[0] == msg_id, r)
leftovers = filter(lambda x: (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id, r)
assert_equal(len(leftovers), 0)
assert_equal(len(resp), msg_count)
assert_equal(len(sent_echo), msg_count)
assert_equal(len(loopback_resp), msg_count)
et = (time.time()-st)*1000.0
et = (et-st)*1000.0
comp_kbps = (1+11+1+1+1+4+8*8+15+1+1+1+7)*msg_count / et
return comp_kbps
def panda_color_to_serial(fn):
@wraps(fn)
def wrapper(panda_color=None, **kwargs):
pandas_is_grey = []
if panda_color is not None:
if not isinstance(panda_color, list):
panda_color = [panda_color]
panda_color = [s.lower() for s in panda_color]
for p in panda_color:
if p is None:
pandas_is_grey.append(None)
elif p in ["grey", "gray"]:
pandas_is_grey.append(True)
elif p in ["white"]:
pandas_is_grey.append(False)
else:
raise ValueError("Invalid Panda Color {}".format(p))
return fn(*[get_panda_serial(is_grey) for is_grey in pandas_is_grey], **kwargs)
return wrapper

3
panda/tests/debug_console.py
View File

@ -21,6 +21,9 @@ if __name__ == "__main__":
pandas = list(map(lambda x: Panda(x, claim=claim), serials))
if not len(pandas):
sys.exit("no pandas found")
if os.getenv("BAUD") is not None:
for panda in pandas:
panda.set_uart_baud(port_number, int(os.getenv("BAUD")))

9
panda/tests/safety/test.c
View File

@ -246,3 +246,12 @@ void reset_gmlan_switch_timeout(void){
void gmlan_switch_init(int timeout_enable){
}
void lline_relay_init (void) {
}
void lline_relay_release (void) {
}
void set_lline_output(int to_set) {
}

4
requirements_openpilot.txt
View File

@ -23,6 +23,7 @@ enum34==1.1.6
evdev==0.6.1
fastcluster==1.1.20
filterpy==1.2.4
hexdump==3.3
ipaddress==1.0.16
json-rpc==1.12.1
libusb1==1.5.0
@ -30,7 +31,9 @@ lmdb==0.92
mpmath==1.0.0
nose==1.3.7
numpy==1.11.1
opencv-python==3.4.0.12
pause==0.1.2
psutil==3.4.2
py==1.4.31
pyOpenSSL==16.0.0
pyasn1-modules==0.0.8
@ -39,6 +42,7 @@ pycapnp==0.6.3
pycparser==2.18
pycrypto==2.6.1
pyflakes==1.6.0
pylint==1.8.3
pyopencl==2016.1
pyparsing==2.1.10
#pypcap==1.1.5 needs extra dependencies and is not used

10
selfdrive/athena/athenad.py
View File

@ -6,7 +6,7 @@ import time
import threading
import traceback
import zmq
import Queue
import six.moves.queue
from jsonrpc import JSONRPCResponseManager, dispatcher
from websocket import create_connection, WebSocketTimeoutException
@ -21,8 +21,8 @@ ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
HANDLER_THREADS = os.getenv('HANDLER_THREADS', 4)
dispatcher["echo"] = lambda s: s
payload_queue = Queue.Queue()
response_queue = Queue.Queue()
payload_queue = six.moves.queue.Queue()
response_queue = six.moves.queue.Queue()
def handle_long_poll(ws):
end_event = threading.Event()
@ -52,7 +52,7 @@ def jsonrpc_handler(end_event):
data = payload_queue.get(timeout=1)
response = JSONRPCResponseManager.handle(data, dispatcher)
response_queue.put_nowait(response)
except Queue.Empty:
except six.moves.queue.Empty:
pass
except Exception as e:
cloudlog.exception("athena jsonrpc handler failed")
@ -87,7 +87,7 @@ def ws_send(ws, end_event):
try:
response = response_queue.get(timeout=1)
ws.send(response.json)
except Queue.Empty:
except six.moves.queue.Empty:
pass
except Exception:
traceback.print_exc()

15
selfdrive/boardd/boardd.py
View File

@ -127,16 +127,13 @@ def boardd_mock_loop():
while 1:
tsc = messaging.drain_sock(logcan, wait_for_one=True)
snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
snd = []
for s in snds:
snd += s
snd = filter(lambda x: x[-1] <= 1, snd)
can_send_many(snd)
snds = [can_capnp_to_can_list(x.can) for x in tsc]
snds = [x for x in snds if x[-1] <= 1]
can_send_many(snds)
# recv @ 100hz
can_msgs = can_recv()
print("sent %d got %d" % (len(snd), len(can_msgs)))
print("sent %d got %d" % (len(snds), len(can_msgs)))
m = can_list_to_can_capnp(can_msgs)
sendcan.send(m.to_bytes())
@ -220,7 +217,7 @@ def boardd_proxy_loop(rate=200, address="192.168.2.251"):
# recv @ 100hz
can_msgs = can_recv()
#for m in can_msgs:
# print "R:",hex(m[0]), str(m[2]).encode("hex")
# print("R: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
# publish to logger
# TODO: refactor for speed
@ -233,7 +230,7 @@ def boardd_proxy_loop(rate=200, address="192.168.2.251"):
if tsc is not None:
cl = can_capnp_to_can_list(tsc.can)
#for m in cl:
# print "S:",hex(m[0]), str(m[2]).encode("hex")
# print("S: {0} {1}".format(hex(m[0]), str(m[2]).encode("hex")))
can_send_many(cl)
rk.keep_time()

56
selfdrive/can/Makefile
View File

@ -16,6 +16,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
LDFLAGS =
ifeq ($(UNAME_S),Darwin)
ZMQ_LIBS = -L/usr/local/lib -lzmq
@ -28,18 +29,24 @@ else ifeq ($(UNAME_M),x86_64)
else ifeq ($(UNAME_M),aarch64)
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib -l:libzmq.a
CXXFLAGS += -lgnustl_shared
LDFLAGS += -lgnustl_shared
endif
OBJDIR = obj
OPENDBC_PATH := $(shell python -c 'import opendbc; print opendbc.DBC_PATH')
DBC_SOURCES := $(wildcard $(OPENDBC_PATH)/*.dbc)
DBC_OBJS := $(patsubst $(OPENDBC_PATH)/%.dbc,$(OBJDIR)/%.o,$(DBC_SOURCES))
DBC_CCS := $(patsubst $(OPENDBC_PATH)/%.dbc,dbc_out/%.cc,$(DBC_SOURCES))
.SECONDARY: $(DBC_CCS)
LIBDBC_OBJS := $(OBJDIR)/dbc.o $(OBJDIR)/parser.o $(OBJDIR)/packer.o
CWD := $(shell pwd)
.PHONY: all
all: libdbc.so
all: $(OBJDIR) libdbc.so
include ../common/cereal.mk
@ -49,22 +56,45 @@ libdbc.so:: ../../cereal/gen/cpp/log.capnp.h
../../cereal/gen/cpp/log.capnp.h:
cd ../../cereal && make
libdbc.so:: dbc.cc parser.cc packer.cc $(DBC_CCS)
libdbc.so:: $(LIBDBC_OBJS) $(DBC_OBJS)
@echo "[ LINK ] $@"
$(CXX) -fPIC -shared -o '$@' $^ \
-I. \
-I../.. \
$(CXXFLAGS) \
$(ZMQ_FLAGS) \
$(ZMQ_LIBS) \
$(CEREAL_CXXFLAGS) \
$(CEREAL_LIBS)
-I. -I../.. \
$(CXXFLAGS) \
$(LDFLAGS) \
$(ZMQ_FLAGS) \
$(ZMQ_LIBS) \
$(CEREAL_CXXFLAGS) \
$(CEREAL_LIBS)
dbc_out/%.cc: $(OPENDBC_PATH)/%.dbc process_dbc.py dbc_template.cc
PYTHONPATH=$(PYTHONPATH):$(CWD)/../../pyextra ./process_dbc.py '$<' '$@'
$(OBJDIR)/%.o: %.cc
@echo "[ CXX ] $@"
$(CXX) -fPIC -c -o '$@' $^ \
-I. -I../.. \
$(CXXFLAGS) \
$(ZMQ_FLAGS) \
$(CEREAL_CXXFLAGS) \
.PHONY: clean
$(OBJDIR)/%.o: dbc_out/%.cc
@echo "[ CXX ] $@"
$(CXX) -fPIC -c -o '$@' $^ \
-I. -I../.. \
$(CXXFLAGS) \
$(ZMQ_FLAGS) \
$(CEREAL_CXXFLAGS) \
dbc_out/%.cc: process_dbc.py dbc_template.cc $(OPENDBC_PATH)/%.dbc
@echo "[ DBC GEN ] $@"
@echo "Missing prereq $?"
PYTHONPATH=$(PYTHONPATH):$(CWD)/../../pyextra ./process_dbc.py $(OPENDBC_PATH) dbc_out
$(OBJDIR):
mkdir -p $@
.PHONY: clean $(OBJDIR)
clean:
rm -rf libdbc.so*
rm -f dbc_out/*.cc
rm -f dbcs.txt
rm -f dbcs.csv
rm -rf $(OBJDIR)/*

5
selfdrive/can/packer.py
View File

@ -1,3 +1,4 @@
import six
import struct
from selfdrive.can.libdbc_py import libdbc, ffi
@ -20,7 +21,7 @@ class CANPacker(object):
def pack(self, addr, values, counter):
values_thing = []
for name, value in values.iteritems():
for name, value in six.iteritems(values):
if name not in self.sig_names:
self.sig_names[name] = ffi.new("char[]", name)
@ -63,5 +64,5 @@ if __name__ == "__main__":
#s = cp.pack_bytes(0xe4, {
# "STEER_TORQUE": -2,
#})
print [hex(ord(v)) for v in s[1]]
print([hex(ord(v)) for v in s[1]])
print(s[1].encode("hex"))

13
selfdrive/can/parser.py
View File

@ -1,3 +1,4 @@
import six
import time
from collections import defaultdict
import numbers
@ -58,7 +59,7 @@ class CANParser(object):
{
'address': msg_address,
'check_frequency': freq,
} for msg_address, freq in message_options.iteritems()])
} for msg_address, freq in six.iteritems(message_options)])
self.can = libdbc.can_init(bus, dbc_name, len(message_options_c), message_options_c,
len(signal_options_c), signal_options_c, sendcan, tcp_addr)
@ -68,7 +69,7 @@ class CANParser(object):
value_count = libdbc.can_query(self.can, 0, self.p_can_valid, 0, ffi.NULL)
self.can_values = ffi.new("SignalValue[%d]" % value_count)
self.update_vl(0)
# print "==="
# print("===")
def update_vl(self, sec):
@ -77,12 +78,12 @@ class CANParser(object):
self.can_valid = self.p_can_valid[0]
# print can_values_len
# print(can_values_len)
ret = set()
for i in xrange(can_values_len):
cv = self.can_values[i]
address = cv.address
# print hex(cv.address), ffi.string(cv.name)
# print("{0} {1}".format(hex(cv.address), ffi.string(cv.name)))
name = ffi.string(cv.name)
self.vl[address][name] = cv.value
self.ts[address][name] = cv.ts
@ -240,11 +241,11 @@ if __name__ == "__main__":
cp = CANParser("toyota_rav4_2017_pt_generated", signals, checks, 0)
# print cp.vl
# print(cp.vl)
while True:
cp.update(int(sec_since_boot()*1e9), True)
# print cp.vl
# print(cp.vl)
print(cp.ts)
print(cp.can_valid)
time.sleep(0.01)

8
selfdrive/can/plant_can_parser.py
View File

@ -78,7 +78,7 @@ class CANParser(object):
msg_vl = fix(ck_portion, msg)
# compare recalculated vs received checksum
if msg_vl != cdat:
print "CHECKSUM FAIL: " + hex(msg)
print("CHECKSUM FAIL: {0}".format(hex(msg)))
self.ck[msg] = False
self.ok[msg] = False
# counter check
@ -87,13 +87,13 @@ class CANParser(object):
cn = out["COUNTER"]
# check counter validity if it's a relevant message
if cn != ((self.cn[msg] + 1) % 4) and msg in self.msgs_ck and "COUNTER" in out.keys():
#print hex(msg), "FAILED COUNTER!"
#print("FAILED COUNTER: {0}".format(hex(msg)()
self.cn_vl[msg] += 1 # counter check failed
else:
self.cn_vl[msg] -= 1 # counter check passed
# message status is invalid if we received too many wrong counter values
if self.cn_vl[msg] >= cn_vl_max:
print "COUNTER WRONG: " + hex(msg)
print("COUNTER WRONG: {0}".format(hex(msg)))
self.ok[msg] = False
# update msg time stamps and counter value
@ -118,7 +118,7 @@ class CANParser(object):
self.can_valid = True
if False in self.ok.values():
#print "CAN INVALID!"
#print("CAN INVALID!")
self.can_valid = False
return msgs_upd

119
selfdrive/can/process_dbc.py
View File

@ -1,68 +1,89 @@
#!/usr/bin/env python
import os
import glob
import sys
import six
import jinja2
from collections import Counter
from common.dbc import dbc
if len(sys.argv) != 3:
print "usage: %s dbc_path struct_path" % (sys.argv[0],)
sys.exit(0)
def main():
if len(sys.argv) != 3:
print "usage: %s dbc_directory output_directory" % (sys.argv[0],)
sys.exit(0)
dbc_fn = sys.argv[1]
out_fn = sys.argv[2]
dbc_dir = sys.argv[1]
out_dir = sys.argv[2]
template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")
template_fn = os.path.join(os.path.dirname(__file__), "dbc_template.cc")
template_mtime = os.path.getmtime(template_fn)
can_dbc = dbc(dbc_fn)
this_file_mtime = os.path.getmtime(__file__)
with open(template_fn, "r") as template_f:
template = jinja2.Template(template_f.read(), trim_blocks=True, lstrip_blocks=True)
with open(template_fn, "r") as template_f:
template = jinja2.Template(template_f.read(), trim_blocks=True, lstrip_blocks=True)
msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.iteritems()) if msg_sigs]
for dbc_path in glob.iglob(os.path.join(dbc_dir, "*.dbc")):
dbc_mtime = os.path.getmtime(dbc_path)
dbc_fn = os.path.split(dbc_path)[1]
dbc_name = os.path.splitext(dbc_fn)[0]
can_dbc = dbc(dbc_path)
out_fn = os.path.join(os.path.dirname(__file__), out_dir, dbc_name + ".cc")
if os.path.exists(out_fn):
out_mtime = os.path.getmtime(out_fn)
else:
out_mtime = 0
def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
def_vals = [(address, sig) for address, sig in sorted(def_vals.iteritems())]
if dbc_mtime < out_mtime and template_mtime < out_mtime and this_file_mtime < out_mtime:
continue #skip output is newer than template and dbc
if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
checksum_type = "honda"
checksum_size = 4
elif can_dbc.name.startswith("toyota") or can_dbc.name.startswith("lexus"):
checksum_type = "toyota"
checksum_size = 8
else:
checksum_type = None
msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
for address, ((msg_name, msg_size), msg_sigs) in sorted(six.iteritems(can_dbc.msgs)) if msg_sigs]
for address, msg_name, msg_size, sigs in msgs:
for sig in sigs:
if checksum_type is not None and sig.name == "CHECKSUM":
if sig.size != checksum_size:
sys.exit("CHECKSUM is not %d bits longs %s" % (checksum_size, msg_name))
if checksum_type == "honda" and sig.start_bit % 8 != 3:
sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
if checksum_type == "toyota" and sig.start_bit % 8 != 7:
sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
if checksum_type == "honda" and sig.name == "COUNTER":
if sig.size != 2:
sys.exit("COUNTER is not 2 bits longs %s" % msg_name)
if sig.start_bit % 8 != 5:
sys.exit("COUNTER starts at wrong bit %s" % msg_name)
if address in [0x200, 0x201]:
if sig.name == "COUNTER_PEDAL" and sig.size != 4:
sys.exit("PEDAL COUNTER is not 4 bits longs %s" % msg_name)
if sig.name == "CHECKSUM_PEDAL" and sig.size != 8:
sys.exit("PEDAL CHECKSUM is not 8 bits longs %s" % msg_name)
def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
def_vals = [(address, sig) for address, sig in sorted(six.iteritems(def_vals))]
# Fail on duplicate message names
c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
for name, count in c.items():
if count > 1:
sys.exit("Duplicate message name in DBC file %s" % name)
if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
checksum_type = "honda"
checksum_size = 4
elif can_dbc.name.startswith("toyota") or can_dbc.name.startswith("lexus"):
checksum_type = "toyota"
checksum_size = 8
else:
checksum_type = None
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
for address, msg_name, msg_size, sigs in msgs:
for sig in sigs:
if checksum_type is not None and sig.name == "CHECKSUM":
if sig.size != checksum_size:
sys.exit("CHECKSUM is not %d bits longs %s" % (checksum_size, msg_name))
if checksum_type == "honda" and sig.start_bit % 8 != 3:
sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
if checksum_type == "toyota" and sig.start_bit % 8 != 7:
sys.exit("CHECKSUM starts at wrong bit %s" % msg_name)
if checksum_type == "honda" and sig.name == "COUNTER":
if sig.size != 2:
sys.exit("COUNTER is not 2 bits longs %s" % msg_name)
if sig.start_bit % 8 != 5:
sys.exit("COUNTER starts at wrong bit %s" % msg_name)
if address in [0x200, 0x201]:
if sig.name == "COUNTER_PEDAL" and sig.size != 4:
sys.exit("PEDAL COUNTER is not 4 bits longs %s" % msg_name)
if sig.name == "CHECKSUM_PEDAL" and sig.size != 8:
sys.exit("PEDAL CHECKSUM is not 8 bits longs %s" % msg_name)
with open(out_fn, "w") as out_f:
out_f.write(parser_code)
# Fail on duplicate message names
c = Counter([msg_name for address, msg_name, msg_size, sigs in msgs])
for name, count in c.items():
if count > 1:
sys.exit("Duplicate message name in DBC file %s" % name)
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
with open(out_fn, "w") as out_f:
out_f.write(parser_code)
if __name__ == '__main__':
main()

29
selfdrive/car/chrysler/carcontroller.py
View File

@ -2,9 +2,9 @@ from cereal import car
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car import apply_toyota_steer_torque_limits
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
create_wheel_buttons, create_lkas_heartbit, \
create_wheel_buttons, \
create_chimes
from selfdrive.car.chrysler.values import ECU
from selfdrive.car.chrysler.values import ECU, CAR
from selfdrive.can.packer import CANPacker
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
@ -29,6 +29,7 @@ class CarController(object):
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.send_chime = False
self.gone_fast_yet = False
self.fake_ecus = set()
if enable_camera:
@ -39,8 +40,8 @@ class CarController(object):
def update(self, sendcan, enabled, CS, frame, actuators,
pcm_cancel_cmd, hud_alert, audible_alert):
# this seems needed to avoid steering faults and to force the sync with the EPS counter
frame = CS.lkas_counter
if self.prev_frame == frame:
return
@ -51,6 +52,11 @@ class CarController(object):
CS.steer_torque_motor, SteerLimitParams)
moving_fast = CS.v_ego > CS.CP.minSteerSpeed # for status message
if CS.v_ego > (CS.CP.minSteerSpeed - 0.5): # for command high bit
self.gone_fast_yet = True
elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
if CS.v_ego < (CS.CP.minSteerSpeed - 3.0):
self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5
lkas_active = moving_fast and enabled
if not lkas_active:
@ -76,18 +82,17 @@ class CarController(object):
new_msg = create_wheel_buttons(self.ccframe)
can_sends.append(new_msg)
# LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
# frame is 100Hz (0.01s period)
if (self.ccframe % 10 == 0): # 0.1s period
new_msg = create_lkas_heartbit(self.car_fingerprint)
can_sends.append(new_msg)
if (self.ccframe % 25 == 0): # 0.25s period
new_msg = create_lkas_hud(self.packer, CS.gear_shifter, lkas_active, hud_alert, self.car_fingerprint,
self.hud_count)
can_sends.append(new_msg)
self.hud_count += 1
if (CS.lkas_car_model != -1):
new_msg = create_lkas_hud(
self.packer, CS.gear_shifter, lkas_active, hud_alert,
self.hud_count, CS.lkas_car_model)
can_sends.append(new_msg)
self.hud_count += 1
new_msg = create_lkas_command(self.packer, int(apply_steer), frame)
new_msg = create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, frame)
can_sends.append(new_msg)
self.ccframe += 1

18
selfdrive/car/chrysler/carstate.py
View File

@ -63,6 +63,18 @@ def get_can_parser(CP):
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_camera_parser(CP):
signals = [
# sig_name, sig_address, default
# TODO read in all the other values
("COUNTER", "LKAS_COMMAND", -1),
("CAR_MODEL", "LKAS_HUD", -1),
("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
class CarState(object):
def __init__(self, CP):
@ -85,7 +97,7 @@ class CarState(object):
self.v_ego = 0.0
def update(self, cp):
def update(self, cp, cp_cam):
# copy can_valid
self.can_valid = cp.can_valid
@ -142,3 +154,7 @@ class CarState(object):
self.pcm_acc_status = self.main_on
self.generic_toggle = 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']

39
selfdrive/car/chrysler/chryslercan.py
View File

@ -1,18 +1,9 @@
from cereal import car
from selfdrive.car.chrysler.values import CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
MODEL_TO_CONSTANT = {
CAR.PACIFICA_2017_HYBRID: 0,
CAR.PACIFICA_2018: 0x64,
CAR.PACIFICA_2018_HYBRID: 0xa8,
CAR.PACIFICA_2019_HYBRID: 0x68,
CAR.JEEP_CHEROKEE: 0xa4,
}
def calc_checksum(data):
"""This function does not want the checksum byte in the input data.
@ -21,8 +12,8 @@ def calc_checksum(data):
end_index = len(data)
index = 0
checksum = 0xFF
temp_chk = 0;
bit_sum = 0;
temp_chk = 0
bit_sum = 0
if(end_index <= index):
return False
for index in range(0, end_index):
@ -31,7 +22,7 @@ def calc_checksum(data):
iterate = 8
while(iterate > 0):
iterate -= 1
bit_sum = curr & shift;
bit_sum = curr & shift
temp_chk = checksum & 0x80
if (bit_sum != 0):
bit_sum = 0x1C
@ -53,28 +44,20 @@ def calc_checksum(data):
def make_can_msg(addr, dat):
return [addr, 0, dat, 0]
def create_lkas_heartbit(car_fingerprint):
# LKAS_HEARTBIT (729) Lane-keeping heartbeat.
msg = '0000000820'.decode('hex') # 2017
return make_can_msg(0x2d9, msg)
def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_count):
def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
if hud_alert == VisualAlert.steerRequired:
msg = '0000000300000000'.decode('hex')
return make_can_msg(0x2a6, msg)
color = 0 # default values are for park or neutral
lines = 0
color = 1 # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
lines = 1
alerts = 0
if hud_count < (3 *4): # first 3 seconds, 4Hz
lines = 1
if hud_count < (1 *4): # first 3 seconds, 4Hz
alerts = 1
elif hud_count < (6 * 4): # next 3 seconds, 4Hz
lines = 1
alerts = 0
# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
# had color = 1 and lines = 1 but trying 2017 hybrid style for now.
if gear in ('drive', 'reverse', 'low'):
@ -87,7 +70,7 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_c
values = {
"LKAS_ICON_COLOR": color, # byte 0, last 2 bits
"CAR_MODEL": MODEL_TO_CONSTANT[car_fingerprint], # byte 1
"CAR_MODEL": lkas_car_model, # byte 1
"LKAS_LANE_LINES": lines, # byte 2, last 4 bits
"LKAS_ALERTS": alerts, # byte 3, last 4 bits
}
@ -95,11 +78,11 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_c
return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6
def create_lkas_command(packer, apply_steer, frame):
# LKAS_COMMAND (658) Lane-keeping signal to turn the wheel.
def create_lkas_command(packer, apply_steer, moving_fast, frame):
# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
values = {
"LKAS_STEERING_TORQUE": apply_steer,
"LKAS_HIGH_TORQUE": 1,
"LKAS_HIGH_TORQUE": int(moving_fast),
"COUNTER": frame % 0x10,
}

53
selfdrive/car/chrysler/chryslercan_test.py
View File

@ -1,5 +1,4 @@
import chryslercan
from values import CAR
from selfdrive.car.chrysler import chryslercan
from selfdrive.can.packer import CANPacker
from cereal import car
@ -15,33 +14,47 @@ class TestChryslerCan(unittest.TestCase):
self.assertEqual(0x75, chryslercan.calc_checksum([0x01, 0x20]))
self.assertEqual(0xcc, chryslercan.calc_checksum([0x14, 0, 0, 0, 0x20]))
def test_heartbit(self):
self.assertEqual(
[0x2d9, 0, '0000000820'.decode('hex'), 0],
chryslercan.create_lkas_heartbit(CAR.PACIFICA_2017_HYBRID))
def test_hud(self):
packer = CANPacker('chrysler_pacifica_2017_hybrid')
self.assertEqual(
[0x2a6, 0, '0000010100000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'park', False, False, CAR.PACIFICA_2017_HYBRID, 1))
[0x2a6, 0, '0100010100000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(
packer,
'park', False, False, 1, 0))
self.assertEqual(
[0x2a6, 0, '0000010000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'park', False, False, CAR.PACIFICA_2017_HYBRID, 5*4))
[0x2a6, 0, '0100010000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(
packer,
'park', False, False, 5*4, 0))
self.assertEqual(
[0x2a6, 0, '0000000000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'park', False, False, CAR.PACIFICA_2017_HYBRID, 99999))
[0x2a6, 0, '0100010000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(
packer,
'park', False, False, 99999, 0))
self.assertEqual(
[0x2a6, 0, '0200060000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'drive', True, False, CAR.PACIFICA_2017_HYBRID, 99999))
chryslercan.create_lkas_hud(
packer,
'drive', True, False, 99999, 0))
self.assertEqual(
[0x2a6, 0, '0264060000000000'.decode('hex'), 0],
chryslercan.create_lkas_hud(packer,
'drive', True, False, CAR.PACIFICA_2018, 99999))
chryslercan.create_lkas_hud(
packer,
'drive', True, False, 99999, 0x64))
def test_command(self):
packer = CANPacker('chrysler_pacifica_2017_hybrid')
self.assertEqual(
[0x292, 0, '140000001086'.decode('hex'), 0],
chryslercan.create_lkas_command(
packer,
0, True, 1))
self.assertEqual(
[0x292, 0, '040000008083'.decode('hex'), 0],
chryslercan.create_lkas_command(
packer,
0, False, 8))
if __name__ == '__main__':
unittest.main()

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

@ -4,7 +4,7 @@ from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.chrysler.carstate import CarState, get_can_parser
from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
from selfdrive.car.chrysler.values import ECU, check_ecu_msgs, CAR
try:
@ -27,8 +27,8 @@ class CarInterface(object):
# *** init the major players ***
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
self.cp_cam = get_camera_parser(CP)
# sending if read only is False
if sendcan is not None:
@ -79,7 +79,7 @@ class CarInterface(object):
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0.7
if candidate == CAR.JEEP_CHEROKEE:
if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
ret.wheelbase = 2.91 # in meters
ret.steerRatio = 12.7
ret.steerActuatorDelay = 0.2 # in seconds
@ -91,6 +91,9 @@ class CarInterface(object):
ret.minSteerSpeed = 3.8 # m/s
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
@ -119,7 +122,7 @@ class CarInterface(object):
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
print "ECU Camera Simulated: ", ret.enableCamera
print("ECU Camera Simulated: {0}".format(ret.enableCamera))
ret.openpilotLongitudinalControl = False
ret.steerLimitAlert = True
@ -137,10 +140,9 @@ class CarInterface(object):
def update(self, c):
# ******************* do can recv *******************
canMonoTimes = []
self.cp.update(int(sec_since_boot() * 1e9), False)
self.CS.update(self.cp)
self.cp_cam.update(int(sec_since_boot() * 1e9), False)
self.CS.update(self.cp, self.cp_cam)
# create message
ret = car.CarState.new_message()
@ -208,6 +210,8 @@ class CarInterface(object):
self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed)
ret.genericToggle = self.CS.generic_toggle
#ret.lkasCounter = self.CS.lkas_counter
#ret.lkasCarModel = self.CS.lkas_car_model
# events
events = []

14
selfdrive/car/chrysler/radar_interface.py
View File

@ -25,29 +25,29 @@ def _create_radard_can_parser():
# The factor and offset are applied by the dbc parsing library, so the
# default values should be after the factor/offset are applied.
signals = zip(['LONG_DIST'] * msg_n +
signals = list(zip(['LONG_DIST'] * msg_n +
['LAT_DIST'] * msg_n +
['REL_SPEED'] * msg_n,
RADAR_MSGS_C * 2 + # LONG_DIST, LAT_DIST
RADAR_MSGS_D, # REL_SPEED
[0] * msg_n + # LONG_DIST
[-1000] * msg_n + # LAT_DIST
[-146.278] * msg_n) # REL_SPEED set to 0, factor/offset to this
[-146.278] * msg_n)) # REL_SPEED set to 0, factor/offset to this
# TODO what are the checks actually used for?
# honda only checks the last message,
# toyota checks all the messages. Which do we want?
checks = zip(RADAR_MSGS_C +
checks = list(zip(RADAR_MSGS_C +
RADAR_MSGS_D,
[20]*msg_n + # 20Hz (0.05s)
[20]*msg_n) # 20Hz (0.05s)
[20]*msg_n)) # 20Hz (0.05s)
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
def _address_to_track(address):
if address in RADAR_MSGS_C:
return (address - RADAR_MSGS_C[0]) / 2
return (address - RADAR_MSGS_C[0]) // 2
if address in RADAR_MSGS_D:
return (address - RADAR_MSGS_D[0]) / 2
return (address - RADAR_MSGS_D[0]) // 2
raise ValueError("radar received unexpected address %d" % address)
class RadarInterface(object):
@ -104,4 +104,4 @@ if __name__ == "__main__":
while 1:
ret = RI.update()
print(chr(27) + "[2J") # clear screen
print ret
print(ret)

10
selfdrive/car/chrysler/values.py
View File

@ -6,6 +6,7 @@ class CAR:
PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # Also covers Tailhawk 2017.
JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"
# Unique can messages:
# Only the hybrids have 270: 8
@ -24,11 +25,9 @@ FINGERPRINTS = {
],
CAR.PACIFICA_2018: [
{55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
],
CAR.PACIFICA_2018_HYBRID: [
{68: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
{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, 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},
],
CAR.PACIFICA_2019_HYBRID: [
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770:8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1538: 8},
@ -42,6 +41,8 @@ FINGERPRINTS = {
{55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
# Jeep Grand Cherokee 2017 Trailhawk
{257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 680: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 752: 2, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 783: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
],
CAR.JEEP_CHEROKEE_2019: [
# Jeep Grand Cherokee 2019 from Switzerland
# 530: 8 is so far only in this Jeep.
{55: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 660: 8, 671: 8, 672: 8, 676: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 792: 8, 799: 8, 804: 8, 806: 2, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 844: 5, 848: 8, 853: 8, 856: 4, 860: 6, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
@ -65,6 +66,9 @@ DBC = {
CAR.JEEP_CHEROKEE: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.JEEP_CHEROKEE_2019: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
}
STEER_THRESHOLD = 120

2
selfdrive/car/ford/interface.py
View File

@ -6,7 +6,7 @@ from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.ford.carstate import CarState, get_can_parser
from selfdrive.car.ford.fordcan import MAX_ANGLE
from selfdrive.car.ford.values import MAX_ANGLE
try:
from selfdrive.car.ford.carcontroller import CarController

10
selfdrive/car/ford/radar_interface.py
View File

@ -14,10 +14,10 @@ RADAR_MSGS = range(0x500, 0x540)
def _create_radard_can_parser():
dbc_f = 'ford_fusion_2018_adas.dbc'
msg_n = len(RADAR_MSGS)
signals = zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3,
[0] * msg_n + [0] * msg_n + [0] * msg_n)
checks = zip(RADAR_MSGS, [20]*msg_n)
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3,
[0] * msg_n + [0] * msg_n + [0] * msg_n))
checks = list(zip(RADAR_MSGS, [20]*msg_n))
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
@ -90,4 +90,4 @@ if __name__ == "__main__":
while 1:
ret = RI.update()
print(chr(27) + "[2J")
print ret
print(ret)

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