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Clean up ECU redundancy in selfdrive/car/* (#963) 

* clean up ecu redundancy in selfdrive/car

* clean up gear parsing
pull/981/head
Adeeb 2020-01-18 23:35:10 -08:00 committed by George Hotz
parent 0fa10e4dd7
commit dafdb79db2
19 changed files with 84 additions and 124 deletions
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4
selfdrive/car/chrysler/carcontroller.py
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@ -1,7 +1,7 @@
from selfdrive.car import apply_toyota_steer_torque_limits
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
create_wheel_buttons
from selfdrive.car.chrysler.values import ECU, CAR, SteerLimitParams
from selfdrive.car.chrysler.values import Ecu, CAR, SteerLimitParams
from opendbc.can.packer import CANPacker
class CarController():
@ -20,7 +20,7 @@ class CarController():
self.fake_ecus = set()
if enable_camera:
self.fake_ecus.add(ECU.CAM)
self.fake_ecus.add(Ecu.fwdCamera)
self.packer = CANPacker(dbc_name)

13
selfdrive/car/chrysler/carstate.py
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@ -6,17 +6,8 @@ from common.kalman.simple_kalman import KF1D
GearShifter = car.CarState.GearShifter
def parse_gear_shifter(can_gear):
if can_gear == 0x1:
return GearShifter.park
elif can_gear == 0x2:
return GearShifter.reverse
elif can_gear == 0x3:
return GearShifter.neutral
elif can_gear == 0x4:
return GearShifter.drive
elif can_gear == 0x5:
return GearShifter.low
return GearShifter.unknown
return {0x1: GearShifter.park, 0x2: GearShifter.reverse, 0x3: GearShifter.neutral,
0x4: GearShifter.drive, 0x5: GearShifter.low}.get(can_gear, GearShifter.unknown)
def get_can_parser(CP):

4
selfdrive/car/chrysler/interface.py
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@ -4,7 +4,7 @@ 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.chrysler.carstate import CarState, get_can_parser, get_camera_parser
from selfdrive.car.chrysler.values import ECU, ECU_FINGERPRINT, CAR, FINGERPRINTS
from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -91,7 +91,7 @@ class CarInterface(CarInterfaceBase):
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
print("ECU Camera Simulated: {0}".format(ret.enableCamera))
ret.openpilotLongitudinalControl = False

9
selfdrive/car/chrysler/values.py
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@ -1,4 +1,7 @@
from selfdrive.car import dbc_dict
from cereal import car
Ecu = car.CarParams.Ecu
class SteerLimitParams:
STEER_MAX = 261 # 262 faults
@ -89,10 +92,6 @@ DBC = {
STEER_THRESHOLD = 120
class ECU:
CAM = 0 # LKAS camera
ECU_FINGERPRINT = {
ECU.CAM: [0x292], # lkas cmd
Ecu.fwdCamera: [0x292], # lkas cmd
}

4
selfdrive/car/ford/interface.py
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@ -5,7 +5,7 @@ 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.values import MAX_ANGLE, ECU, ECU_FINGERPRINT, FINGERPRINTS
from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -85,7 +85,7 @@ class CarInterface(CarInterfaceBase):
ret.brakeMaxBP = [5., 20.]
ret.brakeMaxV = [1., 0.8]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = False
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)

7
selfdrive/car/ford/values.py
View File

@ -1,4 +1,6 @@
from selfdrive.car import dbc_dict
from cereal import car
Ecu = car.CarParams.Ecu
MAX_ANGLE = 87. # make sure we never command the extremes (0xfff) which cause latching fault
@ -11,11 +13,8 @@ FINGERPRINTS = {
}],
}
class ECU:
CAM = 0
ECU_FINGERPRINT = {
ECU.CAM: [970, 973, 984]
Ecu.fwdCamera: [970, 973, 984]
}
DBC = {

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

@ -3,7 +3,7 @@ from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.gm.values import DBC, CAR, ECU, ECU_FINGERPRINT, \
from selfdrive.car.gm.values import DBC, CAR, Ecu, ECU_FINGERPRINT, \
SUPERCRUISE_CARS, AccState, FINGERPRINTS
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
@ -58,7 +58,7 @@ class CarInterface(CarInterfaceBase):
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or \
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or \
has_relay or \
candidate == CAR.CADILLAC_CT6
ret.openpilotLongitudinalControl = ret.enableCamera

6
selfdrive/car/gm/values.py
View File

@ -1,5 +1,6 @@
from cereal import car
from selfdrive.car import dbc_dict
Ecu = car.CarParams.Ecu
class CAR:
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
@ -86,11 +87,8 @@ FINGERPRINTS = {
STEER_THRESHOLD = 1.0
class ECU:
CAM = 0
ECU_FINGERPRINT = {
ECU.CAM: [384, 715] # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
Ecu.fwdCamera: [384, 715] # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
}
DBC = {

13
selfdrive/car/honda/carstate.py
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@ -9,14 +9,9 @@ from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR,
GearShifter = car.CarState.GearShifter
def parse_gear_shifter(gear, vals):
val_to_capnp = {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
'D': GearShifter.drive, 'S': GearShifter.sport, 'L': GearShifter.low}
try:
return val_to_capnp[vals[gear]]
except KeyError:
return "unknown"
def parse_gear_shifter(gear):
return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
'D': GearShifter.drive, 'S': GearShifter.sport, 'L': GearShifter.low}.get(gear, GearShifter.unknown)
def calc_cruise_offset(offset, speed):
@ -315,7 +310,7 @@ class CarState():
self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.shifter_values)
self.gear_shifter = parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
# crv doesn't include cruise control

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

@ -8,7 +8,7 @@ from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, ECU, ECU_FINGERPRINT, FINGERPRINTS
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, Ecu, ECU_FINGERPRINT, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
from selfdrive.car.interfaces import CarInterfaceBase
@ -141,12 +141,12 @@ class CarInterface(CarInterfaceBase):
if candidate in HONDA_BOSCH:
ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe
rdr_bus = 0 if has_relay else 2
ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.radarOffCan = True
ret.openpilotLongitudinalControl = False
else:
ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera

5
selfdrive/car/honda/values.py
View File

@ -21,9 +21,6 @@ VISUAL_HUD = {
VisualAlert.seatbeltUnbuckled: 5,
VisualAlert.speedTooHigh: 8}
class ECU:
CAM = Ecu.fwdCamera
class CAR:
ACCORD = "HONDA ACCORD 2018 SPORT 2T"
ACCORD_15 = "HONDA ACCORD 2018 LX 1.5T"
@ -210,7 +207,7 @@ SPEED_FACTOR = {
# msgs sent for steering controller by camera module on can 0.
# those messages are mutually exclusive on CRV and non-CRV cars
ECU_FINGERPRINT = {
ECU.CAM: [0xE4, 0x194], # steer torque cmd
Ecu.fwdCamera: [0xE4, 0x194], # steer torque cmd
}
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_5G, CAR.CRV_HYBRID]

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

@ -4,7 +4,7 @@ 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.hyundai.carstate import CarState, get_can_parser, get_camera_parser
from selfdrive.car.hyundai.values import ECU, ECU_FINGERPRINT, CAR, get_hud_alerts, FEATURES, FINGERPRINTS
from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, get_hud_alerts, FEATURES, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -140,7 +140,7 @@ class CarInterface(CarInterfaceBase):
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = False
ret.stoppingControl = False

6
selfdrive/car/hyundai/values.py
View File

@ -1,5 +1,6 @@
from cereal import car
from selfdrive.car import dbc_dict
Ecu = car.CarParams.Ecu
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -61,11 +62,8 @@ FINGERPRINTS = {
],
}
class ECU:
CAM = 0
ECU_FINGERPRINT = {
ECU.CAM: [832, 1156, 1191, 1342]
Ecu.fwdCamera: [832, 1156, 1191, 1342]
}
CHECKSUM = {

7
selfdrive/car/subaru/values.py
View File

@ -1,4 +1,6 @@
from selfdrive.car import dbc_dict
from cereal import car
Ecu = car.CarParams.Ecu
class CAR:
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
@ -17,11 +19,8 @@ STEER_THRESHOLD = {
CAR.IMPREZA: 80,
}
class ECU:
CAM = 0
ECU_FINGERPRINT = {
ECU.CAM: [290, 356], # steer torque cmd
Ecu.fwdCamera: [290, 356], # steer torque cmd
}
DBC = {

20
selfdrive/car/toyota/carcontroller.py
View File

@ -4,7 +4,7 @@ from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command,
from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
create_ipas_steer_command, create_accel_command, \
create_acc_cancel_command, create_fcw_command
from selfdrive.car.toyota.values import CAR, ECU, STATIC_MSGS, SteerLimitParams
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, SteerLimitParams
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -101,9 +101,9 @@ class CarController():
self.steer_rate_limited = False
self.fake_ecus = set()
if enable_camera: self.fake_ecus.add(ECU.CAM)
if enable_dsu: self.fake_ecus.add(ECU.DSU)
if enable_apg: self.fake_ecus.add(ECU.APGS)
if enable_camera: self.fake_ecus.add(Ecu.fwdCamera)
if enable_dsu: self.fake_ecus.add(Ecu.dsu)
if enable_apg: self.fake_ecus.add(Ecu.apgs)
self.packer = CANPacker(dbc_name)
@ -186,7 +186,7 @@ class CarController():
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
if ECU.CAM in self.fake_ecus:
if Ecu.fwdCamera in self.fake_ecus:
if self.angle_control:
can_sends.append(create_steer_command(self.packer, 0., 0, frame))
else:
@ -194,12 +194,12 @@ class CarController():
if self.angle_control:
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
ECU.APGS in self.fake_ecus))
elif ECU.APGS in self.fake_ecus:
Ecu.apgs in self.fake_ecus))
elif Ecu.apgs in self.fake_ecus:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
# we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
lead = lead or CS.v_ego < 12. # at low speed we always assume the lead is present do ACC can be engaged
# Lexus IS uses a different cancellation message
@ -232,10 +232,10 @@ class CarController():
if pcm_cancel_cmd:
send_ui = True
if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
if frame % 100 == 0 and ECU.DSU in self.fake_ecus:
if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
can_sends.append(create_fcw_command(self.packer, fcw))
#*** static msgs ***

13
selfdrive/car/toyota/carstate.py
View File

@ -8,14 +8,9 @@ from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_
GearShifter = car.CarState.GearShifter
def parse_gear_shifter(gear, vals):
val_to_capnp = {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
'D': GearShifter.drive, 'B': GearShifter.brake}
try:
return val_to_capnp[vals[gear]]
except KeyError:
return GearShifter.unknown
def parse_gear_shifter(gear):
return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
'D': GearShifter.drive, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)
def get_can_parser(CP):
@ -166,7 +161,7 @@ class CarState():
self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
self.gear_shifter = parse_gear_shifter(self.shifter_values.get(can_gear, None))
if self.CP.carFingerprint == CAR.LEXUS_IS:
self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
else:

8
selfdrive/car/toyota/interface.py
View File

@ -4,7 +4,7 @@ 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.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
from selfdrive.car.toyota.values import ECU, ECU_FINGERPRINT, CAR, NO_STOP_TIMER_CAR, TSS2_CAR, FINGERPRINTS
from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, NO_STOP_TIMER_CAR, TSS2_CAR, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.swaglog import cloudlog
from selfdrive.car.interfaces import CarInterfaceBase
@ -245,10 +245,10 @@ class CarInterface(CarInterfaceBase):
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
# In TSS2 cars the camera does long control
ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.DSU) and candidate not in TSS2_CAR
ret.enableApgs = False # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.APGS)
ret.enableDsu = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.dsu) and candidate not in TSS2_CAR
ret.enableApgs = False # is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.apgs)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera and (ret.enableDsu or candidate in TSS2_CAR)
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)

62
selfdrive/car/toyota/values.py
View File

@ -32,46 +32,40 @@ class CAR:
LEXUS_CTH = "LEXUS CT 200H 2018"
class ECU:
CAM = Ecu.fwdCamera # camera
DSU = Ecu.dsu # driving support unit
APGS = Ecu.apgs # advanced parking guidance system
# addr: (ecu, cars, bus, 1/freq*100, vl)
STATIC_MSGS = [
(0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
(0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
(0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1, 2, b'\x00\x00\x00\x46'),
(0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
(0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
(0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
(0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
(0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
(0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
(0x365, ECU.DSU, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
(0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
(0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
(0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH), 1, 100, b'\x00\x00\x01\x79'),
(0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
(0x128, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
(0x128, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
(0x141, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1, 2, b'\x00\x00\x00\x46'),
(0x160, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
(0X161, Ecu.dsu, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
(0x283, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
(0x33E, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
(0x344, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
(0x365, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
(0x365, Ecu.dsu, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
(0x366, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, Ecu.dsu, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
(0x470, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
(0x470, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH), 1, 100, b'\x00\x00\x01\x79'),
(0x4CB, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
(0x292, ECU.APGS, (CAR.PRIUS), 0, 3, b'\x00\x00\x00\x00\x00\x00\x00\x9e'),
(0x32E, ECU.APGS, (CAR.PRIUS), 0, 20, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x396, ECU.APGS, (CAR.PRIUS), 0, 100, b'\xBD\x00\x00\x00\x60\x0F\x02\x00'),
(0x43A, ECU.APGS, (CAR.PRIUS), 0, 100, b'\x84\x00\x00\x00\x00\x00\x00\x00'),
(0x43B, ECU.APGS, (CAR.PRIUS), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x497, ECU.APGS, (CAR.PRIUS), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x4CC, ECU.APGS, (CAR.PRIUS), 0, 100, b'\x0D\x00\x00\x00\x00\x00\x00\x00'),
(0x292, Ecu.apgs, (CAR.PRIUS), 0, 3, b'\x00\x00\x00\x00\x00\x00\x00\x9e'),
(0x32E, Ecu.apgs, (CAR.PRIUS), 0, 20, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x396, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\xBD\x00\x00\x00\x60\x0F\x02\x00'),
(0x43A, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\x84\x00\x00\x00\x00\x00\x00\x00'),
(0x43B, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x497, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
(0x4CC, Ecu.apgs, (CAR.PRIUS), 0, 100, b'\x0D\x00\x00\x00\x00\x00\x00\x00'),
]
ECU_FINGERPRINT = {
ECU.CAM: [0x2e4], # steer torque cmd
ECU.DSU: [0x343], # accel cmd
ECU.APGS: [0x835], # angle cmd
Ecu.fwdCamera: [0x2e4], # steer torque cmd
Ecu.dsu: [0x343], # accel cmd
Ecu.apgs: [0x835], # angle cmd
}

13
selfdrive/car/volkswagen/carstate.py
View File

@ -99,15 +99,10 @@ def get_mqb_cam_can_parser(CP, canbus):
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, canbus.cam)
def parse_gear_shifter(gear, vals):
def parse_gear_shifter(gear):
# Return mapping of gearshift position to selected gear.
val_to_capnp = {'P': GEAR.park, 'R': GEAR.reverse, 'N': GEAR.neutral,
'D': GEAR.drive, 'E': GEAR.eco, 'S': GEAR.sport, 'T': GEAR.manumatic}
try:
return val_to_capnp[vals[gear]]
except KeyError:
return "unknown"
return {'P': GEAR.park, 'R': GEAR.reverse, 'N': GEAR.neutral,
'D': GEAR.drive, 'E': GEAR.eco, 'S': GEAR.sport, 'T': GEAR.manumatic}.get(gear, GEAR.unknown)
class CarState():
def __init__(self, CP, canbus):
@ -157,7 +152,7 @@ class CarState():
# Update gear and/or clutch position data.
can_gear_shifter = int(pt_cp.vl["Getriebe_11"]['GE_Fahrstufe'])
self.gearShifter = parse_gear_shifter(can_gear_shifter, self.shifter_values)
self.gearShifter = parse_gear_shifter(self.shifter_values.get(can_gear_shifter, None))
# Update door and trunk/hatch lid open status.
self.doorOpen = any([pt_cp.vl["Gateway_72"]['ZV_FT_offen'],