Release 260111
This commit is contained in:
Comma Device
7
opendbc_repo/LICENSE
Normal file
7
opendbc_repo/LICENSE
Normal file
@@ -0,0 +1,7 @@
|
||||
Copyright (c) 2020, Comma.ai, Inc.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
3
opendbc_repo/MANIFEST.in
Normal file
3
opendbc_repo/MANIFEST.in
Normal file
@@ -0,0 +1,3 @@
|
||||
include opendbc/car/car.capnp
|
||||
include opendbc/car/include/c++.capnp
|
||||
recursive-include opendbc/safety *.h
|
||||
196
opendbc_repo/README.md
Normal file
196
opendbc_repo/README.md
Normal file
@@ -0,0 +1,196 @@
|
||||
<div align="center" style="text-align: center;">
|
||||
|
||||
<h1>opendbc</h1>
|
||||
<p>
|
||||
<b>opendbc is a Python API for your car.</b>
|
||||
<br>
|
||||
Control the gas, brake, steering, and more. Read the speed, steering angle, and more.
|
||||
</p>
|
||||
|
||||
<h3>
|
||||
<a href="https://docs.comma.ai">Docs</a>
|
||||
<span> · </span>
|
||||
<a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
|
||||
<span> · </span>
|
||||
<a href="https://discord.comma.ai">Discord</a>
|
||||
</h3>
|
||||
|
||||
[](LICENSE)
|
||||
[](https://x.com/comma_ai)
|
||||
[](https://discord.comma.ai)
|
||||
|
||||
</div>
|
||||
|
||||
---
|
||||
|
||||
Most cars since 2016 have electronically-actuatable steering, gas, and brakes thanks to [LKAS](https://en.wikipedia.org/wiki/Lane_departure_warning_system#Lane_keeping_and_next_technologies) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control).
|
||||
The goal of this project is to support controlling the steering, gas, and brakes on every single one of those cars.
|
||||
|
||||
While the primary focus is on supporting ADAS interfaces for [openpilot](https://github.com/commaai/openpilot), we're also interested in reading and writing as many things as we can (EV charge status, lock/unlocking doors, etc) such that we can build the best vehicle management app ever.
|
||||
|
||||
---
|
||||
|
||||
This README and the [supported cars list](docs/CARS.md) are all the docs for the opendbc project.
|
||||
Everything you need to know to use, contribute, and extend opendbc are in these docs.
|
||||
|
||||
## Quick start
|
||||
|
||||
```bash
|
||||
git clone https://github.com/commaai/opendbc.git
|
||||
cd opendbc
|
||||
|
||||
# you probably just want to use this. it's an all-in-one for dependency
|
||||
# installation, compiling, linting, and tests. it's also what runs in CI
|
||||
./test.sh
|
||||
|
||||
# here are the individual commands it runs
|
||||
pip3 install -e .[testing,docs] # install dependencies
|
||||
scons -j8 # build with 8 cores
|
||||
pytest . # run the tests
|
||||
lefthook run lint # run the linter
|
||||
```
|
||||
|
||||
[`examples/`](examples/) contains small example programs that can read state from the car and control the steering, gas, and brakes.
|
||||
[`examples/joystick.py`](examples/joystick.py) allows you to control a car with a joystick.
|
||||
|
||||
### Project Structure
|
||||
* [`opendbc/dbc/`](opendbc/dbc/) is a repository of [DBC](https://en.wikipedia.org/wiki/CAN_bus#DBC) files
|
||||
* [`opendbc/can/`](opendbc/can/) is a library for parsing and building CAN messages from DBC files
|
||||
* [`opendbc/car/`](opendbc/car/) is a high-level library for interfacing with cars using Python
|
||||
* [`opendbc/safety/`](opendbc/safety/) is the functional safety for all the cars supported by `opendbc/car/`
|
||||
|
||||
## How to Port a Car
|
||||
|
||||
This guide covers everything from adding support to a new car all the way to improving existing cars (e.g. adding longitudinal control or radar parsing). If similar cars to yours are already compatible, most of this work is likely already done for you.
|
||||
|
||||
At its most basic, a car port will control the steering on a car. A "complete" car port will have all of: lateral control, longitudinal control, good tuning for both lateral and longitudinal, radar parsing (if equipped), fuzzy fingerprinting, and more. The new car support docs will clearly communicate each car's support level.
|
||||
|
||||
### Connect to the Car
|
||||
|
||||
The first step is to get connected to the car with a comma 3X and a car harness.
|
||||
The car harness gets you connected to two different CAN buses and splits one of those buses to send our own actuation messages.
|
||||
|
||||
If you're lucky, a harness compatible with your car will already be designed and sold on comma.ai/shop.
|
||||
If you're not so lucky, start with a "developer harness" from comma.ai/shop and crimp on whatever connector you need.
|
||||
|
||||
### Structure of a port
|
||||
|
||||
Depending on the brand, most of this basic structure will already be in place.
|
||||
|
||||
The entirety of a car port lives in `opendbc/car/<brand>/`:
|
||||
* `carstate.py`: parses out the relevant information from the CAN stream using the car's DBC file
|
||||
* `carcontroller.py`: outputs CAN messages to control the car
|
||||
* `<brand>can.py`: thin Python helpers around the DBC file to build CAN messages
|
||||
* `fingerprints.py`: database of ECU firmware versions for identifying car models
|
||||
* `interface.py`: high level class for interfacing with the car
|
||||
* `radar_interface.py`: parses out the radar
|
||||
* `values.py`: enumerates the brand's supported cars
|
||||
|
||||
### Reverse Engineer CAN messages
|
||||
|
||||
Start off by recording a route with lots of interesting events: enable LKAS and ACC, turn the steering wheel both extremes, etc. Then, load up that route in [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
|
||||
|
||||
### Tuning
|
||||
|
||||
#### Longitudinal
|
||||
|
||||
Use the [longitudinal maneuvers](https://github.com/commaai/openpilot/tree/master/tools/longitudinal_maneuvers) report to evaluate your car's longitudinal control and tune it.
|
||||
|
||||
## Contributing
|
||||
|
||||
All opendbc development is coordinated on GitHub and [Discord](https://discord.comma.ai). Check out the `#dev-opendbc-cars` channel and `Vehicle Specific` section.
|
||||
|
||||
### Roadmap
|
||||
|
||||
Short term
|
||||
- [ ] `pip install opendbc`
|
||||
- [ ] 100% type coverage
|
||||
- [ ] 100% line coverage
|
||||
- [ ] Make car ports easier: refactors, tools, tests, and docs
|
||||
- [ ] Expose the state of all supported cars better: https://github.com/commaai/opendbc/issues/1144
|
||||
|
||||
Longer term
|
||||
- [ ] Extend support to every car with LKAS + ACC interfaces
|
||||
- [ ] Automatic lateral and longitudinal control/tuning evaluation
|
||||
- [ ] Auto-tuning for [lateral](https://blog.comma.ai/090release/#torqued-an-auto-tuner-for-lateral-control) and longitudinal control
|
||||
- [ ] [Automatic Emergency Braking](https://en.wikipedia.org/wiki/Automated_emergency_braking_system)
|
||||
|
||||
Contributions towards anything here are welcome.
|
||||
|
||||
## Safety Model
|
||||
|
||||
When a [panda](https://comma.ai/shop/panda) powers up with [opendbc safety firmware](opendbc/safety), by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the CAN buses are forced to be silent. In order to send messages, you have to select a safety mode. Some of safety modes (for example `SAFETY_ALLOUTPUT`) are disabled in release firmwares. In order to use them, compile and flash your own build.
|
||||
|
||||
Safety modes optionally support `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
|
||||
|
||||
## Code Rigor
|
||||
|
||||
The opendbc safety firmware is written for its use in conjunction with [openpilot](https://github.com/commaai/openpilot) and [panda](https://github.com/commaai/panda). The safety firmware, through its safety model, provides and enforces the
|
||||
[openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `safety` folder is held to high standards.
|
||||
|
||||
These are the [CI regression tests](https://github.com/commaai/opendbc/actions) we have in place:
|
||||
* A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
|
||||
* In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://misra.org.uk/) violations. See [current coverage](opendbc/safety/tests/misra/coverage_table).
|
||||
* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
|
||||
* The [safety logic](opendbc/safety) is tested and verified by [unit tests](opendbc/safety/tests) for each supported car variant.
|
||||
|
||||
The above tests are themselves tested by:
|
||||
* a [mutation test](opendbc/safety/tests/misra/test_mutation.py) on the MISRA coverage
|
||||
* 100% line coverage enforced on the safety unit tests
|
||||
|
||||
In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on the car interface library.
|
||||
|
||||
### Bounties
|
||||
|
||||
Every car port is eligible for a bounty:
|
||||
* $2000 - [Any car brand / platform port](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=47913774)
|
||||
* $250 - [Any car model port](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=47913790)
|
||||
* $300 - [Reverse Engineering a new Actuation Message](https://github.com/orgs/commaai/projects/26/views/1?pane=issue&itemId=73445563)
|
||||
|
||||
In addition to the standard bounties, we also offer higher value bounties for more popular cars. See those at [comma.ai/bounties](comma.ai/bounties).
|
||||
|
||||
## FAQ
|
||||
|
||||
***How do I use this?*** A [comma 3X](https://comma.ai/shop/comma-3x) is custom-designed to be the best way to run and develop opendbc and openpilot.
|
||||
|
||||
***Which cars are supported?*** See the [supported cars list](docs/CARS.md).
|
||||
|
||||
***Can I add support for my car?*** Yes, most car support comes from the community. Read the guide [here](https://github.com/commaai/opendbc/blob/docs/README.md#how-to-port-a-car).
|
||||
|
||||
***Which cars can be supported?*** Any car with LKAS and ACC. More info [here](https://github.com/commaai/openpilot/blob/master/docs/CARS.md#dont-see-your-car-here).
|
||||
|
||||
***How does this work?*** In short, we designed hardware to replace your car's built-in lane keep and adaptive cruise features. See [this talk](https://www.youtube.com/watch?v=FL8CxUSfipM) for an in-depth explanation.
|
||||
|
||||
***Is there a timeline or roadmap for adding car support?*** No, most car support comes from the community, with comma doing final safety and quality validation. The more complete the community car port is and the more popular the car is, the more likely we are to pick it up as the next one to validate.
|
||||
|
||||
### Terms
|
||||
|
||||
* **port**: refers to the integration and support of a specific car
|
||||
* **lateral control**: aka steering control
|
||||
* **longitudinal control**: aka gas/brakes control
|
||||
* **fingerprinting**: automatic process for identifying the car
|
||||
* **[LKAS](https://en.wikipedia.org/wiki/Lane_departure_warning_system)**: lane keeping assist
|
||||
* **[ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control)**: adaptive cruise control
|
||||
* **[harness](https://comma.ai/shop/car-harness)**: car-specific hardware to attach to the car and intercept the ADAS messages
|
||||
* **[panda](https://github.com/commaai/panda)**: hardware used to get on a car's CAN bus
|
||||
* **[ECU](https://en.wikipedia.org/wiki/Electronic_control_unit)**: computers or control modules inside the car
|
||||
* **[CAN bus](https://en.wikipedia.org/wiki/CAN_bus)**: a bus that connects the ECUs in a car
|
||||
* **[cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana#readme)**: our tool for reverse engineering CAN messages
|
||||
* **[DBC file](https://en.wikipedia.org/wiki/CAN_bus#DBC)**: contains definitions for messages on a CAN bus
|
||||
* **[openpilot](https://github.com/commaai/openpilot)**: an ADAS system for cars supported by opendbc
|
||||
* **[comma](https://github.com/commaai)**: the company behind opendbc
|
||||
* **[comma 3X](https://comma.ai/shop/comma-3x)**: the hardware used to run openpilot
|
||||
|
||||
### More resources
|
||||
|
||||
* [*How Do We Control The Car?*](https://www.youtube.com/watch?v=nNU6ipme878&pp=ygUoY29tbWEgY29uIDIwMjEgaG93IGRvIHdlIGNvbnRyb2wgdGhlIGNhcg%3D%3D) by [@robbederks](https://github.com/robbederks) from COMMA_CON 2021
|
||||
* [*How to Port a Car*](https://www.youtube.com/watch?v=XxPS5TpTUnI&t=142s&pp=ygUPamFzb24gY29tbWEgY29u) by [@jyoung8607](https://github.com/jyoung8607) from COMMA_CON 2023
|
||||
* [commaCarSegments](https://huggingface.co/datasets/commaai/commaCarSegments): a massive dataset of CAN data from 300 different car models
|
||||
* [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana#readme): our tool for reverse engineering CAN messages
|
||||
* [can_print_changes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/debug/can_print_changes.py): diff the whole CAN bus across two drives, such as one without any LKAS and one with LKAS
|
||||
* [longitudinal maneuvers](https://github.com/commaai/openpilot/tree/master/tools/longitudinal_maneuvers): a tool for evaluating and tuning longitudinal control
|
||||
* [opendbc data](https://commaai.github.io/opendbc-data/): a repository of longitudinal maneuver evaluations
|
||||
|
||||
## Come work with us -- [comma.ai/jobs](https://comma.ai/jobs)
|
||||
|
||||
comma is hiring engineers to work on opendbc and [openpilot](https://github.com/commaai/openpilot). We love hiring contributors.
|
||||
13
opendbc_repo/RELEASES.md
Normal file
13
opendbc_repo/RELEASES.md
Normal file
@@ -0,0 +1,13 @@
|
||||
Version 0.2.1 (2025-02-10)
|
||||
========================
|
||||
* Fix missing files making car/ package not importable
|
||||
|
||||
Version 0.2.0 (2025-02-10)
|
||||
========================
|
||||
* Moved car/ directory from openpilot to opendbc. It comprises the APIs necessary to communicate with 275+ car models
|
||||
* opendbc is moving towards being a complete self-contained car API package
|
||||
* Soon all opendbc-related tests from openpilot will be migrated as well
|
||||
|
||||
Version 0.1.0 (2024-08-01)
|
||||
========================
|
||||
* Initial pre-release package with can/ and dbc/ directories
|
||||
5
opendbc_repo/conftest.py
Normal file
5
opendbc_repo/conftest.py
Normal file
@@ -0,0 +1,5 @@
|
||||
# pytest attempts to execute shell scripts while collecting
|
||||
collect_ignore_glob = [
|
||||
"opendbc/safety/tests/misra/*.sh",
|
||||
"opendbc/safety/tests/misra/cppcheck/",
|
||||
]
|
||||
439
opendbc_repo/docs/CARS.md
Normal file
439
opendbc_repo/docs/CARS.md
Normal file
@@ -0,0 +1,439 @@
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
# Support Information for 365 Known Cars
|
||||
|
||||
|Make|Model|Package|Support Level|
|
||||
|---|---|---|:---:|
|
||||
|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|[Upstream](#upstream)|
|
||||
|Acura|ILX 2019|All|[Upstream](#upstream)|
|
||||
|Acura|Integra 2024|All|[Community](#community)|
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
|
||||
|Acura|RDX 2019-21|All|[Upstream](#upstream)|
|
||||
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|A4 2016-24|All|[Not compatible](#flexray)|
|
||||
|Audi|A5 2016-24|All|[Not compatible](#flexray)|
|
||||
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|Q5 2017-24|All|[Not compatible](#flexray)|
|
||||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|[Upstream](#upstream)|
|
||||
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|[Upstream](#upstream)|
|
||||
|Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chevrolet|Silverado 1500 2020-21|Safety Package II|[Upstream](#upstream)|
|
||||
|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|comma|body|All|[Upstream](#upstream)|
|
||||
|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|
||||
|Ford|Explorer 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
|
||||
|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|
||||
|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
|
||||
|Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga Hybrid 2024|All|[Upstream](#upstream)|
|
||||
|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Ford|Kuga Plug-in Hybrid 2024|All|[Upstream](#upstream)|
|
||||
|Ford|Maverick 2022|LARIAT Luxury|[Upstream](#upstream)|
|
||||
|Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
|
||||
|Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)|
|
||||
|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
|
||||
|Ford|Mustang Mach-E 2021-24|All|[Upstream](#upstream)|
|
||||
|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
|
||||
|Genesis|G70 2018|All|[Upstream](#upstream)|
|
||||
|Genesis|G70 2019-21|All|[Upstream](#upstream)|
|
||||
|Genesis|G70 2022-23|All|[Upstream](#upstream)|
|
||||
|Genesis|G80 2017|All|[Upstream](#upstream)|
|
||||
|Genesis|G80 2018-19|All|[Upstream](#upstream)|
|
||||
|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Genesis|G90 2017-20|All|[Upstream](#upstream)|
|
||||
|Genesis|GV60 (Advanced Trim) 2023|All|[Upstream](#upstream)|
|
||||
|Genesis|GV60 (Performance Trim) 2022-23|All|[Upstream](#upstream)|
|
||||
|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|All|[Upstream](#upstream)|
|
||||
|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|[Upstream](#upstream)|
|
||||
|Genesis|GV70 Electrified (Australia Only) 2022|All|[Upstream](#upstream)|
|
||||
|Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Genesis|GV80 2023|All|[Upstream](#upstream)|
|
||||
|GMC|Sierra 1500 2020-21|Driver Alert Package II|[Upstream](#upstream)|
|
||||
|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|[Dashcam mode](#dashcam)|
|
||||
|Honda|Accord 2018-22|All|[Upstream](#upstream)|
|
||||
|Honda|Accord 2023-24|All|[Community](#community)|
|
||||
|Honda|Accord Hybrid 2018-22|All|[Upstream](#upstream)|
|
||||
|Honda|Civic 2016-18|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Civic 2019-21|All|[Upstream](#upstream)|
|
||||
|Honda|Civic 2022-24|All|[Upstream](#upstream)|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Civic Hatchback 2022-24|All|[Upstream](#upstream)|
|
||||
|Honda|Civic Hatchback Hybrid 2025|All|[Upstream](#upstream)|
|
||||
|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|[Upstream](#upstream)|
|
||||
|Honda|Civic Hybrid 2025|All|[Upstream](#upstream)|
|
||||
|Honda|Clarity 2018-21|All|[Community](#community)|
|
||||
|Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
|
||||
|Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|CR-V 2024|All|[Community](#community)|
|
||||
|Honda|CR-V Hybrid 2017-22|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|CR-V Hybrid 2024|All|[Community](#community)|
|
||||
|Honda|e 2020|All|[Upstream](#upstream)|
|
||||
|Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Freed 2020|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|HR-V 2019-22|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|HR-V 2023-25|All|[Upstream](#upstream)|
|
||||
|Honda|Insight 2019-22|All|[Upstream](#upstream)|
|
||||
|Honda|Inspire 2018|All|[Upstream](#upstream)|
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Odyssey 2021-25|All|[Community](#community)|
|
||||
|Honda|Passport 2019-25|All|[Upstream](#upstream)|
|
||||
|Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
|
||||
|Honda|Pilot 2023|All|[Dashcam mode](#dashcam)|
|
||||
|Honda|Pilot 2023-24|All|[Community](#community)|
|
||||
|Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
|
||||
|Hyundai|Azera 2022|All|[Upstream](#upstream)|
|
||||
|Hyundai|Azera Hybrid 2019|All|[Upstream](#upstream)|
|
||||
|Hyundai|Azera Hybrid 2020|All|[Upstream](#upstream)|
|
||||
|Hyundai|Custin 2023|All|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq Electric 2020|All|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|[Upstream](#upstream)|
|
||||
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona 2022|Smart Cruise Control (SCC)|[Dashcam mode](#dashcam)|
|
||||
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Nexo 2021|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2020-22|All|[Upstream](#upstream)|
|
||||
|Hyundai|Palisade 2023-24|HDA2|[Community](#community)|
|
||||
|Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Fe 2019-20|All|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Fe 2021-23|All|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Fe Hybrid 2022-23|All|[Upstream](#upstream)|
|
||||
|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|[Upstream](#upstream)|
|
||||
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Sonata 2020-23|All|[Upstream](#upstream)|
|
||||
|Hyundai|Sonata Hybrid 2020-23|All|[Upstream](#upstream)|
|
||||
|Hyundai|Staria 2023|All|[Upstream](#upstream)|
|
||||
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Tucson 2023-24|All|[Upstream](#upstream)|
|
||||
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Hyundai|Tucson Hybrid 2022-24|All|[Upstream](#upstream)|
|
||||
|Hyundai|Tucson Plug-in Hybrid 2024|All|[Upstream](#upstream)|
|
||||
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Kia|Carnival 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|EV6 (Southeast Asia only) 2022-24|All|[Upstream](#upstream)|
|
||||
|Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
|
||||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Forte 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|K5 2021-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Kia|Niro EV 2019|All|[Upstream](#upstream)|
|
||||
|Kia|Niro EV 2020|All|[Upstream](#upstream)|
|
||||
|Kia|Niro EV 2021|All|[Upstream](#upstream)|
|
||||
|Kia|Niro EV 2022|All|[Upstream](#upstream)|
|
||||
|Kia|Niro EV (with HDA II) 2025|Highway Driving Assist II|[Upstream](#upstream)|
|
||||
|Kia|Niro EV (without HDA II) 2023-25|All|[Upstream](#upstream)|
|
||||
|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Niro Hybrid 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Niro Plug-in Hybrid 2018-19|All|[Upstream](#upstream)|
|
||||
|Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Niro Plug-in Hybrid 2022|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Optima 2017|Advanced Smart Cruise Control|[Upstream](#upstream)|
|
||||
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Optima Hybrid 2017|Advanced Smart Cruise Control|[Dashcam mode](#dashcam)|
|
||||
|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Seltos 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|[Upstream](#upstream)|
|
||||
|Kia|Sorento 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Sorento 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Sorento Hybrid 2021-23|All|[Upstream](#upstream)|
|
||||
|Kia|Sorento Plug-in Hybrid 2022-23|All|[Upstream](#upstream)|
|
||||
|Kia|Sportage 2023-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
|
||||
|Kia|Stinger 2022-23|All|[Upstream](#upstream)|
|
||||
|Kia|Telluride 2020-22|All|[Upstream](#upstream)|
|
||||
|Kia|Telluride 2023-24|HDA2|[Community](#community)|
|
||||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[Upstream](#upstream)|
|
||||
|Lexus|ES 2017-18|All|[Upstream](#upstream)|
|
||||
|Lexus|ES 2019-25|All|[Upstream](#upstream)|
|
||||
|Lexus|ES Hybrid 2017-18|All|[Upstream](#upstream)|
|
||||
|Lexus|ES Hybrid 2019-25|All|[Upstream](#upstream)|
|
||||
|Lexus|GS F 2016|All|[Upstream](#upstream)|
|
||||
|Lexus|IS 2017-19|All|[Upstream](#upstream)|
|
||||
|Lexus|IS 2022-24|All|[Upstream](#upstream)|
|
||||
|Lexus|LC 2024-25|All|[Upstream](#upstream)|
|
||||
|Lexus|NS 2022-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Lexus|NX 2018-19|All|[Upstream](#upstream)|
|
||||
|Lexus|NX 2020-21|All|[Upstream](#upstream)|
|
||||
|Lexus|NX Hybrid 2018-19|All|[Upstream](#upstream)|
|
||||
|Lexus|NX Hybrid 2020-21|All|[Upstream](#upstream)|
|
||||
|Lexus|RC 2018-20|All|[Upstream](#upstream)|
|
||||
|Lexus|RC 2023|All|[Upstream](#upstream)|
|
||||
|Lexus|RX 2016|Lexus Safety System+|[Upstream](#upstream)|
|
||||
|Lexus|RX 2017-19|All|[Upstream](#upstream)|
|
||||
|Lexus|RX 2020-22|All|[Upstream](#upstream)|
|
||||
|Lexus|RX Hybrid 2016|Lexus Safety System+|[Upstream](#upstream)|
|
||||
|Lexus|RX Hybrid 2017-19|All|[Upstream](#upstream)|
|
||||
|Lexus|RX Hybrid 2020-22|All|[Upstream](#upstream)|
|
||||
|Lexus|UX Hybrid 2019-24|All|[Upstream](#upstream)|
|
||||
|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|[Upstream](#upstream)|
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|[Upstream](#upstream)|
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Mazda|3 2017-18|All|[Dashcam mode](#dashcam)|
|
||||
|Mazda|6 2017-20|All|[Dashcam mode](#dashcam)|
|
||||
|Mazda|CX-5 2017-21|All|[Dashcam mode](#dashcam)|
|
||||
|Mazda|CX-5 2022-25|All|[Upstream](#upstream)|
|
||||
|Mazda|CX-9 2016-20|All|[Dashcam mode](#dashcam)|
|
||||
|Mazda|CX-9 2021-23|All|[Upstream](#upstream)|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|
|
||||
|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
|
||||
|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
|
||||
|Rivian|R1S 2022-24|All|[Upstream](#upstream)|
|
||||
|Rivian|R1T 2022-24|All|[Upstream](#upstream)|
|
||||
|SEAT|Alhambra 2018-20|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Subaru|Ascent 2019-21|All|[Upstream](#upstream)|
|
||||
|Subaru|Ascent 2023|All|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Crosstrek Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Forester 2017-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Forester 2019-21|All|[Upstream](#upstream)|
|
||||
|Subaru|Forester 2022-24|All|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Forester Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Impreza 2017-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Impreza 2020-22|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|Legacy 2015-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Legacy 2020-22|All|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2015-17|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Outback 2018-19|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Outback 2020-22|All|[Upstream](#upstream)|
|
||||
|Subaru|Outback 2023|All|[Dashcam mode](#dashcam)|
|
||||
|Subaru|Solterra 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Subaru|XV 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Subaru|XV 2020-21|EyeSight Driver Assistance|[Upstream](#upstream)|
|
||||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Kamiq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Karoq 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Octavia 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Octavia Scout 2017-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Scala 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Tesla|Model 3 (with HW3) 2019-23|All|[Upstream](#upstream)|
|
||||
|Tesla|Model 3 (with HW4) 2024-25|All|[Upstream](#upstream)|
|
||||
|Tesla|Model X (with HW4) 2024|All|[Dashcam mode](#dashcam)|
|
||||
|Tesla|Model Y (with HW3) 2020-23|All|[Upstream](#upstream)|
|
||||
|Tesla|Model Y (with HW4) 2024|All|[Upstream](#upstream)|
|
||||
|Toyota|Alphard 2019-20|All|[Upstream](#upstream)|
|
||||
|Toyota|Alphard Hybrid 2021|All|[Upstream](#upstream)|
|
||||
|Toyota|Avalon 2016|Toyota Safety Sense P|[Upstream](#upstream)|
|
||||
|Toyota|Avalon 2017-18|All|[Upstream](#upstream)|
|
||||
|Toyota|Avalon 2019-21|All|[Upstream](#upstream)|
|
||||
|Toyota|Avalon 2022|All|[Upstream](#upstream)|
|
||||
|Toyota|Avalon Hybrid 2019-21|All|[Upstream](#upstream)|
|
||||
|Toyota|Avalon Hybrid 2022|All|[Upstream](#upstream)|
|
||||
|Toyota|bZ4x 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|C-HR 2017-20|All|[Upstream](#upstream)|
|
||||
|Toyota|C-HR 2021|All|[Upstream](#upstream)|
|
||||
|Toyota|C-HR Hybrid 2017-20|All|[Upstream](#upstream)|
|
||||
|Toyota|C-HR Hybrid 2021-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Camry 2018-20|All|[Upstream](#upstream)|
|
||||
|Toyota|Camry 2021-24|All|[Upstream](#upstream)|
|
||||
|Toyota|Camry 2025|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Camry Hybrid 2018-20|All|[Upstream](#upstream)|
|
||||
|Toyota|Camry Hybrid 2021-24|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla 2017-19|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla 2020-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla Cross 2022-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Corolla Cross (Non-US only) 2020-23|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla Hatchback 2019-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Corolla Hybrid (South America only) 2020-23|All|[Upstream](#upstream)|
|
||||
|Toyota|Highlander 2017-19|All|[Upstream](#upstream)|
|
||||
|Toyota|Highlander 2020-23|All|[Upstream](#upstream)|
|
||||
|Toyota|Highlander 2025|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Highlander Hybrid 2017-19|All|[Upstream](#upstream)|
|
||||
|Toyota|Highlander Hybrid 2020-23|All|[Upstream](#upstream)|
|
||||
|Toyota|Mirai 2021|All|[Upstream](#upstream)|
|
||||
|Toyota|Prius 2016|Toyota Safety Sense P|[Upstream](#upstream)|
|
||||
|Toyota|Prius 2017-20|All|[Upstream](#upstream)|
|
||||
|Toyota|Prius 2021-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Prius Prime 2017-20|All|[Upstream](#upstream)|
|
||||
|Toyota|Prius Prime 2021-22|All|[Upstream](#upstream)|
|
||||
|Toyota|Prius v 2017|Toyota Safety Sense P|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 2016|Toyota Safety Sense P|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 2017-18|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 2019-21|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 2022|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 2023-25|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 Hybrid 2017-18|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 Hybrid 2022|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 Hybrid 2023-25|All|[Upstream](#upstream)|
|
||||
|Toyota|RAV4 Prime 2021-23|All|[Community](#community)|
|
||||
|Toyota|RAV4 Prime 2024-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Sequoia 2023-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Sienna 2018-20|All|[Upstream](#upstream)|
|
||||
|Toyota|Sienna 2021-23|All|[Community](#community)|
|
||||
|Toyota|Sienna 2024-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Tundra 2022-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Venza 2021-25|Any|[Not compatible](#can-bus-security)|
|
||||
|Toyota|Yaris (Non-US only) 2023|All|[Community](#community)|
|
||||
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Caddy 2019|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|Caddy Maxi 2019|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Passat 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Passat NMS 2017-22|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Sharan 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
|
||||
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
|
||||
|
||||
# Types of Support
|
||||
|
||||
**opendbc can support many more cars than it currently does.** There are a few reasons your car may not be supported.
|
||||
If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported!
|
||||
We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car
|
||||
support comes from users like you!
|
||||
|
||||
## Upstream
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better
|
||||
experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
## Under Review
|
||||
|
||||
A vehicle under review is one for which software support has been merged into upstream openpilot, but hasn't yet been
|
||||
tested for drive quality and conformance with [comma safety guidelines](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md).
|
||||
This is a normal part of the development and quality assurance process. This vehicle will not work when upstream
|
||||
openpilot is installed, but custom forks may allow their use.
|
||||
|
||||
## Custom
|
||||
|
||||
Vehicles in this category are not considered plug-and-play. Software support is included in upstream openpilot, but
|
||||
these vehicles might not have a harness in the comma store, or the physical install might be at an unusual or cumbersome
|
||||
location, or they might need unusual configuration after install.
|
||||
|
||||
## Dashcam
|
||||
|
||||
Dashcam vehicles have software support in upstream openpilot, but will go into "dashcam mode" at startup and will not
|
||||
engage. This may be due to known issues with driving safety or quality, or it may be a work in progress that isn't yet
|
||||
ready for safety and quality review.
|
||||
|
||||
## Community
|
||||
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community
|
||||
Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
Some notable works-in-progress:
|
||||
* Honda
|
||||
* 2024 Acura Integra, commaai/openpilot#32056
|
||||
* 2023-24 Honda Accord (CAN-FD), commaai/openpilot#32229
|
||||
* 2024 Honda CR-V (CAN-FD), commaai/openpilot#32806
|
||||
* 2024 Honda CR-V Hybrid (CAN-FD), commaai/openpilot#31527
|
||||
* Depends on commaai/opendbc#1100
|
||||
* 2021-25 Honda Odyssey, commaai/opendbc#1330
|
||||
* 2023-24 Honda Pilot (CAN-FD), commaai/openpilot#30324
|
||||
* Camera ACC stability improvements, commaai/openpilot#31022
|
||||
* Depends on commaai/panda#1814
|
||||
* Depends on commaai/opendbc#998
|
||||
* These are being reworked for full-time proxy through openpilot
|
||||
* Manual transmission support (Civic, Integra)
|
||||
* Depends on commaai/opendbc#1034 (merged)
|
||||
* Car port support PR not yet filed
|
||||
|
||||
## Incompatible
|
||||
|
||||
### CAN Bus Security
|
||||
|
||||
Vehicles with CAN security measures, such as AUTOSAR Secure Onboard Communication (SecOC) are not usable with openpilot
|
||||
unless the owner can recover the message signing key and implement CAN message signing. Examples include certain newer
|
||||
Toyota, and the GM Global B platform.
|
||||
|
||||
### FlexRay
|
||||
|
||||
All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
|
||||
CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
|
||||
manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
|
||||
may one day be supported, but we have no immediate plans to support FlexRay.
|
||||
113
opendbc_repo/examples/joystick.py
Executable file
113
opendbc_repo/examples/joystick.py
Executable file
@@ -0,0 +1,113 @@
|
||||
#!/usr/bin/env python3
|
||||
import time
|
||||
import threading
|
||||
import argparse
|
||||
import numpy as np
|
||||
from pprint import pprint
|
||||
from inputs import get_gamepad
|
||||
|
||||
from kbhit import KBHit
|
||||
|
||||
from opendbc.car.structs import CarControl
|
||||
from opendbc.car.panda_runner import PandaRunner
|
||||
|
||||
class Keyboard:
|
||||
def __init__(self):
|
||||
self.kb = KBHit()
|
||||
self.axis_increment = 0.05 # 5% of full actuation each key press
|
||||
self.axes_map = {'w': 'gb', 's': 'gb',
|
||||
'a': 'steer', 'd': 'steer'}
|
||||
self.axes_values = {'gb': 0., 'steer': 0.}
|
||||
self.axes_order = ['gb', 'steer']
|
||||
self.cancel = False
|
||||
|
||||
def update(self):
|
||||
key = self.kb.getch().lower()
|
||||
print(key)
|
||||
self.cancel = False
|
||||
if key == 'r':
|
||||
self.axes_values = {ax: 0. for ax in self.axes_values}
|
||||
elif key == 'c':
|
||||
self.cancel = True
|
||||
elif key in self.axes_map:
|
||||
axis = self.axes_map[key]
|
||||
incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
|
||||
self.axes_values[axis] = float(np.clip(self.axes_values[axis] + incr, -1, 1))
|
||||
else:
|
||||
return False
|
||||
return True
|
||||
|
||||
class Joystick:
|
||||
def __init__(self, gamepad=False):
|
||||
# TODO: find a way to get this from API, perhaps "inputs" doesn't support it
|
||||
if gamepad:
|
||||
self.cancel_button = 'BTN_NORTH' # (BTN_NORTH=X, ABS_RZ=Right Trigger)
|
||||
accel_axis = 'ABS_Y'
|
||||
steer_axis = 'ABS_RX'
|
||||
else:
|
||||
self.cancel_button = 'BTN_TRIGGER'
|
||||
accel_axis = 'ABS_Y'
|
||||
steer_axis = 'ABS_RX'
|
||||
self.min_axis_value = {accel_axis: 0., steer_axis: 0.}
|
||||
self.max_axis_value = {accel_axis: 255., steer_axis: 255.}
|
||||
self.axes_values = {accel_axis: 0., steer_axis: 0.}
|
||||
self.axes_order = [accel_axis, steer_axis]
|
||||
self.cancel = False
|
||||
|
||||
def update(self):
|
||||
joystick_event = get_gamepad()[0]
|
||||
event = (joystick_event.code, joystick_event.state)
|
||||
if event[0] == self.cancel_button:
|
||||
if event[1] == 1:
|
||||
self.cancel = True
|
||||
elif event[1] == 0: # state 0 is falling edge
|
||||
self.cancel = False
|
||||
elif event[0] in self.axes_values:
|
||||
self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
|
||||
self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
|
||||
|
||||
norm = -float(np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.]))
|
||||
self.axes_values[event[0]] = norm if abs(norm) > 0.05 else 0. # center can be noisy, deadzone of 5%
|
||||
else:
|
||||
return False
|
||||
return True
|
||||
|
||||
def joystick_thread(joystick):
|
||||
while True:
|
||||
joystick.update()
|
||||
|
||||
def main(joystick):
|
||||
threading.Thread(target=joystick_thread, args=(joystick,), daemon=True).start()
|
||||
with PandaRunner() as p:
|
||||
CC = CarControl(enabled=False)
|
||||
while True:
|
||||
CC.actuators.accel = float(4.0*np.clip(joystick.axes_values['gb'], -1, 1))
|
||||
CC.actuators.torque = float(np.clip(joystick.axes_values['steer'], -1, 1))
|
||||
pprint(CC)
|
||||
|
||||
p.read()
|
||||
p.write(CC)
|
||||
|
||||
# 100Hz
|
||||
time.sleep(0.01)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser(description='Test the car interface with a joystick. Uses keyboard by default.',
|
||||
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
||||
|
||||
parser.add_argument('--mode', choices=['keyboard', 'gamepad', 'joystick'], default='keyboard')
|
||||
args = parser.parse_args()
|
||||
|
||||
print()
|
||||
joystick: Keyboard | Joystick
|
||||
if args.mode == 'keyboard':
|
||||
print('Gas/brake control: `W` and `S` keys')
|
||||
print('Steering control: `A` and `D` keys')
|
||||
print('Buttons')
|
||||
print('- `R`: Resets axes')
|
||||
print('- `C`: Cancel cruise control')
|
||||
joystick = Keyboard()
|
||||
else:
|
||||
joystick = Joystick(gamepad=(args.mode == 'gamepad'))
|
||||
main(joystick)
|
||||
59
opendbc_repo/examples/kbhit.py
Executable file
59
opendbc_repo/examples/kbhit.py
Executable file
@@ -0,0 +1,59 @@
|
||||
#!/usr/bin/env python3
|
||||
import sys
|
||||
import termios
|
||||
import atexit
|
||||
from select import select
|
||||
|
||||
STDIN_FD = sys.stdin.fileno()
|
||||
|
||||
class KBHit:
|
||||
def __init__(self) -> None:
|
||||
self.set_kbhit_terminal()
|
||||
|
||||
def set_kbhit_terminal(self) -> None:
|
||||
# Save the terminal settings
|
||||
self.old_term = termios.tcgetattr(STDIN_FD)
|
||||
self.new_term = self.old_term.copy()
|
||||
|
||||
# New terminal setting unbuffered
|
||||
self.new_term[3] &= ~(termios.ICANON | termios.ECHO)
|
||||
termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.new_term)
|
||||
|
||||
# Support normal-terminal reset at exit
|
||||
atexit.register(self.set_normal_term)
|
||||
|
||||
def set_normal_term(self) -> None:
|
||||
termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.old_term)
|
||||
|
||||
@staticmethod
|
||||
def getch() -> str:
|
||||
return sys.stdin.read(1)
|
||||
|
||||
@staticmethod
|
||||
def getarrow() -> int:
|
||||
c = sys.stdin.read(3)[2]
|
||||
vals = [65, 67, 66, 68]
|
||||
return vals.index(ord(c))
|
||||
|
||||
@staticmethod
|
||||
def kbhit():
|
||||
''' Returns True if keyboard character was hit, False otherwise.
|
||||
'''
|
||||
return select([sys.stdin], [], [], 0)[0] != []
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
kb = KBHit()
|
||||
|
||||
print('Hit any key, or ESC to exit')
|
||||
|
||||
while True:
|
||||
|
||||
if kb.kbhit():
|
||||
c = kb.getch()
|
||||
if c == '\x1b': # ESC
|
||||
break
|
||||
print(c)
|
||||
|
||||
kb.set_normal_term()
|
||||
28
opendbc_repo/lefthook.yml
Normal file
28
opendbc_repo/lefthook.yml
Normal file
@@ -0,0 +1,28 @@
|
||||
output:
|
||||
- meta # Print lefthook version
|
||||
- summary # Print summary block (successful and failed steps)
|
||||
- empty_summary # Print summary heading when there are no steps to run
|
||||
- success # Print successful steps
|
||||
- failure # Print failed steps printing
|
||||
- execution # Print any execution logs
|
||||
#- execution_out # Print execution output
|
||||
#- execution_info # Print `EXECUTE > ...` logging
|
||||
- skips # Print "skip" (i.e. no files matched)
|
||||
|
||||
test:
|
||||
parallel: true
|
||||
commands:
|
||||
# *** static analysis
|
||||
ruff:
|
||||
run: ruff check .
|
||||
codespell:
|
||||
run: codespell {files} -L tge,stdio -S *.dbc
|
||||
files: git ls-tree -r HEAD --name-only
|
||||
cpplint:
|
||||
run: cpplint --exclude=opendbc/safety/tests/misra/cppcheck/ --exclude=opendbc/can/*_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces opendbc/
|
||||
misra:
|
||||
run: opendbc/safety/tests/misra/test_misra.sh
|
||||
|
||||
# *** tests ***
|
||||
pytest:
|
||||
run: pytest -n8
|
||||
6
opendbc_repo/opendbc/__init__.py
Normal file
6
opendbc_repo/opendbc/__init__.py
Normal file
@@ -0,0 +1,6 @@
|
||||
import os
|
||||
|
||||
DBC_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'dbc')
|
||||
|
||||
# -I include path for e.g. "#include <opendbc/safety/safety.h>"
|
||||
INCLUDE_PATH = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
8
opendbc_repo/opendbc/can/__init__.py
Normal file
8
opendbc_repo/opendbc/can/__init__.py
Normal file
@@ -0,0 +1,8 @@
|
||||
from opendbc.can.packer import CANPacker
|
||||
from opendbc.can.parser import CANParser, CANDefine
|
||||
|
||||
__all__ = [
|
||||
"CANDefine",
|
||||
"CANParser",
|
||||
"CANPacker",
|
||||
]
|
||||
212
opendbc_repo/opendbc/can/dbc.py
Normal file
212
opendbc_repo/opendbc/can/dbc.py
Normal file
@@ -0,0 +1,212 @@
|
||||
import re
|
||||
import os
|
||||
from dataclasses import dataclass
|
||||
from collections.abc import Callable
|
||||
|
||||
from opendbc import DBC_PATH
|
||||
|
||||
# TODO: these should just be passed in along with the DBC file
|
||||
from opendbc.car.honda.hondacan import honda_checksum
|
||||
from opendbc.car.toyota.toyotacan import toyota_checksum
|
||||
from opendbc.car.subaru.subarucan import subaru_checksum
|
||||
from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
|
||||
from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
|
||||
from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
|
||||
from opendbc.car.tesla.teslacan import tesla_checksum
|
||||
from opendbc.car.body.bodycan import body_checksum
|
||||
|
||||
|
||||
|
||||
class SignalType:
|
||||
DEFAULT = 0
|
||||
COUNTER = 1
|
||||
HONDA_CHECKSUM = 2
|
||||
TOYOTA_CHECKSUM = 3
|
||||
BODY_CHECKSUM = 4
|
||||
VOLKSWAGEN_MQB_MEB_CHECKSUM = 5
|
||||
XOR_CHECKSUM = 6
|
||||
SUBARU_CHECKSUM = 7
|
||||
CHRYSLER_CHECKSUM = 8
|
||||
HKG_CAN_FD_CHECKSUM = 9
|
||||
FCA_GIORGIO_CHECKSUM = 10
|
||||
TESLA_CHECKSUM = 11
|
||||
|
||||
|
||||
@dataclass
|
||||
class Signal:
|
||||
name: str
|
||||
start_bit: int
|
||||
msb: int
|
||||
lsb: int
|
||||
size: int
|
||||
is_signed: bool
|
||||
factor: float
|
||||
offset: float
|
||||
is_little_endian: bool
|
||||
type: int = SignalType.DEFAULT
|
||||
calc_checksum: 'Callable[[int, Signal, bytearray], int] | None' = None
|
||||
|
||||
|
||||
|
||||
@dataclass
|
||||
class Msg:
|
||||
name: str
|
||||
address: int
|
||||
size: int
|
||||
sigs: dict[str, Signal]
|
||||
|
||||
|
||||
@dataclass
|
||||
class Val:
|
||||
name: str
|
||||
address: int
|
||||
def_val: str
|
||||
sigs: dict[str, Signal] | None = None
|
||||
|
||||
|
||||
BO_RE = re.compile(r"^BO_ (\w+) (\w+) *: (\w+) (\w+)")
|
||||
SG_RE = re.compile(r"^SG_ (\w+) : (\d+)\|(\d+)@(\d)([+-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[[0-9.+\-eE]+\|[0-9.+\-eE]+\] \".*\" .*")
|
||||
SGM_RE = re.compile(r"^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d)([+-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[[0-9.+\-eE]+\|[0-9.+\-eE]+\] \".*\" .*")
|
||||
VAL_RE = re.compile(r"^VAL_ (\w+) (\w+) (.*);")
|
||||
VAL_SPLIT_RE = re.compile(r'["]+')
|
||||
|
||||
@dataclass
|
||||
class DBC:
|
||||
name: str
|
||||
msgs: dict[int, Msg]
|
||||
addr_to_msg: dict[int, Msg]
|
||||
name_to_msg: dict[str, Msg]
|
||||
vals: list[Val]
|
||||
|
||||
def __init__(self, name: str):
|
||||
dbc_path = name
|
||||
if not os.path.exists(dbc_path):
|
||||
dbc_path = os.path.join(DBC_PATH, name + ".dbc")
|
||||
|
||||
self._parse(dbc_path)
|
||||
|
||||
def _parse(self, path: str):
|
||||
self.name = os.path.basename(path).replace(".dbc", "")
|
||||
with open(path) as f:
|
||||
lines = f.readlines()
|
||||
|
||||
checksum_state = get_checksum_state(self.name)
|
||||
be_bits = [j + i * 8 for i in range(64) for j in range(7, -1, -1)]
|
||||
self.msgs: dict[int, Msg] = {}
|
||||
self.addr_to_msg: dict[int, Msg] = {}
|
||||
self.name_to_msg: dict[str, Msg] = {}
|
||||
self.vals: list[Val] = []
|
||||
address = 0
|
||||
signals_temp: dict[int, dict[str, Signal]] = {}
|
||||
for line_num, line in enumerate(lines, 1):
|
||||
line = line.strip()
|
||||
if line.startswith("BO_ "):
|
||||
m = BO_RE.match(line)
|
||||
if not m:
|
||||
continue
|
||||
address = int(m.group(1), 0)
|
||||
msg_name = m.group(2)
|
||||
size = int(m.group(3), 0)
|
||||
sigs = {}
|
||||
self.msgs[address] = Msg(msg_name, address, size, sigs)
|
||||
self.addr_to_msg[address] = self.msgs[address]
|
||||
self.name_to_msg[msg_name] = self.msgs[address]
|
||||
signals_temp[address] = sigs
|
||||
elif line.startswith("SG_ "):
|
||||
m = SG_RE.search(line)
|
||||
offset = 0
|
||||
if not m:
|
||||
m = SGM_RE.search(line)
|
||||
if not m:
|
||||
continue
|
||||
offset = 1
|
||||
sig_name = m.group(1)
|
||||
start_bit = int(m.group(2 + offset))
|
||||
size = int(m.group(3 + offset))
|
||||
is_little_endian = m.group(4 + offset) == "1"
|
||||
is_signed = m.group(5 + offset) == "-"
|
||||
factor = float(m.group(6 + offset))
|
||||
offset_val = float(m.group(7 + offset))
|
||||
|
||||
if is_little_endian:
|
||||
lsb = start_bit
|
||||
msb = start_bit + size - 1
|
||||
else:
|
||||
idx = be_bits.index(start_bit)
|
||||
lsb = be_bits[idx + size - 1]
|
||||
msb = start_bit
|
||||
|
||||
sig = Signal(sig_name, start_bit, msb, lsb, size, is_signed, factor, offset_val, is_little_endian)
|
||||
set_signal_type(sig, checksum_state, self.name, line_num)
|
||||
signals_temp[address][sig_name] = sig
|
||||
elif line.startswith("VAL_ "):
|
||||
m = VAL_RE.search(line)
|
||||
if not m:
|
||||
continue
|
||||
val_addr = int(m.group(1), 0)
|
||||
sgname = m.group(2)
|
||||
defs = m.group(3)
|
||||
words = [w.strip() for w in VAL_SPLIT_RE.split(defs) if w.strip()]
|
||||
words = [w.upper().replace(" ", "_") for w in words]
|
||||
val_def = " ".join(words).strip()
|
||||
self.vals.append(Val(sgname, val_addr, val_def))
|
||||
for addr, sigs in signals_temp.items():
|
||||
self.msgs[addr].sigs = sigs
|
||||
|
||||
|
||||
# ***** checksum functions *****
|
||||
|
||||
def tesla_setup_signal(sig: Signal, dbc_name: str, line_num: int) -> None:
|
||||
if sig.name.endswith("Counter"):
|
||||
sig.type = SignalType.COUNTER
|
||||
elif sig.name.endswith("Checksum"):
|
||||
sig.type = SignalType.TESLA_CHECKSUM
|
||||
sig.calc_checksum = tesla_checksum
|
||||
|
||||
|
||||
@dataclass
|
||||
class ChecksumState:
|
||||
checksum_size: int
|
||||
counter_size: int
|
||||
checksum_start_bit: int
|
||||
counter_start_bit: int
|
||||
little_endian: bool
|
||||
checksum_type: int
|
||||
calc_checksum: Callable[[int, Signal, bytearray], int] | None
|
||||
setup_signal: Callable[[Signal, str, int], None] | None = None
|
||||
|
||||
|
||||
def get_checksum_state(dbc_name: str) -> ChecksumState | None:
|
||||
if dbc_name.startswith(("honda_", "acura_")):
|
||||
return ChecksumState(4, 2, 3, 5, False, SignalType.HONDA_CHECKSUM, honda_checksum)
|
||||
elif dbc_name.startswith(("toyota_", "lexus_")):
|
||||
return ChecksumState(8, -1, 7, -1, False, SignalType.TOYOTA_CHECKSUM, toyota_checksum)
|
||||
elif dbc_name.startswith("hyundai_canfd_generated"):
|
||||
return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
|
||||
elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
|
||||
return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)
|
||||
elif dbc_name.startswith("vw_pq"):
|
||||
return ChecksumState(8, 4, 0, -1, True, SignalType.XOR_CHECKSUM, xor_checksum)
|
||||
elif dbc_name.startswith("subaru_global_"):
|
||||
return ChecksumState(8, -1, 0, -1, True, SignalType.SUBARU_CHECKSUM, subaru_checksum)
|
||||
elif dbc_name.startswith("chrysler_"):
|
||||
return ChecksumState(8, -1, 7, -1, False, SignalType.CHRYSLER_CHECKSUM, chrysler_checksum)
|
||||
elif dbc_name.startswith("fca_giorgio"):
|
||||
return ChecksumState(8, -1, 7, -1, False, SignalType.FCA_GIORGIO_CHECKSUM, fca_giorgio_checksum)
|
||||
elif dbc_name.startswith("comma_body"):
|
||||
return ChecksumState(8, 4, 7, 3, False, SignalType.BODY_CHECKSUM, body_checksum)
|
||||
elif dbc_name.startswith("tesla_model3_party"):
|
||||
return ChecksumState(8, -1, 0, -1, True, SignalType.TESLA_CHECKSUM, tesla_checksum, tesla_setup_signal)
|
||||
return None
|
||||
|
||||
|
||||
def set_signal_type(sig: Signal, chk: ChecksumState | None, dbc_name: str, line_num: int) -> None:
|
||||
sig.calc_checksum = None
|
||||
if chk:
|
||||
if chk.setup_signal:
|
||||
chk.setup_signal(sig, dbc_name, line_num)
|
||||
if sig.name == "CHECKSUM":
|
||||
sig.type = chk.checksum_type
|
||||
sig.calc_checksum = chk.calc_checksum
|
||||
elif sig.name == "COUNTER":
|
||||
sig.type = SignalType.COUNTER
|
||||
67
opendbc_repo/opendbc/can/packer.py
Normal file
67
opendbc_repo/opendbc/can/packer.py
Normal file
@@ -0,0 +1,67 @@
|
||||
import math
|
||||
|
||||
from opendbc.can.dbc import DBC, Signal, SignalType
|
||||
|
||||
|
||||
class CANPacker:
|
||||
def __init__(self, dbc_name: str):
|
||||
self.dbc = DBC(dbc_name)
|
||||
self.counters: dict[int, int] = {}
|
||||
|
||||
def pack(self, address: int, values: dict[str, float]) -> bytearray:
|
||||
msg = self.dbc.addr_to_msg.get(address)
|
||||
if msg is None:
|
||||
return bytearray()
|
||||
dat = bytearray(msg.size)
|
||||
counter_set = False
|
||||
for name, value in values.items():
|
||||
sig = msg.sigs.get(name)
|
||||
if sig is None:
|
||||
continue
|
||||
ival = int(math.floor((value - sig.offset) / sig.factor + 0.5))
|
||||
if ival < 0:
|
||||
ival = (1 << sig.size) + ival
|
||||
set_value(dat, sig, ival)
|
||||
if sig.type == SignalType.COUNTER or sig.name == "COUNTER":
|
||||
self.counters[address] = int(value)
|
||||
counter_set = True
|
||||
sig_counter = next((s for s in msg.sigs.values() if s.type == SignalType.COUNTER or s.name == "COUNTER"), None)
|
||||
if sig_counter and not counter_set:
|
||||
if address not in self.counters:
|
||||
self.counters[address] = 0
|
||||
set_value(dat, sig_counter, self.counters[address])
|
||||
self.counters[address] = (self.counters[address] + 1) % (1 << sig_counter.size)
|
||||
sig_checksum = next((s for s in msg.sigs.values() if s.type > SignalType.COUNTER), None)
|
||||
if sig_checksum and sig_checksum.calc_checksum:
|
||||
checksum = sig_checksum.calc_checksum(address, sig_checksum, dat)
|
||||
set_value(dat, sig_checksum, checksum)
|
||||
return dat
|
||||
|
||||
def make_can_msg(self, name_or_addr, bus: int, values: dict[str, float]):
|
||||
if isinstance(name_or_addr, int):
|
||||
addr = name_or_addr
|
||||
else:
|
||||
msg = self.dbc.name_to_msg.get(name_or_addr)
|
||||
if msg is None:
|
||||
return 0, b'', bus
|
||||
addr = msg.address
|
||||
dat = self.pack(addr, values)
|
||||
if len(dat) == 0:
|
||||
return 0, b'', bus
|
||||
return addr, bytes(dat), bus
|
||||
|
||||
|
||||
def set_value(msg: bytearray, sig: Signal, ival: int) -> None:
|
||||
i = sig.lsb // 8
|
||||
bits = sig.size
|
||||
if sig.size < 64:
|
||||
ival &= (1 << sig.size) - 1
|
||||
while 0 <= i < len(msg) and bits > 0:
|
||||
shift = sig.lsb % 8 if (sig.lsb // 8) == i else 0
|
||||
size = min(bits, 8 - shift)
|
||||
mask = ((1 << size) - 1) << shift
|
||||
msg[i] &= ~mask
|
||||
msg[i] |= (ival & ((1 << size) - 1)) << shift
|
||||
bits -= size
|
||||
ival >>= size
|
||||
i = i + 1 if sig.is_little_endian else i - 1
|
||||
283
opendbc_repo/opendbc/can/parser.py
Normal file
283
opendbc_repo/opendbc/can/parser.py
Normal file
@@ -0,0 +1,283 @@
|
||||
import time
|
||||
import math
|
||||
import numbers
|
||||
from collections import defaultdict, deque
|
||||
from dataclasses import dataclass, field
|
||||
|
||||
from opendbc.can.dbc import DBC, Signal
|
||||
|
||||
|
||||
MAX_BAD_COUNTER = 5
|
||||
CAN_INVALID_CNT = 5
|
||||
|
||||
|
||||
|
||||
def get_raw_value(dat: bytes | bytearray, sig: Signal) -> int:
|
||||
ret = 0
|
||||
i = sig.msb // 8
|
||||
bits = sig.size
|
||||
while 0 <= i < len(dat) and bits > 0:
|
||||
lsb = sig.lsb if (sig.lsb // 8) == i else i * 8
|
||||
msb = sig.msb if (sig.msb // 8) == i else (i + 1) * 8 - 1
|
||||
size = msb - lsb + 1
|
||||
d = (dat[i] >> (lsb - (i * 8))) & ((1 << size) - 1)
|
||||
ret |= d << (bits - size)
|
||||
bits -= size
|
||||
i = i - 1 if sig.is_little_endian else i + 1
|
||||
return ret
|
||||
|
||||
|
||||
@dataclass
|
||||
class MessageState:
|
||||
address: int
|
||||
name: str
|
||||
size: int
|
||||
signals: list[Signal]
|
||||
ignore_alive: bool = False
|
||||
ignore_checksum: bool = False
|
||||
ignore_counter: bool = False
|
||||
frequency: float = 0.0
|
||||
timeout_threshold: float = 1e5 # default to 1Hz threshold
|
||||
vals: list[float] = field(default_factory=list)
|
||||
all_vals: list[list[float]] = field(default_factory=list)
|
||||
timestamps: deque[int] = field(default_factory=deque)
|
||||
counter: int = 0
|
||||
counter_fail: int = 0
|
||||
first_seen_nanos: int = 0
|
||||
|
||||
def parse(self, nanos: int, dat: bytes) -> bool:
|
||||
tmp_vals: list[float] = [0.0] * len(self.signals)
|
||||
checksum_failed = False
|
||||
counter_failed = False
|
||||
|
||||
if self.first_seen_nanos == 0:
|
||||
self.first_seen_nanos = nanos
|
||||
|
||||
for i, sig in enumerate(self.signals):
|
||||
tmp = get_raw_value(dat, sig)
|
||||
if sig.is_signed:
|
||||
tmp -= ((tmp >> (sig.size - 1)) & 0x1) * (1 << sig.size)
|
||||
|
||||
if not self.ignore_checksum and sig.calc_checksum is not None:
|
||||
if sig.calc_checksum(self.address, sig, bytearray(dat)) != tmp:
|
||||
checksum_failed = True
|
||||
|
||||
if not self.ignore_counter and sig.type == 1: # COUNTER
|
||||
if not self.update_counter(tmp, sig.size):
|
||||
counter_failed = True
|
||||
|
||||
tmp_vals[i] = tmp * sig.factor + sig.offset
|
||||
|
||||
# must have good counter and checksum to update data
|
||||
if checksum_failed or counter_failed:
|
||||
return False
|
||||
|
||||
if not self.vals:
|
||||
self.vals = [0.0] * len(self.signals)
|
||||
self.all_vals = [[] for _ in self.signals]
|
||||
|
||||
for i, v in enumerate(tmp_vals):
|
||||
self.vals[i] = v
|
||||
self.all_vals[i].append(v)
|
||||
|
||||
self.timestamps.append(nanos)
|
||||
max_buffer = 500
|
||||
while len(self.timestamps) > max_buffer:
|
||||
self.timestamps.popleft()
|
||||
|
||||
if self.frequency < 1e-5 and len(self.timestamps) >= 3:
|
||||
dt = (self.timestamps[-1] - self.timestamps[0]) * 1e-9
|
||||
if (dt > 1.0 or len(self.timestamps) >= max_buffer) and dt != 0:
|
||||
self.frequency = min(len(self.timestamps) / dt, 100.0)
|
||||
self.timeout_threshold = (1_000_000_000 / self.frequency) * 10
|
||||
return True
|
||||
|
||||
def update_counter(self, cur_count: int, cnt_size: int) -> bool:
|
||||
if ((self.counter + 1) & ((1 << cnt_size) - 1)) != cur_count:
|
||||
self.counter_fail = min(self.counter_fail + 1, MAX_BAD_COUNTER)
|
||||
elif self.counter_fail > 0:
|
||||
self.counter_fail -= 1
|
||||
self.counter = cur_count
|
||||
return self.counter_fail < MAX_BAD_COUNTER
|
||||
|
||||
def valid(self, current_nanos: int, bus_timeout: bool) -> bool:
|
||||
if self.ignore_alive:
|
||||
return True
|
||||
if not self.timestamps:
|
||||
if self.first_seen_nanos != 0 and (current_nanos - self.first_seen_nanos) < 2e9: # 2초 유예
|
||||
return True
|
||||
#print(f"Not Seen {self.name} on bus {self.address} has no timestamps yet, first seen at {self.first_seen_nanos} ns")
|
||||
return False
|
||||
if (current_nanos - self.timestamps[-1]) > self.timeout_threshold:
|
||||
#print(f"Timeout {self.name} on bus {self.address} timed out: {current_nanos - self.timestamps[-1]} ns since last update")
|
||||
return False
|
||||
return True
|
||||
|
||||
|
||||
class VLDict(dict):
|
||||
def __init__(self, parser):
|
||||
super().__init__()
|
||||
self.parser = parser
|
||||
|
||||
def __getitem__(self, key):
|
||||
if key not in self:
|
||||
self.parser._add_message(key)
|
||||
return super().__getitem__(key)
|
||||
|
||||
class CANParser:
|
||||
def __init__(self, dbc_name: str, messages: list[tuple[str | int, int]], bus: int):
|
||||
self.dbc_name: str = dbc_name
|
||||
self.bus: int = bus
|
||||
self.dbc: DBC = DBC(dbc_name)
|
||||
|
||||
self.vl: dict[int | str, dict[str, float]] = VLDict(self)
|
||||
self.vl_all: dict[int | str, dict[str, list[float]]] = {}
|
||||
self.ts_nanos: dict[int | str, dict[str, int]] = {}
|
||||
self.addresses: set[int] = set()
|
||||
self.message_states: dict[int, MessageState] = {}
|
||||
self.seen_addresses: set[int] = set()
|
||||
self.controls_ready = False
|
||||
|
||||
for name_or_addr, freq in messages:
|
||||
if isinstance(name_or_addr, numbers.Number):
|
||||
msg = self.dbc.addr_to_msg.get(int(name_or_addr))
|
||||
else:
|
||||
msg = self.dbc.name_to_msg.get(name_or_addr)
|
||||
if msg is None:
|
||||
raise RuntimeError(f"could not find message {name_or_addr!r} in DBC {dbc_name}")
|
||||
if msg.address in self.addresses:
|
||||
raise RuntimeError("Duplicate Message Check: %d" % msg.address)
|
||||
|
||||
self._add_message(name_or_addr, freq)
|
||||
|
||||
self.can_valid: bool = False
|
||||
self.bus_timeout: bool = False
|
||||
self.can_invalid_cnt: int = CAN_INVALID_CNT
|
||||
self.last_nonempty_nanos: int = 0
|
||||
|
||||
self.invalid_name = None
|
||||
self.invalid_time_counter = 0
|
||||
self.invalid_print_counter = 0
|
||||
|
||||
def _add_message(self, name_or_addr: str | int, freq: int = None) -> None:
|
||||
if isinstance(name_or_addr, numbers.Number):
|
||||
msg = self.dbc.addr_to_msg.get(int(name_or_addr))
|
||||
else:
|
||||
msg = self.dbc.name_to_msg.get(name_or_addr)
|
||||
assert msg is not None
|
||||
assert msg.address not in self.addresses
|
||||
|
||||
self.addresses.add(msg.address)
|
||||
signal_names = list(msg.sigs.keys())
|
||||
signals_dict = {s: 0.0 for s in signal_names}
|
||||
dict.__setitem__(self.vl, msg.address, signals_dict)
|
||||
dict.__setitem__(self.vl, msg.name, signals_dict)
|
||||
self.vl_all[msg.address] = defaultdict(list)
|
||||
self.vl_all[msg.name] = self.vl_all[msg.address]
|
||||
self.ts_nanos[msg.address] = {s: 0 for s in signal_names}
|
||||
self.ts_nanos[msg.name] = self.ts_nanos[msg.address]
|
||||
|
||||
state = MessageState(
|
||||
address=msg.address,
|
||||
name=msg.name,
|
||||
size=msg.size,
|
||||
signals=list(msg.sigs.values()),
|
||||
ignore_alive=freq is not None and math.isnan(freq),
|
||||
)
|
||||
state.first_seen_nanos = time.monotonic_ns() # 등록시 즉시 타임스탬프 설정
|
||||
if freq is not None and freq > 0:
|
||||
state.frequency = freq
|
||||
state.timeout_threshold = (1_000_000_000 / freq) * 10
|
||||
else:
|
||||
# if frequency not specified, assume 1Hz until we learn it
|
||||
freq = 1
|
||||
state.timeout_threshold = (1_000_000_000 / freq) * 10
|
||||
|
||||
self.message_states[msg.address] = state
|
||||
|
||||
def update_valid(self, nanos: int) -> None:
|
||||
valid = True
|
||||
counters_valid = True
|
||||
for state in self.message_states.values():
|
||||
if state.counter_fail >= MAX_BAD_COUNTER:
|
||||
counters_valid = False
|
||||
if not state.valid(nanos, self.bus_timeout):
|
||||
valid = False
|
||||
self.invalid_time_counter += 1
|
||||
if self.controls_ready and self.invalid_name is None or state.name != self.invalid_name or self.invalid_time_counter > 100:
|
||||
if self.invalid_print_counter < 100:
|
||||
print(f"CAN_INVALID = {state.name}, bus = {self.bus}")
|
||||
self.invalid_print_counter += 1
|
||||
self.invalid_name = state.name
|
||||
self.invalid_time_counter = 0
|
||||
|
||||
self.can_invalid_cnt = 0 if valid else min(self.can_invalid_cnt + 1, CAN_INVALID_CNT)
|
||||
self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT and counters_valid
|
||||
|
||||
def update(self, strings, sendcan: bool = False):
|
||||
if strings and not isinstance(strings[0], list | tuple):
|
||||
strings = [strings]
|
||||
|
||||
for addr in self.addresses:
|
||||
for k in self.vl_all[addr]:
|
||||
self.vl_all[addr][k].clear()
|
||||
|
||||
updated_addrs: set[int] = set()
|
||||
for entry in strings:
|
||||
t = entry[0]
|
||||
frames = entry[1]
|
||||
bus_empty = True
|
||||
for address, dat, src in frames:
|
||||
if src != self.bus:
|
||||
continue
|
||||
if self.controls_ready:
|
||||
self.seen_addresses.add(address)
|
||||
bus_empty = False
|
||||
state = self.message_states.get(address)
|
||||
if state is None or len(dat) > 64:
|
||||
continue
|
||||
if state.parse(t, dat):
|
||||
updated_addrs.add(address)
|
||||
msgname = state.name
|
||||
for i, sig in enumerate(state.signals):
|
||||
val = state.vals[i]
|
||||
self.vl[address][sig.name] = val
|
||||
self.vl[msgname][sig.name] = val
|
||||
self.vl_all[address][sig.name] = state.all_vals[i]
|
||||
self.vl_all[msgname][sig.name] = state.all_vals[i]
|
||||
self.ts_nanos[address][sig.name] = state.timestamps[-1]
|
||||
self.ts_nanos[msgname][sig.name] = state.timestamps[-1]
|
||||
|
||||
if not bus_empty:
|
||||
self.last_nonempty_nanos = t
|
||||
|
||||
ignore_alive = all(s.ignore_alive for s in self.message_states.values())
|
||||
bus_timeout_threshold = 500 * 1_000_000
|
||||
for st in self.message_states.values():
|
||||
if st.timeout_threshold > 0:
|
||||
bus_timeout_threshold = min(bus_timeout_threshold, st.timeout_threshold)
|
||||
self.bus_timeout = ((t - self.last_nonempty_nanos) > bus_timeout_threshold) and not ignore_alive
|
||||
self.update_valid(t)
|
||||
|
||||
return updated_addrs
|
||||
|
||||
|
||||
class CANDefine:
|
||||
def __init__(self, dbc_name: str):
|
||||
dbc = DBC(dbc_name)
|
||||
|
||||
dv = defaultdict(dict)
|
||||
for val in dbc.vals:
|
||||
sgname = val.name
|
||||
address = val.address
|
||||
msg = dbc.addr_to_msg.get(address)
|
||||
if msg is None:
|
||||
raise KeyError(address)
|
||||
msgname = msg.name
|
||||
parts = val.def_val.split()
|
||||
values = [int(v) for v in parts[::2]]
|
||||
defs = parts[1::2]
|
||||
dv[address][sgname] = dict(zip(values, defs, strict=True))
|
||||
dv[msgname][sgname] = dv[address][sgname]
|
||||
|
||||
self.dv = dict(dv)
|
||||
8
opendbc_repo/opendbc/can/tests/__init__.py
Normal file
8
opendbc_repo/opendbc/can/tests/__init__.py
Normal file
@@ -0,0 +1,8 @@
|
||||
import glob
|
||||
import os
|
||||
|
||||
from opendbc import DBC_PATH
|
||||
|
||||
ALL_DBCS = [os.path.basename(dbc).split('.')[0] for dbc in
|
||||
glob.glob(f"{DBC_PATH}/*.dbc")]
|
||||
TEST_DBC = os.path.abspath(os.path.join(os.path.dirname(__file__), "test.dbc"))
|
||||
45
opendbc_repo/opendbc/can/tests/benchmark.py
Normal file
45
opendbc_repo/opendbc/can/tests/benchmark.py
Normal file
@@ -0,0 +1,45 @@
|
||||
#!/usr/bin/env python3
|
||||
import time
|
||||
from opendbc.can import CANPacker, CANParser
|
||||
|
||||
|
||||
def _benchmark(checks, n):
|
||||
parser = CANParser('toyota_new_mc_pt_generated', checks, 0)
|
||||
packer = CANPacker('toyota_new_mc_pt_generated')
|
||||
|
||||
t1 = time.process_time_ns()
|
||||
can_msgs = []
|
||||
for i in range(10000):
|
||||
values = {"ACC_CONTROL": {"ACC_TYPE": 1, "ALLOW_LONG_PRESS": 3}}
|
||||
msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
|
||||
can_msgs.append([int(0.01 * i * 1e9), msgs])
|
||||
t2 = time.process_time_ns()
|
||||
pack_dt = t2 - t1
|
||||
|
||||
ets = []
|
||||
for _ in range(25):
|
||||
if n > 1:
|
||||
strings = []
|
||||
for i in range(0, len(can_msgs), n):
|
||||
strings.append(can_msgs[i:i + n])
|
||||
t1 = time.process_time_ns()
|
||||
for m in strings:
|
||||
parser.update(m)
|
||||
t2 = time.process_time_ns()
|
||||
else:
|
||||
t1 = time.process_time_ns()
|
||||
for m in can_msgs:
|
||||
parser.update([m])
|
||||
t2 = time.process_time_ns()
|
||||
|
||||
ets.append(t2 - t1)
|
||||
|
||||
et = sum(ets) / len(ets)
|
||||
avg_nanos = et / len(can_msgs)
|
||||
print('[%d] %.1fms to pack, %.1fms to parse %s messages, avg: %dns' % (n, pack_dt/1e6, et/1e6, len(can_msgs), avg_nanos))
|
||||
|
||||
if __name__ == "__main__":
|
||||
# python -m cProfile -s cumulative benchmark.py
|
||||
_benchmark([('ACC_CONTROL', 10)], 1)
|
||||
_benchmark([('ACC_CONTROL', 10)], 5)
|
||||
_benchmark([('ACC_CONTROL', 10)], 10)
|
||||
27
opendbc_repo/opendbc/can/tests/test.dbc
Normal file
27
opendbc_repo/opendbc/can/tests/test.dbc
Normal file
@@ -0,0 +1,27 @@
|
||||
CM_ "This DBC is used for the CAN parser and packer tests.";
|
||||
|
||||
BO_ 228 STEERING_CONTROL: 5 EON
|
||||
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
|
||||
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
|
||||
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
|
||||
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
|
||||
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
|
||||
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
|
||||
|
||||
BO_ 316 Brake_Status: 8 XXX
|
||||
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
|
||||
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX
|
||||
SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX
|
||||
|
||||
BO_ 245 CAN_FD_MESSAGE: 32 XXX
|
||||
SG_ COUNTER : 7|8@0+ (1,0) [0|1] "" XXX
|
||||
SG_ SIGNED : 22|16@0- (1,0) [0|1] "" XXX
|
||||
SG_ 64_BIT_LE : 159|64@1+ (1,0) [0|1] "" XXX
|
||||
SG_ 64_BIT_BE : 80|64@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
VAL_ 80 NON_EXISTENT_ADDR 0 "test";
|
||||
555
opendbc_repo/opendbc/can/tests/test_checksums.py
Normal file
555
opendbc_repo/opendbc/can/tests/test_checksums.py
Normal file
@@ -0,0 +1,555 @@
|
||||
import copy
|
||||
from opendbc.can import CANPacker, CANParser
|
||||
|
||||
|
||||
class TestCanChecksums:
|
||||
|
||||
def verify_checksum(self, subtests, dbc_file: str, msg_name: str, msg_addr: int, test_messages: list[bytes],
|
||||
checksum_field: str = 'CHECKSUM', counter_field = 'COUNTER'):
|
||||
"""
|
||||
Verify that opendbc calculates payload CRCs/checksums matching those received in known-good sample messages
|
||||
Depends on all non-zero bits in the sample message having a corresponding DBC signal, add UNKNOWN signals if needed
|
||||
"""
|
||||
parser = CANParser(dbc_file, [(msg_name, 0)], 0)
|
||||
packer = CANPacker(dbc_file)
|
||||
|
||||
for data in test_messages:
|
||||
expected_msg = (msg_addr, data, 0)
|
||||
parser.update([0, [expected_msg]])
|
||||
expected = copy.deepcopy(parser.vl[msg_name])
|
||||
|
||||
modified = copy.deepcopy(expected)
|
||||
modified.pop(checksum_field, None)
|
||||
modified_msg = packer.make_can_msg(msg_name, 0, modified)
|
||||
|
||||
parser.update([0, [modified_msg]])
|
||||
tested = parser.vl[msg_name]
|
||||
with subtests.test(counter=expected[counter_field]):
|
||||
assert tested[checksum_field] == expected[checksum_field]
|
||||
|
||||
def verify_fca_giorgio_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes]):
|
||||
"""Test modified SAE J1850 CRCs, with special final XOR cases for EPS messages"""
|
||||
assert len(test_messages) == 3
|
||||
self.verify_checksum(subtests, "fca_giorgio", msg_name, msg_addr, test_messages)
|
||||
|
||||
def test_fca_giorgio_eps_1(self, subtests):
|
||||
self.verify_fca_giorgio_crc(subtests, "EPS_1", 0xDE, [
|
||||
b'\x17\x51\x97\xcc\x00\xdf',
|
||||
b'\x17\x51\x97\xc9\x01\xa3',
|
||||
b'\x17\x51\x97\xcc\x02\xe5',
|
||||
])
|
||||
|
||||
def test_fca_giorgio_eps_2(self, subtests):
|
||||
self.verify_fca_giorgio_crc(subtests, "EPS_2", 0x106, [
|
||||
b'\x7c\x43\x57\x60\x00\x00\xa1',
|
||||
b'\x7c\x63\x58\xe0\x00\x01\xd5',
|
||||
b'\x7c\x63\x58\xe0\x00\x02\xf2',
|
||||
])
|
||||
|
||||
def test_fca_giorgio_eps_3(self, subtests):
|
||||
self.verify_fca_giorgio_crc(subtests, "EPS_3", 0x122, [
|
||||
b'\x7b\x30\x00\xf8',
|
||||
b'\x7b\x10\x01\x90',
|
||||
b'\x7b\xf0\x02\x6e',
|
||||
])
|
||||
|
||||
def test_fca_giorgio_abs_2(self, subtests):
|
||||
self.verify_fca_giorgio_crc(subtests, "ABS_2", 0xFE, [
|
||||
b'\x7e\x38\x00\x7d\x10\x31\x80\x32',
|
||||
b'\x7e\x38\x00\x7d\x10\x31\x81\x2f',
|
||||
b'\x7e\x38\x00\x7d\x20\x31\x82\x20',
|
||||
])
|
||||
|
||||
def test_honda_checksum(self):
|
||||
"""Test checksums for Honda standard and extended CAN ids"""
|
||||
# TODO: refactor to use self.verify_checksum()
|
||||
dbc_file = "honda_accord_2018_can_generated"
|
||||
msgs = [("LKAS_HUD", 0), ("LKAS_HUD_A", 0)]
|
||||
parser = CANParser(dbc_file, msgs, 0)
|
||||
packer = CANPacker(dbc_file)
|
||||
|
||||
values = {
|
||||
'SET_ME_X41': 0x41,
|
||||
'STEERING_REQUIRED': 1,
|
||||
'SOLID_LANES': 1,
|
||||
'BEEP': 0,
|
||||
}
|
||||
|
||||
# known correct checksums according to the above values
|
||||
checksum_std = [11, 10, 9, 8]
|
||||
checksum_ext = [4, 3, 2, 1]
|
||||
|
||||
for std, ext in zip(checksum_std, checksum_ext, strict=True):
|
||||
msgs = [
|
||||
packer.make_can_msg("LKAS_HUD", 0, values),
|
||||
packer.make_can_msg("LKAS_HUD_A", 0, values),
|
||||
]
|
||||
parser.update([0, msgs])
|
||||
|
||||
assert parser.vl['LKAS_HUD']['CHECKSUM'] == std
|
||||
assert parser.vl['LKAS_HUD_A']['CHECKSUM'] == ext
|
||||
|
||||
def verify_volkswagen_mqb_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes], counter_field: str = 'COUNTER'):
|
||||
"""Test AUTOSAR E2E Profile 2 CRCs"""
|
||||
assert len(test_messages) == 16 # All counter values must be tested
|
||||
self.verify_checksum(subtests, "vw_mqb", msg_name, msg_addr, test_messages, counter_field=counter_field)
|
||||
|
||||
def test_volkswagen_mqb_crc_lwi_01(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "LWI_01", 0x86, [
|
||||
b'\x6b\x00\xbd\x00\x00\x00\x00\x00',
|
||||
b'\xee\x01\x0a\x00\x00\x00\x00\x00',
|
||||
b'\xd8\x02\xa9\x00\x00\x00\x00\x00',
|
||||
b'\x03\x03\xbe\xa2\x12\x00\x00\x00',
|
||||
b'\x7b\x04\x31\x20\x03\x00\x00\x00',
|
||||
b'\x8b\x05\xe2\x85\x09\x00\x00\x00',
|
||||
b'\x63\x06\x13\x21\x00\x00\x00\x00',
|
||||
b'\x66\x07\x05\x00\x00\x00\x00\x00',
|
||||
b'\x49\x08\x0d\x00\x00\x00\x00\x00',
|
||||
b'\x5f\x09\x7e\x60\x01\x00\x00\x00',
|
||||
b'\xaf\x0a\x72\x20\x00\x00\x00\x00',
|
||||
b'\x59\x0b\x1b\x00\x00\x00\x00\x00',
|
||||
b'\xa8\x0c\x06\x00\x00\x00\x00\x00',
|
||||
b'\xbc\x0d\x72\x20\x00\x00\x00\x00',
|
||||
b'\xf9\x0e\x0f\x00\x00\x00\x00\x00',
|
||||
b'\x60\x0f\x62\xc0\x00\x00\x00\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_airbag_01(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "Airbag_01", 0x40, [
|
||||
b'\xaf\x00\x00\x80\xc0\x00\x20\x3e',
|
||||
b'\x54\x01\x00\x80\xc0\x00\x20\x1a',
|
||||
b'\x54\x02\x00\x80\xc0\x00\x60\x00',
|
||||
b'\x31\x03\x00\x80\xc0\x00\x60\xf2',
|
||||
b'\xe0\x04\x00\x80\xc0\x00\x60\xcc',
|
||||
b'\xb3\x05\x00\x80\xc0\x00\x40\xde',
|
||||
b'\xa4\x06\x00\x80\xc0\x00\x40\x18',
|
||||
b'\x94\x07\x00\x80\xc0\x00\x20\x38',
|
||||
b'\x2d\x08\x00\x80\xc0\x00\x60\xae',
|
||||
b'\xc2\x09\x00\x80\xc0\x00\x00\x1c',
|
||||
b'\x1f\x0a\x00\x80\xc0\x00\x60\x2c',
|
||||
b'\x7f\x0b\x00\x80\xc0\x00\x00\x00',
|
||||
b'\x03\x0c\x00\x80\xc0\x00\x40\xd6',
|
||||
b'\x56\x0d\x00\x80\xc0\x00\x20\x50',
|
||||
b'\x4a\x0e\x00\x80\xc0\x00\x20\xf2',
|
||||
b'\xe5\x0f\x00\x80\xc0\x00\x40\xf6',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_lh_eps_03(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "LH_EPS_03", 0x9F, [
|
||||
b'\x11\x30\x2e\x00\x05\x1c\x80\x30',
|
||||
b'\x5b\x31\x8e\x03\x05\x53\x00\x30',
|
||||
b'\xcb\x32\xd3\x06\x05\x73\x00\x30',
|
||||
b'\xf2\x33\x28\x00\x05\x26\x00\x30',
|
||||
b'\x0b\x34\x44\x00\x05\x5b\x80\x30',
|
||||
b'\xed\x35\x80\x00\x03\x34\x00\x30',
|
||||
b'\xf0\x36\x88\x00\x05\x3d\x80\x30',
|
||||
b'\x9e\x37\x44\x03\x05\x41\x00\x30',
|
||||
b'\x68\x38\x06\x01\x05\x18\x80\x30',
|
||||
b'\x87\x39\x51\x00\x05\x11\x80\x30',
|
||||
b'\x8c\x3a\x29\x00\x05\xac\x00\x30',
|
||||
b'\x08\x3b\xbd\x00\x05\x8e\x00\x30',
|
||||
b'\xd4\x3c\x19\x00\x05\x05\x80\x30',
|
||||
b'\x29\x3d\x54\x00\x05\x5b\x00\x30',
|
||||
b'\xa1\x3e\x49\x01\x03\x04\x80\x30',
|
||||
b'\xe2\x3f\x05\x00\x05\x0a\x00\x30',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_getriebe_11(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "Getriebe_11", 0xAD, [
|
||||
b'\xf8\xe0\xbf\xff\x5f\x20\x20\x20',
|
||||
b'\xb0\xe1\xbf\xff\xc6\x98\x21\x80',
|
||||
b'\xd2\xe2\xbf\xff\x5f\x20\x20\x20',
|
||||
b'\x00\xe3\xbf\xff\xaa\x20\x20\x10',
|
||||
b'\xf1\xe4\xbf\xff\x5f\x20\x20\x20',
|
||||
b'\xc4\xe5\xbf\xff\x5f\x20\x20\x20',
|
||||
b'\xda\xe6\xbf\xff\x5f\x20\x20\x20',
|
||||
b'\x85\xe7\xbf\xff\x5f\x20\x20\x20',
|
||||
b'\x12\xe8\xbf\xff\x5f\x20\x20\x20',
|
||||
b'\x45\xe9\xbf\xff\xaa\x20\x20\x10',
|
||||
b'\x03\xea\xbf\xff\xcc\x20\x20\x10',
|
||||
b'\xfc\xeb\xbf\xff\x5f\x20\x21\x20',
|
||||
b'\xfe\xec\xbf\xff\xad\x20\x20\x10',
|
||||
b'\xbd\xed\xbf\xff\xaa\x20\x20\x10',
|
||||
b'\x67\xee\xbf\xff\xaa\x20\x20\x10',
|
||||
b'\x36\xef\xbf\xff\xaa\x20\x20\x10',
|
||||
], counter_field="COUNTER_DISABLED") # see opendbc#1235
|
||||
|
||||
def test_volkswagen_mqb_crc_esp_21(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ESP_21", 0xFD, [
|
||||
b'\x66\xd0\x1f\x80\x45\x05\x00\x00',
|
||||
b'\x87\xd1\x1f\x80\x52\x05\x00\x00',
|
||||
b'\xcd\xd2\x1f\x80\x50\x06\x00\x00',
|
||||
b'\xfd\xd3\x1f\x80\x35\x02\x00\x00',
|
||||
b'\xfa\xd4\x1f\x80\x22\x05\x00\x00',
|
||||
b'\xfd\xd5\x1f\x80\x84\x04\x00\x00',
|
||||
b'\x2e\xd6\x1f\x80\xf0\x03\x00\x00',
|
||||
b'\x9f\xd7\x1f\x80\x00\x00\x00\x00',
|
||||
b'\x1e\xd8\x1f\x80\xb3\x03\x00\x00',
|
||||
b'\x61\xd9\x1f\x80\x6d\x05\x00\x00',
|
||||
b'\x44\xda\x1f\x80\x47\x02\x00\x00',
|
||||
b'\x86\xdb\x1f\x80\x3a\x02\x00\x00',
|
||||
b'\x39\xdc\x1f\x80\xcb\x01\x00\x00',
|
||||
b'\x19\xdd\x1f\x80\x00\x00\x00\x00',
|
||||
b'\x8c\xde\x1f\x80\xba\x04\x00\x00',
|
||||
b'\xfb\xdf\x1f\x80\x46\x00\x00\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_esp_02(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ESP_02", 0x101, [
|
||||
b'\xf2\x00\x7e\xff\xa1\x2a\x40\x00',
|
||||
b'\xd3\x01\x7d\x00\xa2\x0c\x02\x00',
|
||||
b'\x03\x02\x7a\x06\xa2\x49\x42\x00',
|
||||
b'\xfd\x03\x70\xfb\xa1\xde\x00\x00',
|
||||
b'\x8e\x04\x7b\xf7\xa1\xd2\x01\x00',
|
||||
b'\x0f\x05\x7d\xfd\xa1\x31\x40\x00',
|
||||
b'\xb6\x06\x7d\x01\xa2\x0a\x40\x00',
|
||||
b'\xe8\x07\x7e\xfd\xa1\x12\x40\x00',
|
||||
b'\x74\x08\x7a\x01\xa2\x40\x01\x00',
|
||||
b'\xe3\x09\x81\x00\xa2\xb5\x01\x00',
|
||||
b'\xab\x0a\x74\x09\xa2\x9f\x42\x00',
|
||||
b'\xf3\x0b\x80\x12\xa2\x94\x00\x00',
|
||||
b'\x88\x0c\x7f\x07\xa2\x46\x00\x00',
|
||||
b'\x6f\x0d\x7f\xff\xa1\x53\x40\x00',
|
||||
b'\x38\x0e\x73\xd6\xa1\x6a\x40\x00',
|
||||
b'\x49\x0f\x85\x12\xa2\xf6\x01\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_esp_05(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ESP_05", 0x106, [
|
||||
b'\x90\x80\x64\x00\x00\x00\xe7\x10',
|
||||
b'\xf4\x81\x64\x00\x00\x00\xe7\x10',
|
||||
b'\x90\x82\x63\x00\x00\x00\xe8\x10',
|
||||
b'\xa0\x83\x63\x00\x00\x00\xe6\x10',
|
||||
b'\xe7\x84\x63\x00\x00\x00\xe8\x10',
|
||||
b'\x2e\x85\x78\x04\x00\x00\xea\x30',
|
||||
b'\x7b\x86\x63\x00\x00\x00\xe6\x10',
|
||||
b'\x71\x87\x79\x04\x00\x00\xd0\x30',
|
||||
b'\x50\x88\x79\x04\x00\x00\xea\x30',
|
||||
b'\x81\x89\x64\x00\x00\x00\xe1\x10',
|
||||
b'\x6a\x8a\x68\x00\x00\x04\xd0\x10',
|
||||
b'\x17\x8b\x6a\x04\x00\x00\xe6\x10',
|
||||
b'\xc7\x8c\x63\x00\x00\x00\xd1\x10',
|
||||
b'\x53\x8d\x64\x04\x00\x00\xe2\x10',
|
||||
b'\x24\x8e\x63\x00\x00\x00\xe7\x10',
|
||||
b'\x3f\x8f\x82\x04\x00\x00\xe6\x30',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_esp_10(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ESP_10", 0x116, [
|
||||
b'\x2d\x00\xd5\x98\x9f\x26\x25\x0f',
|
||||
b'\x24\x01\x60\x63\x2c\x5e\x3b\x0f',
|
||||
b'\x08\x02\xb2\x2f\xee\x9a\x29\x0f',
|
||||
b'\x7c\x03\x17\x07\x1d\xe5\x8c\x0f',
|
||||
b'\xaa\x04\xd6\xe3\xeb\x98\xe8\x0f',
|
||||
b'\x4e\x05\xbb\xd9\x65\x43\xca\x0f',
|
||||
b'\x59\x06\x78\xbd\x25\xc6\xf2\xff',
|
||||
b'\xaf\x07\x42\x85\x53\xbe\xbe\x0f',
|
||||
b'\x2a\x08\xa6\xcd\x95\x8c\x12\x0f',
|
||||
b'\xce\x09\x6e\x17\x6d\x1b\x2f\x0f',
|
||||
b'\x60\x0a\xd3\xe6\x3a\x8d\xf0\x0f',
|
||||
b'\xc5\x0b\xfc\x69\x57\x50\x21\x0f',
|
||||
b'\x70\x0c\xde\xf3\x9d\xe9\x6b\xff',
|
||||
b'\x62\x0d\xc4\x1a\xdb\x61\x7a\x0f',
|
||||
b'\x76\x0e\x79\x69\xe3\x32\x67\x0f',
|
||||
b'\x15\x0f\x51\x59\x56\x35\xb1\x0f',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_acc_10(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ACC_10", 0x117, [
|
||||
b'\x9b\x00\x00\x40\x68\x00\x00\xff',
|
||||
b'\xff\x01\x00\x40\x68\x00\x00\xff',
|
||||
b'\x53\x02\x00\x40\x68\x00\x00\xff',
|
||||
b'\x37\x03\x00\x40\x68\x00\x00\xff',
|
||||
b'\x24\x04\x00\x40\x68\x00\x00\xff',
|
||||
b'\x40\x05\x00\x40\x68\x00\x00\xff',
|
||||
b'\xec\x06\x00\x40\x68\x00\x00\xff',
|
||||
b'\x88\x07\x00\x40\x68\x00\x00\xff',
|
||||
b'\xca\x08\x00\x40\x68\x00\x00\xff',
|
||||
b'\xae\x09\x00\x40\x68\x00\x00\xff',
|
||||
b'\x02\x0a\x00\x40\x68\x00\x00\xff',
|
||||
b'\x66\x0b\x00\x40\x68\x00\x00\xff',
|
||||
b'\x75\x0c\x00\x40\x68\x00\x00\xff',
|
||||
b'\x11\x0d\x00\x40\x68\x00\x00\xff',
|
||||
b'\xbd\x0e\x00\x40\x68\x00\x00\xff',
|
||||
b'\xd9\x0f\x00\x40\x68\x00\x00\xff',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_tsk_06(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "TSK_06", 0x120, [
|
||||
b'\xc1\x00\x00\x02\x00\x08\xff\x21',
|
||||
b'\x34\x01\x00\x02\x00\x08\xff\x21',
|
||||
b'\xcc\x02\x00\x02\x00\x08\xff\x21',
|
||||
b'\x1e\x03\x00\x02\x00\x08\xff\x21',
|
||||
b'\x48\x04\x00\x02\x00\x08\xff\x21',
|
||||
b'\x4a\x05\x00\x02\x00\x08\xff\x21',
|
||||
b'\xa5\x06\x00\x02\x00\x08\xff\x21',
|
||||
b'\xa7\x07\x00\x02\x00\x08\xff\x21',
|
||||
b'\xfe\x08\x00\x02\x00\x08\xff\x21',
|
||||
b'\xa8\x09\x00\x02\x00\x08\xff\x21',
|
||||
b'\x73\x0a\x00\x02\x00\x08\xff\x21',
|
||||
b'\xdf\x0b\x00\x02\x00\x08\xff\x21',
|
||||
b'\x05\x0c\x00\x02\x00\x08\xff\x21',
|
||||
b'\xb5\x0d\x00\x02\x00\x08\xff\x21',
|
||||
b'\xde\x0e\x00\x02\x00\x08\xff\x21',
|
||||
b'\x0b\x0f\x00\x02\x00\x08\xff\x21',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_motor_20(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "Motor_20", 0x121, [
|
||||
b'\xb9\x00\x00\xc0\x39\x46\x7e\xfe',
|
||||
b'\x85\x31\x20\x00\x1a\x46\x7e\xfe',
|
||||
b'\xc7\x12\x00\x40\x1a\x46\x7e\xfe',
|
||||
b'\x53\x93\x00\x00\x19\x46\x7e\xfe',
|
||||
b'\xa4\x34\x00\x80\x1a\x46\x7e\xfe',
|
||||
b'\x0e\x55\x20\x60\x18\x46\x7e\xfe',
|
||||
b'\x3f\x06\x00\xc0\x37\x4c\x7e\xfe',
|
||||
b'\x0c\x07\x00\x40\x39\x46\x7e\xfe',
|
||||
b'\x2a\x08\x00\x00\x3a\x46\x7e\xfe',
|
||||
b'\x7f\x49\x20\x80\x1a\x46\x7e\xfe',
|
||||
b'\x2f\x0a\x00\xc0\x39\x46\x7e\xfe',
|
||||
b'\x70\xbb\x00\x00\x17\x46\x7e\xfe',
|
||||
b'\x06\x0c\x00\x00\x39\x46\x7e\xfe',
|
||||
b'\x4b\x9d\x20\xe0\x16\x4c\x7e\xfe',
|
||||
b'\x73\xfe\x00\x40\x16\x46\x7e\xfe',
|
||||
b'\xaf\x0f\x20\x80\x39\x4c\x7e\xfe',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_acc_06(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ACC_06", 0x122, [
|
||||
b'\x14\x80\x00\xfe\x07\x00\x00\x18',
|
||||
b'\x9f\x81\x00\xfe\x07\x00\x00\x18',
|
||||
b'\x0a\x82\x00\xfe\x07\x00\x00\x28',
|
||||
b'\x40\x83\x00\xfe\x07\x00\x00\x18',
|
||||
b'\x2d\x84\x00\xfe\x07\x00\x00\x28',
|
||||
b'\xdb\x85\x00\xfe\x07\x00\x00\x18',
|
||||
b'\x4d\x86\x00\xfe\x07\x00\x00\x28',
|
||||
b'\x35\x87\x00\xfe\x07\x00\x00\x18',
|
||||
b'\x23\x88\x00\xfe\x07\x00\x00\x28',
|
||||
b'\x4a\x89\x00\xfe\x07\x00\x00\x28',
|
||||
b'\xe1\x8a\x00\xfe\x07\x00\x00\x28',
|
||||
b'\x30\x8b\x00\xfe\x07\x00\x00\x28',
|
||||
b'\x60\x8c\x00\xfe\x07\x00\x00\x28',
|
||||
b'\x0d\x8d\x00\xfe\x07\x00\x00\x18',
|
||||
b'\x8c\x8e\x00\xfe\x07\x00\x00\x18',
|
||||
b'\x6f\x8f\x00\xfe\x07\x00\x00\x28',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_hca_01(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "HCA_01", 0x126, [
|
||||
b'\x00\x30\x0d\xc0\x05\xfe\x07\x00',
|
||||
b'\x3e\x31\x54\xc0\x05\xfe\x07\x00',
|
||||
b'\xa7\x32\xbb\x40\x05\xfe\x07\x00',
|
||||
b'\x96\x33\x29\xc0\x05\xfe\x07\x00',
|
||||
b'\x5f\x34\x00\x00\x03\xfe\x07\x00',
|
||||
b'\x3b\x35\xae\x40\x05\xfe\x07\x00',
|
||||
b'\xc7\x36\x7a\x40\x05\xfe\x07\x00',
|
||||
b'\x6f\x37\x76\x40\x05\xfe\x07\x00',
|
||||
b'\xb1\x38\x00\x00\x03\xfe\x07\x00',
|
||||
b'\xd5\x39\x00\x00\x03\xfe\x07\x00',
|
||||
b'\xba\x3a\x69\xc0\x05\xfe\x07\x00',
|
||||
b'\x65\x3b\x10\x40\x05\xfe\x07\x00',
|
||||
b'\x49\x3c\x72\xc0\x05\xfe\x07\x00',
|
||||
b'\xc6\x3d\xdf\x40\x05\xfe\x07\x00',
|
||||
b'\x1d\x3e\x2c\xc1\x05\xfe\x07\x00',
|
||||
b'\x9b\x3f\x20\x40\x05\xfe\x07\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_gra_acc_01(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "GRA_ACC_01", 0x12B, [
|
||||
b'\x86\x40\x80\x2a\x00\x00\x00\x00',
|
||||
b'\xf4\x41\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x50\x42\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x08\x43\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x88\x44\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x2d\x45\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x34\x46\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x11\x47\x80\x2a\x00\x00\x00\x00',
|
||||
b'\xc4\x48\x80\x2a\x00\x00\x00\x00',
|
||||
b'\xcc\x49\x80\x2a\x00\x00\x00\x00',
|
||||
b'\xdc\x4a\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x79\x4b\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x3c\x4c\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x68\x4d\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x27\x4e\x80\x2a\x00\x00\x00\x00',
|
||||
b'\x0d\x4f\x80\x2a\x00\x00\x00\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_acc_07(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ACC_07", 0x12E, [
|
||||
b'\xac\xe0\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\xa2\xe1\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x6b\xe2\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\xf2\xe3\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\xd5\xe4\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x35\xe5\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x7f\xe6\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x6c\xe7\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x05\xe8\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x79\xe9\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x25\xea\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\xd1\xeb\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x72\xec\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x58\xed\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x82\xee\x7f\x00\xfe\x00\xc0\xff',
|
||||
b'\x85\xef\x7f\x00\xfe\x00\xc0\xff',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_motor_ev_01(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "Motor_EV_01", 0x187, [
|
||||
b'\x70\x80\x15\x00\x00\x00\x00\xF0',
|
||||
b'\x07\x81\x15\x00\x00\x00\x00\xF0',
|
||||
b'\x7A\x82\x15\x00\x00\x00\x00\xF0',
|
||||
b'\x26\x83\x15\x00\x00\x00\x00\xF0',
|
||||
b'\xBE\x84\x15\x00\x00\x00\x00\xF0',
|
||||
b'\x5A\x85\x15\x00\x00\x00\x00\xF0',
|
||||
b'\xFC\x86\x15\x00\x00\x00\x00\xF0',
|
||||
b'\x9E\x87\x15\x00\x00\x00\x00\xF0',
|
||||
b'\xAF\x88\x15\x00\x00\x00\x00\xF0',
|
||||
b'\x35\x89\x15\x00\x00\x00\x00\xF0',
|
||||
b'\xC5\x8A\x15\x00\x00\x00\x00\xF0',
|
||||
b'\x11\x8B\x15\x00\x00\x00\x00\xF0',
|
||||
b'\xD0\x8C\x15\x00\x00\x00\x00\xF0',
|
||||
b'\xE8\x8D\x15\x00\x00\x00\x00\xF0',
|
||||
b'\xF5\x8E\x15\x00\x00\x00\x00\xF0',
|
||||
b'\x00\x8F\x15\x00\x00\x00\x00\xF0',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_esp_33(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ESP_33", 0x1AB, [
|
||||
b'\x64\x00\x80\x02\x00\x00\x00\x00',
|
||||
b'\x19\x01\x00\x00\x00\x00\x00\x00',
|
||||
b'\xfc\x02\x00\x10\x01\x00\x00\x00',
|
||||
b'\x8b\x03\x80\x02\x00\x00\x00\x00',
|
||||
b'\xa4\x04\x00\x10\x01\x00\x00\x00',
|
||||
b'\x97\x05\x00\x02\x00\x00\x01\x00',
|
||||
b'\xd5\x06\x80\x02\x00\x00\x01\x00',
|
||||
b'\xa0\x07\x80\x02\x00\x00\x01\x00',
|
||||
b'\x89\x08\x00\x00\x00\x00\x00\x00',
|
||||
b'\xe3\x09\x00\x00\x00\x00\x00\x00',
|
||||
b'\x0e\x0a\x00\x00\x00\x00\x00\x00',
|
||||
b'\x90\x0b\x00\x00\x00\x00\x00\x00',
|
||||
b'\x32\x0c\x00\x10\x01\x00\x00\x00',
|
||||
b'\x30\x0d\x00\x00\x00\x00\x00\x00',
|
||||
b'\xc2\x0e\x00\x10\x01\x00\x00\x00',
|
||||
b'\x68\x0f\x80\x02\x00\x00\x00\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_acc_02(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ACC_02", 0x30C, [
|
||||
b'\x82\xf0\x3f\x00\x40\x30\x00\x40',
|
||||
b'\xe6\xf1\x3f\x00\x40\x30\x00\x40',
|
||||
b'\x4a\xf2\x3f\x00\x40\x30\x00\x40',
|
||||
b'\x2e\xf3\x3f\x00\x40\x30\x00\x40',
|
||||
b'\x3d\xf4\x3f\x00\x40\x30\x00\x40',
|
||||
b'\x59\xf5\x3f\x00\x40\x30\x00\x40',
|
||||
b'\xf5\xf6\x3f\x00\x40\x30\x00\x40',
|
||||
b'\x91\xf7\x3f\x00\x40\x30\x00\x40',
|
||||
b'\xd3\xf8\x3f\x00\x40\x30\x00\x40',
|
||||
b'\xb7\xf9\x3f\x00\x40\x30\x00\x40',
|
||||
b'\x1b\xfa\x3f\x00\x40\x30\x00\x40',
|
||||
b'\x7f\xfb\x3f\x00\x40\x30\x00\x40',
|
||||
b'\x6c\xfc\x3f\x00\x40\x30\x00\x40',
|
||||
b'\x08\xfd\x3f\x00\x40\x30\x00\x40',
|
||||
b'\xa4\xfe\x3f\x00\x40\x30\x00\x40',
|
||||
b'\xc0\xff\x3f\x00\x40\x30\x00\x40',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_swa_01(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "SWA_01", 0x30F, [
|
||||
b'\x10\x00\x10\x00\x00\x00\x00\x00',
|
||||
b'\x74\x01\x10\x00\x00\x00\x00\x00',
|
||||
b'\xD8\x02\x10\x00\x00\x00\x00\x00',
|
||||
b'\xBC\x03\x10\x00\x00\x00\x00\x00',
|
||||
b'\xAF\x04\x10\x00\x00\x00\x00\x00',
|
||||
b'\xCB\x05\x10\x00\x00\x00\x00\x00',
|
||||
b'\x67\x06\x10\x00\x00\x00\x00\x00',
|
||||
b'\x03\x07\x10\x00\x00\x00\x00\x00',
|
||||
b'\x41\x08\x10\x00\x00\x00\x00\x00',
|
||||
b'\x25\x09\x10\x00\x00\x00\x00\x00',
|
||||
b'\x89\x0A\x10\x00\x00\x00\x00\x00',
|
||||
b'\xED\x0B\x10\x00\x00\x00\x00\x00',
|
||||
b'\xFE\x0C\x10\x00\x00\x00\x00\x00',
|
||||
b'\x9A\x0D\x10\x00\x00\x00\x00\x00',
|
||||
b'\x36\x0E\x10\x00\x00\x00\x00\x00',
|
||||
b'\x52\x0F\x10\x00\x00\x00\x00\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_acc_04(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ACC_04", 0x324, [
|
||||
b'\xba\x00\x00\x00\x00\x00\x00\x10',
|
||||
b'\xde\x01\x00\x00\x00\x00\x00\x10',
|
||||
b'\x72\x02\x00\x00\x00\x00\x00\x10',
|
||||
b'\x16\x03\x00\x00\x00\x00\x00\x10',
|
||||
b'\x05\x04\x00\x00\x00\x00\x00\x10',
|
||||
b'\x44\x05\x00\x00\x00\x00\x00\x00',
|
||||
b'\xe8\x06\x00\x00\x00\x00\x00\x00',
|
||||
b'\xa9\x07\x00\x00\x00\x00\x00\x10',
|
||||
b'\xeb\x08\x00\x00\x00\x00\x00\x10',
|
||||
b'\x8f\x09\x00\x00\x00\x00\x00\x10',
|
||||
b'\x06\x0a\x00\x00\x00\x00\x00\x00',
|
||||
b'\x47\x0b\x00\x00\x00\x00\x00\x10',
|
||||
b'\x71\x0c\x00\x00\x00\x00\x00\x00',
|
||||
b'\x15\x0d\x00\x00\x00\x00\x00\x00',
|
||||
b'\xb9\x0e\x00\x00\x00\x00\x00\x00',
|
||||
b'\xdd\x0f\x00\x00\x00\x00\x00\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_klemmen_status_01(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "Klemmen_Status_01", 0x3C0, [
|
||||
b'\x74\x00\x03\x00',
|
||||
b'\xc1\x01\x03\x00',
|
||||
b'\x31\x02\x03\x00',
|
||||
b'\x84\x03\x03\x00',
|
||||
b'\xfe\x04\x03\x00',
|
||||
b'\x4b\x05\x03\x00',
|
||||
b'\xbb\x06\x03\x00',
|
||||
b'\x0e\x07\x03\x00',
|
||||
b'\x4f\x08\x03\x00',
|
||||
b'\xfa\x09\x03\x00',
|
||||
b'\x0a\x0a\x03\x00',
|
||||
b'\xbf\x0b\x03\x00',
|
||||
b'\xc5\x0c\x03\x00',
|
||||
b'\x70\x0d\x03\x00',
|
||||
b'\x80\x0e\x03\x00',
|
||||
b'\x35\x0f\x03\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_licht_anf_01(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "Licht_Anf_01", 0x3D5, [
|
||||
b'\xc8\x00\x00\x04\x00\x00\x00\x00',
|
||||
b'\x9f\x01\x00\x04\x00\x00\x00\x00',
|
||||
b'\x5e\x02\x00\x04\x00\x00\x00\x00',
|
||||
b'\x52\x03\x00\x04\x00\x00\x00\x00',
|
||||
b'\xf2\x04\x00\x04\x00\x00\x00\x00',
|
||||
b'\x79\x05\x00\x04\x00\x00\x00\x00',
|
||||
b'\xe6\x06\x00\x04\x00\x00\x00\x00',
|
||||
b'\xfd\x07\x00\x04\x00\x00\x00\x00',
|
||||
b'\xf8\x08\x00\x04\x00\x00\x00\x00',
|
||||
b'\xc6\x09\x00\x04\x00\x00\x00\x00',
|
||||
b'\xf5\x0a\x00\x04\x00\x00\x00\x00',
|
||||
b'\x1a\x0b\x00\x04\x00\x00\x00\x00',
|
||||
b'\x65\x0c\x00\x04\x00\x00\x00\x00',
|
||||
b'\x41\x0d\x00\x04\x00\x00\x00\x00',
|
||||
b'\x7f\x0e\x00\x04\x00\x00\x00\x00',
|
||||
b'\x98\x0f\x00\x04\x00\x00\x00\x00',
|
||||
])
|
||||
|
||||
def test_volkswagen_mqb_crc_esp_20(self, subtests):
|
||||
self.verify_volkswagen_mqb_crc(subtests, "ESP_20", 0x65D, [
|
||||
b'\x98\x30\x2b\x10\x00\x00\x22\x81',
|
||||
b'\xc8\x31\x2b\x10\x00\x00\x22\x81',
|
||||
b'\x9d\x32\x2b\x10\x00\x00\x22\x81',
|
||||
b'\x1f\x33\x2b\x10\x00\x00\x22\x81',
|
||||
b'\x6e\x34\x2b\x10\x00\x00\x22\x81',
|
||||
b'\x61\x35\x2b\x10\x00\x00\x22\x81',
|
||||
b'\x6f\x36\x2b\x10\x00\x00\x22\x81',
|
||||
b'\xe5\x37\x2b\x10\x00\x00\x22\x81',
|
||||
b'\xf8\x38\x2b\x10\x00\x00\x22\x81',
|
||||
b'\xe1\x39\x2b\x10\x00\x00\x22\x81',
|
||||
b'\xaa\x3a\x2b\x10\x00\x00\x22\x81',
|
||||
b'\xe6\x3b\x2b\x10\x00\x00\x22\x81',
|
||||
b'\xef\x3c\x2b\x10\x00\x00\x22\x81',
|
||||
b'\xbb\x3d\x2b\x10\x00\x00\x22\x81',
|
||||
b'\x9b\x3e\x2b\x10\x00\x00\x22\x81',
|
||||
b'\x72\x3f\x2b\x10\x00\x00\x22\x81',
|
||||
])
|
||||
29
opendbc_repo/opendbc/can/tests/test_dbc_exceptions.py
Normal file
29
opendbc_repo/opendbc/can/tests/test_dbc_exceptions.py
Normal file
@@ -0,0 +1,29 @@
|
||||
import pytest
|
||||
|
||||
from opendbc.can import CANDefine, CANPacker, CANParser
|
||||
from opendbc.can.tests import TEST_DBC
|
||||
|
||||
|
||||
class TestCanParserPackerExceptions:
|
||||
def test_civic_exceptions(self):
|
||||
dbc_file = "honda_civic_touring_2016_can_generated"
|
||||
dbc_invalid = dbc_file + "abcdef"
|
||||
msgs = [("STEERING_CONTROL", 50)]
|
||||
with pytest.raises(FileNotFoundError):
|
||||
CANParser(dbc_invalid, msgs, 0)
|
||||
with pytest.raises(FileNotFoundError):
|
||||
CANPacker(dbc_invalid)
|
||||
with pytest.raises(FileNotFoundError):
|
||||
CANDefine(dbc_invalid)
|
||||
with pytest.raises(KeyError):
|
||||
CANDefine(TEST_DBC)
|
||||
|
||||
parser = CANParser(dbc_file, msgs, 0)
|
||||
with pytest.raises(IndexError):
|
||||
parser.update([b''])
|
||||
|
||||
# Everything is supposed to work below
|
||||
CANParser(dbc_file, msgs, 0)
|
||||
CANParser(dbc_file, [], 0)
|
||||
CANPacker(dbc_file)
|
||||
CANDefine(dbc_file)
|
||||
21
opendbc_repo/opendbc/can/tests/test_dbc_parser.py
Normal file
21
opendbc_repo/opendbc/can/tests/test_dbc_parser.py
Normal file
@@ -0,0 +1,21 @@
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.can.tests import ALL_DBCS
|
||||
|
||||
|
||||
class TestDBCParser:
|
||||
def test_enough_dbcs(self):
|
||||
# sanity check that we're running on the real DBCs
|
||||
assert len(ALL_DBCS) > 20
|
||||
|
||||
def test_parse_all_dbcs(self, subtests):
|
||||
"""
|
||||
Dynamic DBC parser checks:
|
||||
- Checksum and counter length, start bit, endianness
|
||||
- Duplicate message addresses and names
|
||||
- Signal out of bounds
|
||||
- All BO_, SG_, VAL_ lines for syntax errors
|
||||
"""
|
||||
|
||||
for dbc in ALL_DBCS:
|
||||
with subtests.test(dbc=dbc):
|
||||
CANParser(dbc, [], 0)
|
||||
26
opendbc_repo/opendbc/can/tests/test_define.py
Normal file
26
opendbc_repo/opendbc/can/tests/test_define.py
Normal file
@@ -0,0 +1,26 @@
|
||||
from opendbc.can import CANDefine
|
||||
from opendbc.can.tests import ALL_DBCS
|
||||
|
||||
|
||||
class TestCANDefine:
|
||||
def test_civic(self):
|
||||
|
||||
dbc_file = "honda_civic_touring_2016_can_generated"
|
||||
defs = CANDefine(dbc_file)
|
||||
|
||||
assert defs.dv[399] == defs.dv['STEER_STATUS']
|
||||
assert defs.dv[399] == {'STEER_STATUS':
|
||||
{7: 'PERMANENT_FAULT',
|
||||
6: 'TMP_FAULT',
|
||||
5: 'FAULT_1',
|
||||
4: 'NO_TORQUE_ALERT_2',
|
||||
3: 'LOW_SPEED_LOCKOUT',
|
||||
2: 'NO_TORQUE_ALERT_1',
|
||||
0: 'NORMAL'}
|
||||
}
|
||||
|
||||
def test_all_dbcs(self, subtests):
|
||||
# Asserts no exceptions on all DBCs
|
||||
for dbc in ALL_DBCS:
|
||||
with subtests.test(dbc=dbc):
|
||||
CANDefine(dbc)
|
||||
367
opendbc_repo/opendbc/can/tests/test_packer_parser.py
Normal file
367
opendbc_repo/opendbc/can/tests/test_packer_parser.py
Normal file
@@ -0,0 +1,367 @@
|
||||
import pytest
|
||||
import random
|
||||
|
||||
from opendbc.can import CANPacker, CANParser
|
||||
from opendbc.can.tests import TEST_DBC
|
||||
|
||||
MAX_BAD_COUNTER = 5
|
||||
|
||||
|
||||
class TestCanParserPacker:
|
||||
def test_packer(self):
|
||||
packer = CANPacker(TEST_DBC)
|
||||
|
||||
for b in range(6):
|
||||
for i in range(256):
|
||||
values = {"COUNTER": i}
|
||||
addr, dat, bus = packer.make_can_msg("CAN_FD_MESSAGE", b, values)
|
||||
assert addr == 245
|
||||
assert bus == b
|
||||
assert dat[0] == i
|
||||
|
||||
def test_packer_counter(self):
|
||||
msgs = [("CAN_FD_MESSAGE", 0), ]
|
||||
packer = CANPacker(TEST_DBC)
|
||||
parser = CANParser(TEST_DBC, msgs, 0)
|
||||
|
||||
# packer should increment the counter
|
||||
for i in range(1000):
|
||||
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
|
||||
parser.update([0, [msg]])
|
||||
assert parser.vl["CAN_FD_MESSAGE"]["COUNTER"] == (i % 256)
|
||||
|
||||
# setting COUNTER should override
|
||||
for _ in range(100):
|
||||
cnt = random.randint(0, 255)
|
||||
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {
|
||||
"COUNTER": cnt,
|
||||
"SIGNED": 0
|
||||
})
|
||||
parser.update([0, [msg]])
|
||||
assert parser.vl["CAN_FD_MESSAGE"]["COUNTER"] == cnt
|
||||
|
||||
# then, should resume counting from the override value
|
||||
cnt = parser.vl["CAN_FD_MESSAGE"]["COUNTER"]
|
||||
for i in range(100):
|
||||
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
|
||||
parser.update([0, [msg]])
|
||||
assert parser.vl["CAN_FD_MESSAGE"]["COUNTER"] == ((cnt + i) % 256)
|
||||
|
||||
def test_parser_can_valid(self):
|
||||
msgs = [("CAN_FD_MESSAGE", 10), ]
|
||||
packer = CANPacker(TEST_DBC)
|
||||
parser = CANParser(TEST_DBC, msgs, 0)
|
||||
|
||||
# shouldn't be valid initially
|
||||
assert not parser.can_valid
|
||||
|
||||
# not valid until the message is seen
|
||||
for _ in range(100):
|
||||
parser.update([0, []])
|
||||
assert not parser.can_valid
|
||||
|
||||
# valid once seen
|
||||
for i in range(1, 100):
|
||||
t = int(0.01 * i * 1e9)
|
||||
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
|
||||
parser.update([t, [msg]])
|
||||
assert parser.can_valid
|
||||
|
||||
def test_parser_updated_list(self):
|
||||
msgs = [("CAN_FD_MESSAGE", 10), ]
|
||||
parser = CANParser(TEST_DBC, msgs, 0)
|
||||
packer = CANPacker(TEST_DBC)
|
||||
|
||||
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
|
||||
ret = parser.update([0, [msg]])
|
||||
assert ret == {245}
|
||||
|
||||
ret = parser.update([])
|
||||
assert len(ret) == 0
|
||||
|
||||
def test_parser_counter_can_valid(self):
|
||||
"""
|
||||
Tests number of allowed bad counters + ensures CAN stays invalid
|
||||
while receiving invalid messages + that we can recover
|
||||
"""
|
||||
msgs = [
|
||||
("STEERING_CONTROL", 0),
|
||||
]
|
||||
packer = CANPacker("honda_civic_touring_2016_can_generated")
|
||||
parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
|
||||
|
||||
msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 0})
|
||||
|
||||
# bad static counter, invalid once it's seen MAX_BAD_COUNTER messages
|
||||
for idx in range(0x1000):
|
||||
parser.update([0, [msg]])
|
||||
assert ((idx + 1) < MAX_BAD_COUNTER) == parser.can_valid
|
||||
|
||||
# one to recover
|
||||
msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 1})
|
||||
parser.update([0, [msg]])
|
||||
assert parser.can_valid
|
||||
|
||||
def test_parser_no_partial_update(self):
|
||||
"""
|
||||
Ensure that the CANParser doesn't partially update messages with invalid signals (COUNTER/CHECKSUM).
|
||||
Previously, the signal update loop would only break once it got to one of these invalid signals,
|
||||
after already updating most/all of the signals.
|
||||
"""
|
||||
msgs = [
|
||||
("STEERING_CONTROL", 0),
|
||||
]
|
||||
packer = CANPacker("honda_civic_touring_2016_can_generated")
|
||||
parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
|
||||
|
||||
def rx_steering_msg(values, bad_checksum=False):
|
||||
msg = packer.make_can_msg("STEERING_CONTROL", 0, values)
|
||||
if bad_checksum:
|
||||
# add 1 to checksum
|
||||
dat = bytearray(msg[1])
|
||||
dat[4] = (dat[4] & 0xF0) | ((dat[4] & 0x0F) + 1)
|
||||
msg = (msg[0], bytes(dat), msg[2])
|
||||
|
||||
parser.update([0, [msg]])
|
||||
|
||||
rx_steering_msg({"STEER_TORQUE": 100}, bad_checksum=False)
|
||||
assert parser.vl["STEERING_CONTROL"]["STEER_TORQUE"] == 100
|
||||
assert parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"] == [100]
|
||||
|
||||
for _ in range(5):
|
||||
rx_steering_msg({"STEER_TORQUE": 200}, bad_checksum=True)
|
||||
assert parser.vl["STEERING_CONTROL"]["STEER_TORQUE"] == 100
|
||||
assert parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"] == []
|
||||
|
||||
# Even if CANParser doesn't update instantaneous vl, make sure it didn't add invalid values to vl_all
|
||||
rx_steering_msg({"STEER_TORQUE": 300}, bad_checksum=False)
|
||||
assert parser.vl["STEERING_CONTROL"]["STEER_TORQUE"] == 300
|
||||
assert parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"] == [300]
|
||||
|
||||
def test_packer_parser(self):
|
||||
msgs = [
|
||||
("Brake_Status", 0),
|
||||
("CAN_FD_MESSAGE", 0),
|
||||
("STEERING_CONTROL", 0),
|
||||
]
|
||||
packer = CANPacker(TEST_DBC)
|
||||
parser = CANParser(TEST_DBC, msgs, 0)
|
||||
|
||||
for steer in range(-256, 255):
|
||||
for active in (1, 0):
|
||||
values = {
|
||||
"STEERING_CONTROL": {
|
||||
"STEER_TORQUE": steer,
|
||||
"STEER_TORQUE_REQUEST": active,
|
||||
},
|
||||
"Brake_Status": {
|
||||
"Signal1": 61042322657536.0,
|
||||
},
|
||||
"CAN_FD_MESSAGE": {
|
||||
"SIGNED": steer,
|
||||
"64_BIT_LE": random.randint(0, 100),
|
||||
"64_BIT_BE": random.randint(0, 100),
|
||||
},
|
||||
}
|
||||
|
||||
msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
|
||||
parser.update([0, msgs])
|
||||
|
||||
for k, v in values.items():
|
||||
for key, val in v.items():
|
||||
assert parser.vl[k][key] == pytest.approx(val)
|
||||
|
||||
# also check address
|
||||
for sig in ("STEER_TORQUE", "STEER_TORQUE_REQUEST", "COUNTER", "CHECKSUM"):
|
||||
assert parser.vl["STEERING_CONTROL"][sig] == parser.vl[228][sig]
|
||||
|
||||
def test_scale_offset(self):
|
||||
"""Test that both scale and offset are correctly preserved"""
|
||||
dbc_file = "honda_civic_touring_2016_can_generated"
|
||||
msgs = [("VSA_STATUS", 50)]
|
||||
parser = CANParser(dbc_file, msgs, 0)
|
||||
packer = CANPacker(dbc_file)
|
||||
|
||||
for brake in range(100):
|
||||
values = {"USER_BRAKE": brake}
|
||||
msgs = packer.make_can_msg("VSA_STATUS", 0, values)
|
||||
parser.update([0, [msgs]])
|
||||
|
||||
assert parser.vl["VSA_STATUS"]["USER_BRAKE"] == pytest.approx(brake)
|
||||
|
||||
def test_subaru(self):
|
||||
# Subaru is little endian
|
||||
|
||||
dbc_file = "subaru_global_2017_generated"
|
||||
|
||||
msgs = [("ES_LKAS", 50)]
|
||||
|
||||
parser = CANParser(dbc_file, msgs, 0)
|
||||
packer = CANPacker(dbc_file)
|
||||
|
||||
idx = 0
|
||||
for steer in range(-256, 255):
|
||||
for active in [1, 0]:
|
||||
values = {
|
||||
"LKAS_Output": steer,
|
||||
"LKAS_Request": active,
|
||||
"SET_1": 1
|
||||
}
|
||||
|
||||
msgs = packer.make_can_msg("ES_LKAS", 0, values)
|
||||
parser.update([0, [msgs]])
|
||||
|
||||
assert parser.vl["ES_LKAS"]["LKAS_Output"] == pytest.approx(steer)
|
||||
assert parser.vl["ES_LKAS"]["LKAS_Request"] == pytest.approx(active)
|
||||
assert parser.vl["ES_LKAS"]["SET_1"] == pytest.approx(1)
|
||||
assert parser.vl["ES_LKAS"]["COUNTER"] == pytest.approx(idx % 16)
|
||||
idx += 1
|
||||
|
||||
def test_bus_timeout(self):
|
||||
"""Test CAN bus timeout detection"""
|
||||
dbc_file = "honda_civic_touring_2016_can_generated"
|
||||
|
||||
freq = 100
|
||||
msgs = [("VSA_STATUS", freq), ("STEER_MOTOR_TORQUE", freq/2)]
|
||||
|
||||
parser = CANParser(dbc_file, msgs, 0)
|
||||
packer = CANPacker(dbc_file)
|
||||
|
||||
i = 0
|
||||
def send_msg(blank=False):
|
||||
nonlocal i
|
||||
i += 1
|
||||
t = i*((1 / freq) * 1e9)
|
||||
|
||||
if blank:
|
||||
msgs = []
|
||||
else:
|
||||
msgs = [packer.make_can_msg("VSA_STATUS", 0, {}), ]
|
||||
|
||||
parser.update([t, msgs])
|
||||
|
||||
# all good, no timeout
|
||||
for _ in range(1000):
|
||||
send_msg()
|
||||
assert not parser.bus_timeout, str(_)
|
||||
|
||||
# timeout after 10 blank msgs
|
||||
for n in range(200):
|
||||
send_msg(blank=True)
|
||||
assert (n >= 10) == parser.bus_timeout
|
||||
|
||||
# no timeout immediately after seen again
|
||||
send_msg()
|
||||
assert not parser.bus_timeout
|
||||
|
||||
def test_updated(self):
|
||||
"""Test updated value dict"""
|
||||
dbc_file = "honda_civic_touring_2016_can_generated"
|
||||
msgs = [("VSA_STATUS", 50)]
|
||||
parser = CANParser(dbc_file, msgs, 0)
|
||||
packer = CANPacker(dbc_file)
|
||||
|
||||
# Make sure nothing is updated
|
||||
assert len(parser.vl_all["VSA_STATUS"]["USER_BRAKE"]) == 0
|
||||
|
||||
idx = 0
|
||||
for _ in range(10):
|
||||
# Ensure CANParser holds the values of any duplicate messages over multiple frames
|
||||
user_brake_vals = [random.randrange(100) for _ in range(random.randrange(5, 10))]
|
||||
half_idx = len(user_brake_vals) // 2
|
||||
can_msgs = [[], []]
|
||||
for frame, brake_vals in enumerate((user_brake_vals[:half_idx], user_brake_vals[half_idx:])):
|
||||
for user_brake in brake_vals:
|
||||
values = {"USER_BRAKE": user_brake}
|
||||
can_msgs[frame].append(packer.make_can_msg("VSA_STATUS", 0, values))
|
||||
idx += 1
|
||||
|
||||
parser.update([[0, m] for m in can_msgs])
|
||||
vl_all = parser.vl_all["VSA_STATUS"]["USER_BRAKE"]
|
||||
|
||||
assert vl_all == user_brake_vals
|
||||
if len(user_brake_vals):
|
||||
assert vl_all[-1] == parser.vl["VSA_STATUS"]["USER_BRAKE"]
|
||||
|
||||
def test_timestamp_nanos(self):
|
||||
"""Test message timestamp dict"""
|
||||
dbc_file = "honda_civic_touring_2016_can_generated"
|
||||
|
||||
msgs = [
|
||||
("VSA_STATUS", 50),
|
||||
("POWERTRAIN_DATA", 100),
|
||||
]
|
||||
|
||||
parser = CANParser(dbc_file, msgs, 0)
|
||||
packer = CANPacker(dbc_file)
|
||||
|
||||
# Check the default timestamp is zero
|
||||
for msg in ("VSA_STATUS", "POWERTRAIN_DATA"):
|
||||
ts_nanos = parser.ts_nanos[msg].values()
|
||||
assert set(ts_nanos) == {0}
|
||||
|
||||
# Check:
|
||||
# - timestamp is only updated for correct messages
|
||||
# - timestamp is correct for multiple runs
|
||||
# - timestamp is from the latest message if updating multiple strings
|
||||
for _ in range(10):
|
||||
can_strings = []
|
||||
log_mono_time = 0
|
||||
for i in range(10):
|
||||
log_mono_time = int(0.01 * i * 1e+9)
|
||||
can_msg = packer.make_can_msg("VSA_STATUS", 0, {})
|
||||
can_strings.append((log_mono_time, [can_msg]))
|
||||
parser.update(can_strings)
|
||||
|
||||
ts_nanos = parser.ts_nanos["VSA_STATUS"].values()
|
||||
assert set(ts_nanos) == {log_mono_time}
|
||||
ts_nanos = parser.ts_nanos["POWERTRAIN_DATA"].values()
|
||||
assert set(ts_nanos) == {0}
|
||||
|
||||
def test_nonexistent_messages(self):
|
||||
# Ensure we don't allow messages not in the DBC
|
||||
existing_messages = ("STEERING_CONTROL", 228, "CAN_FD_MESSAGE", 245)
|
||||
|
||||
for msg in existing_messages:
|
||||
CANParser(TEST_DBC, [(msg, 0)], 0)
|
||||
with pytest.raises(RuntimeError):
|
||||
new_msg = msg + "1" if isinstance(msg, str) else msg + 1
|
||||
CANParser(TEST_DBC, [(new_msg, 0)], 0)
|
||||
|
||||
def test_track_all_signals(self):
|
||||
parser = CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 0)], 0)
|
||||
assert parser.vl["ACC_CONTROL"] == {
|
||||
"ACCEL_CMD": 0,
|
||||
"ALLOW_LONG_PRESS": 0,
|
||||
"ACC_MALFUNCTION": 0,
|
||||
"RADAR_DIRTY": 0,
|
||||
"DISTANCE": 0,
|
||||
"MINI_CAR": 0,
|
||||
"ACC_TYPE": 0,
|
||||
"CANCEL_REQ": 0,
|
||||
"ACC_CUT_IN": 0,
|
||||
"LEAD_VEHICLE_STOPPED": 0,
|
||||
"PERMIT_BRAKING": 0,
|
||||
"RELEASE_STANDSTILL": 0,
|
||||
"ITS_CONNECT_LEAD": 0,
|
||||
"ACCEL_CMD_ALT": 0,
|
||||
"CHECKSUM": 0,
|
||||
}
|
||||
|
||||
def test_disallow_duplicate_messages(self):
|
||||
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5)], 0)
|
||||
|
||||
with pytest.raises(RuntimeError):
|
||||
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5), ("ACC_CONTROL", 10)], 0)
|
||||
|
||||
with pytest.raises(RuntimeError):
|
||||
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 10), ("ACC_CONTROL", 10)], 0)
|
||||
|
||||
def test_allow_undefined_msgs(self):
|
||||
# TODO: we should throw an exception for these, but we need good
|
||||
# discovery tests in openpilot first
|
||||
packer = CANPacker("toyota_nodsu_pt_generated")
|
||||
|
||||
assert packer.make_can_msg("ACC_CONTROL", 0, {"UNKNOWN_SIGNAL": 0}) == (835, b'\x00\x00\x00\x00\x00\x00\x00N', 0)
|
||||
assert packer.make_can_msg("UNKNOWN_MESSAGE", 0, {"UNKNOWN_SIGNAL": 0}) == (0, b'', 0)
|
||||
assert packer.make_can_msg(0, 0, {"UNKNOWN_SIGNAL": 0}) == (0, b'', 0)
|
||||
78
opendbc_repo/opendbc/car/CARS_template.md
Normal file
78
opendbc_repo/opendbc/car/CARS_template.md
Normal file
@@ -0,0 +1,78 @@
|
||||
<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
|
||||
|
||||
# Support Information for {{all_car_docs | length}} Known Cars
|
||||
|
||||
|{{ExtraCarsColumn | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
|
||||
|---|---|---|{% for _ in range((ExtraCarsColumn | length) - 3) %}{{':---:|'}}{% endfor +%}
|
||||
{% for car_docs in all_car_docs %}
|
||||
|{% for column in ExtraCarsColumn %}{{car_docs.get_extra_cars_column(column)}}|{% endfor %}
|
||||
|
||||
{% endfor %}
|
||||
|
||||
# Types of Support
|
||||
|
||||
**opendbc can support many more cars than it currently does.** There are a few reasons your car may not be supported.
|
||||
If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported!
|
||||
We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car
|
||||
support comes from users like you!
|
||||
|
||||
## Upstream
|
||||
|
||||
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better
|
||||
experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
|
||||
|
||||
## Under Review
|
||||
|
||||
A vehicle under review is one for which software support has been merged into upstream openpilot, but hasn't yet been
|
||||
tested for drive quality and conformance with [comma safety guidelines](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md).
|
||||
This is a normal part of the development and quality assurance process. This vehicle will not work when upstream
|
||||
openpilot is installed, but custom forks may allow their use.
|
||||
|
||||
## Custom
|
||||
|
||||
Vehicles in this category are not considered plug-and-play. Software support is included in upstream openpilot, but
|
||||
these vehicles might not have a harness in the comma store, or the physical install might be at an unusual or cumbersome
|
||||
location, or they might need unusual configuration after install.
|
||||
|
||||
## Dashcam
|
||||
|
||||
Dashcam vehicles have software support in upstream openpilot, but will go into "dashcam mode" at startup and will not
|
||||
engage. This may be due to known issues with driving safety or quality, or it may be a work in progress that isn't yet
|
||||
ready for safety and quality review.
|
||||
|
||||
## Community
|
||||
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community
|
||||
Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
Some notable works-in-progress:
|
||||
* Honda
|
||||
* 2024 Acura Integra, commaai/openpilot#32056
|
||||
* 2023-24 Honda Accord (CAN-FD), commaai/openpilot#32229
|
||||
* 2024 Honda CR-V (CAN-FD), commaai/openpilot#32806
|
||||
* 2024 Honda CR-V Hybrid (CAN-FD), commaai/openpilot#31527
|
||||
* Depends on commaai/opendbc#1100
|
||||
* 2021-25 Honda Odyssey, commaai/opendbc#1330
|
||||
* 2023-24 Honda Pilot (CAN-FD), commaai/openpilot#30324
|
||||
* Camera ACC stability improvements, commaai/openpilot#31022
|
||||
* Depends on commaai/panda#1814
|
||||
* Depends on commaai/opendbc#998
|
||||
* These are being reworked for full-time proxy through openpilot
|
||||
* Manual transmission support (Civic, Integra)
|
||||
* Depends on commaai/opendbc#1034 (merged)
|
||||
* Car port support PR not yet filed
|
||||
|
||||
## Incompatible
|
||||
|
||||
### CAN Bus Security
|
||||
|
||||
Vehicles with CAN security measures, such as AUTOSAR Secure Onboard Communication (SecOC) are not usable with openpilot
|
||||
unless the owner can recover the message signing key and implement CAN message signing. Examples include certain newer
|
||||
Toyota, and the GM Global B platform.
|
||||
|
||||
### FlexRay
|
||||
|
||||
All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
|
||||
CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
|
||||
manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
|
||||
may one day be supported, but we have no immediate plans to support FlexRay.
|
||||
391
opendbc_repo/opendbc/car/__init__.py
Normal file
391
opendbc_repo/opendbc/car/__init__.py
Normal file
@@ -0,0 +1,391 @@
|
||||
# functions common among cars
|
||||
import numpy as np
|
||||
from dataclasses import dataclass, field
|
||||
from enum import IntFlag, ReprEnum, StrEnum, EnumType, auto
|
||||
from dataclasses import replace
|
||||
|
||||
from opendbc.car import structs, uds
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs
|
||||
|
||||
DT_CTRL = 0.01 # car state and control loop timestep (s)
|
||||
|
||||
# kg of standard extra cargo to count for drive, gas, etc...
|
||||
STD_CARGO_KG = 136.
|
||||
|
||||
ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
|
||||
|
||||
@dataclass
|
||||
class AngleSteeringLimits:
|
||||
STEER_ANGLE_MAX: float
|
||||
ANGLE_RATE_LIMIT_UP: tuple[list[float], list[float]]
|
||||
ANGLE_RATE_LIMIT_DOWN: tuple[list[float], list[float]]
|
||||
|
||||
|
||||
def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
|
||||
if val > val_steady + hyst_gap:
|
||||
val_steady = val - hyst_gap
|
||||
elif val < val_steady - hyst_gap:
|
||||
val_steady = val + hyst_gap
|
||||
return val_steady
|
||||
|
||||
|
||||
def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, structs.CarState.ButtonEvent.Type],
|
||||
unpressed_btn: int = 0) -> list[structs.CarState.ButtonEvent]:
|
||||
events: list[structs.CarState.ButtonEvent] = []
|
||||
|
||||
if cur_btn == prev_btn:
|
||||
return events
|
||||
|
||||
# Add events for button presses, multiple when a button switches without going to unpressed
|
||||
for pressed, btn in ((False, prev_btn), (True, cur_btn)):
|
||||
if btn != unpressed_btn:
|
||||
events.append(structs.CarState.ButtonEvent(pressed=pressed,
|
||||
type=buttons_dict.get(btn, ButtonType.unknown)))
|
||||
return events
|
||||
|
||||
|
||||
def gen_empty_fingerprint():
|
||||
return {i: {} for i in range(8)}
|
||||
|
||||
|
||||
# these params were derived for the Civic and used to calculate params for other cars
|
||||
class VehicleDynamicsParams:
|
||||
MASS = 1326. + STD_CARGO_KG
|
||||
WHEELBASE = 2.70
|
||||
CENTER_TO_FRONT = WHEELBASE * 0.4
|
||||
CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
|
||||
ROTATIONAL_INERTIA = 2500
|
||||
TIRE_STIFFNESS_FRONT = 192150
|
||||
TIRE_STIFFNESS_REAR = 202500
|
||||
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
def scale_rot_inertia(mass, wheelbase):
|
||||
return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)
|
||||
|
||||
|
||||
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
||||
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
||||
def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
|
||||
center_to_rear = wheelbase - center_to_front
|
||||
tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
|
||||
(center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE)
|
||||
|
||||
tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
|
||||
(center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE)
|
||||
|
||||
return tire_stiffness_front, tire_stiffness_rear
|
||||
|
||||
|
||||
DbcDict = dict[StrEnum, str]
|
||||
|
||||
class Bus(StrEnum):
|
||||
pt = auto()
|
||||
cam = auto()
|
||||
radar = auto()
|
||||
adas = auto()
|
||||
alt = auto()
|
||||
body = auto()
|
||||
chassis = auto()
|
||||
loopback = auto()
|
||||
main = auto()
|
||||
party = auto()
|
||||
ap_party = auto()
|
||||
|
||||
|
||||
def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):
|
||||
# some safety modes utilize a dynamic max steer
|
||||
if steer_max is None:
|
||||
steer_max = LIMITS.STEER_MAX
|
||||
|
||||
# limits due to driver torque
|
||||
driver_max_torque = steer_max + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
|
||||
driver_min_torque = -steer_max + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
|
||||
max_steer_allowed = max(min(steer_max, driver_max_torque), 0)
|
||||
min_steer_allowed = min(max(-steer_max, driver_min_torque), 0)
|
||||
apply_torque = np.clip(apply_torque, min_steer_allowed, max_steer_allowed)
|
||||
|
||||
# slow rate if steer torque increases in magnitude
|
||||
if apply_torque_last > 0:
|
||||
apply_torque = np.clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
|
||||
apply_torque_last + LIMITS.STEER_DELTA_UP)
|
||||
else:
|
||||
apply_torque = np.clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
|
||||
min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
|
||||
|
||||
return int(round(float(apply_torque)))
|
||||
|
||||
|
||||
def apply_dist_to_meas_limits(val, val_last, val_meas,
|
||||
STEER_DELTA_UP, STEER_DELTA_DOWN,
|
||||
STEER_ERROR_MAX, STEER_MAX):
|
||||
# limits due to comparison of commanded val VS measured val (torque/angle/curvature)
|
||||
max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
|
||||
min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
|
||||
|
||||
val = np.clip(val, min_lim, max_lim)
|
||||
|
||||
# slow rate if val increases in magnitude
|
||||
if val_last > 0:
|
||||
val = np.clip(val,
|
||||
max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
|
||||
val_last + STEER_DELTA_UP)
|
||||
else:
|
||||
val = np.clip(val,
|
||||
val_last - STEER_DELTA_UP,
|
||||
min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))
|
||||
|
||||
return float(val)
|
||||
|
||||
|
||||
def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
|
||||
return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
|
||||
LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
|
||||
LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))
|
||||
|
||||
|
||||
def apply_std_steer_angle_limits(apply_angle: float, apply_angle_last: float, v_ego: float, steering_angle: float,
|
||||
lat_active: bool, limits: AngleSteeringLimits) -> float:
|
||||
# pick angle rate limits based on wind up/down
|
||||
steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
|
||||
rate_limits = limits.ANGLE_RATE_LIMIT_UP if steer_up else limits.ANGLE_RATE_LIMIT_DOWN
|
||||
|
||||
angle_rate_lim = np.interp(v_ego, rate_limits[0], rate_limits[1])
|
||||
new_apply_angle = np.clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
|
||||
|
||||
# angle is current steering wheel angle when inactive on all angle cars
|
||||
if not lat_active:
|
||||
new_apply_angle = steering_angle
|
||||
|
||||
return float(np.clip(new_apply_angle, -limits.STEER_ANGLE_MAX, limits.STEER_ANGLE_MAX))
|
||||
|
||||
|
||||
def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
|
||||
max_above_limit_frames: int, max_mismatching_frames: int = 1):
|
||||
"""
|
||||
Several cars have the ability to work around their EPS limits by cutting the
|
||||
request bit of their LKAS message after a certain number of frames above the limit.
|
||||
"""
|
||||
|
||||
# Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
|
||||
if request and fault_condition:
|
||||
above_limit_frames += 1
|
||||
else:
|
||||
above_limit_frames = 0
|
||||
|
||||
# Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again.
|
||||
# Some brands do not respect our workaround without multiple messages on the bus, for example
|
||||
if above_limit_frames > max_above_limit_frames:
|
||||
request = False
|
||||
|
||||
if above_limit_frames >= max_above_limit_frames + max_mismatching_frames:
|
||||
above_limit_frames = 0
|
||||
|
||||
return above_limit_frames, request
|
||||
|
||||
|
||||
def crc8_pedal(data):
|
||||
crc = 0xFF # standard init value
|
||||
poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1
|
||||
size = len(data)
|
||||
for i in range(size - 1, -1, -1):
|
||||
crc ^= data[i]
|
||||
for _ in range(8):
|
||||
if ((crc & 0x80) != 0):
|
||||
crc = ((crc << 1) ^ poly) & 0xFF
|
||||
else:
|
||||
crc <<= 1
|
||||
return crc
|
||||
|
||||
|
||||
def create_gas_interceptor_command(packer, gas_amount, idx):
|
||||
# Common gas pedal msg generator
|
||||
enable = gas_amount > 0.001
|
||||
|
||||
values = {
|
||||
"ENABLE": enable,
|
||||
"COUNTER_PEDAL": idx & 0xF,
|
||||
}
|
||||
|
||||
if enable:
|
||||
values["GAS_COMMAND"] = gas_amount * 255.
|
||||
values["GAS_COMMAND2"] = gas_amount * 255.
|
||||
|
||||
dat = packer.make_can_msg("GAS_COMMAND", 0, values)[1]
|
||||
|
||||
checksum = crc8_pedal(dat[:-1])
|
||||
values["CHECKSUM_PEDAL"] = checksum
|
||||
|
||||
return packer.make_can_msg("GAS_COMMAND", 0, values)
|
||||
|
||||
|
||||
def apply_center_deadzone(error, deadzone):
|
||||
if (error > - deadzone) and (error < deadzone):
|
||||
error = 0.
|
||||
return error
|
||||
|
||||
|
||||
def rate_limit(new_value, last_value, dw_step, up_step):
|
||||
return float(np.clip(new_value, last_value + dw_step, last_value + up_step))
|
||||
|
||||
|
||||
def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
|
||||
torque_params: structs.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
|
||||
friction_interp = np.interp(
|
||||
apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
|
||||
[-friction_threshold, friction_threshold],
|
||||
[-torque_params.friction, torque_params.friction]
|
||||
)
|
||||
friction = float(friction_interp) if friction_compensation else 0.0
|
||||
return friction
|
||||
|
||||
|
||||
def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
|
||||
dat = [0x02, uds.SERVICE_TYPE.TESTER_PRESENT]
|
||||
if subaddr is not None:
|
||||
dat.insert(0, subaddr)
|
||||
dat.append(0x80 if suppress_response else 0x0) # sub-function
|
||||
|
||||
dat.extend([0x0] * (8 - len(dat)))
|
||||
return CanData(addr, bytes(dat), bus)
|
||||
|
||||
|
||||
def get_safety_config(safety_model: structs.CarParams.SafetyModel, safety_param: int = None) -> structs.CarParams.SafetyConfig:
|
||||
ret = structs.CarParams.SafetyConfig()
|
||||
ret.safetyModel = safety_model
|
||||
if safety_param is not None:
|
||||
ret.safetyParam = safety_param
|
||||
return ret
|
||||
|
||||
|
||||
class CanBusBase:
|
||||
offset: int
|
||||
|
||||
def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None:
|
||||
if CP is None:
|
||||
assert fingerprint is not None
|
||||
num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
|
||||
else:
|
||||
num = len(CP.safetyConfigs)
|
||||
self.offset = 4 * (num - 1)
|
||||
|
||||
|
||||
class CanSignalRateCalculator:
|
||||
"""
|
||||
Calculates the instantaneous rate of a CAN signal by using the counter
|
||||
variable and the known frequency of the CAN message that contains it.
|
||||
"""
|
||||
def __init__(self, frequency):
|
||||
self.frequency = frequency
|
||||
self.previous_counter = 0
|
||||
self.previous_value = 0
|
||||
self.rate = 0
|
||||
|
||||
def update(self, current_value, current_counter):
|
||||
if current_counter != self.previous_counter:
|
||||
self.rate = (current_value - self.previous_value) * self.frequency
|
||||
|
||||
self.previous_counter = current_counter
|
||||
self.previous_value = current_value
|
||||
|
||||
return self.rate
|
||||
|
||||
|
||||
@dataclass(frozen=True, kw_only=True)
|
||||
class CarSpecs:
|
||||
mass: float # kg, curb weight
|
||||
wheelbase: float # meters
|
||||
steerRatio: float
|
||||
centerToFrontRatio: float = 0.5
|
||||
minSteerSpeed: float = 0.0 # m/s
|
||||
minEnableSpeed: float = -1.0 # m/s
|
||||
tireStiffnessFactor: float = 1.0
|
||||
|
||||
def override(self, **kwargs):
|
||||
return replace(self, **kwargs)
|
||||
|
||||
|
||||
class Freezable:
|
||||
_frozen: bool = False
|
||||
|
||||
def freeze(self):
|
||||
if not self._frozen:
|
||||
self._frozen = True
|
||||
|
||||
def __setattr__(self, *args, **kwargs):
|
||||
if self._frozen:
|
||||
raise Exception("cannot modify frozen object")
|
||||
super().__setattr__(*args, **kwargs)
|
||||
|
||||
|
||||
@dataclass(order=True)
|
||||
class PlatformConfigBase(Freezable):
|
||||
car_docs: list[CarDocs] | list[ExtraCarDocs]
|
||||
specs: CarSpecs
|
||||
|
||||
dbc_dict: DbcDict
|
||||
|
||||
flags: int = 0
|
||||
|
||||
platform_str: str | None = None
|
||||
|
||||
def __hash__(self) -> int:
|
||||
return hash(self.platform_str)
|
||||
|
||||
def override(self, **kwargs):
|
||||
return replace(self, **kwargs)
|
||||
|
||||
def init(self):
|
||||
pass
|
||||
|
||||
def __post_init__(self):
|
||||
self.init()
|
||||
|
||||
|
||||
@dataclass(order=True)
|
||||
class PlatformConfig(PlatformConfigBase):
|
||||
car_docs: list[CarDocs]
|
||||
specs: CarSpecs
|
||||
dbc_dict: DbcDict
|
||||
|
||||
|
||||
@dataclass(order=True)
|
||||
class ExtraPlatformConfig(PlatformConfigBase):
|
||||
car_docs: list[ExtraCarDocs]
|
||||
specs: CarSpecs = CarSpecs(mass=0., wheelbase=0., steerRatio=0.)
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: dict())
|
||||
|
||||
|
||||
class PlatformsType(EnumType):
|
||||
def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
|
||||
for key in classdict._member_names.keys():
|
||||
cfg: PlatformConfig = classdict[key]
|
||||
cfg.platform_str = key
|
||||
cfg.freeze()
|
||||
return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
|
||||
|
||||
|
||||
class Platforms(str, ReprEnum, metaclass=PlatformsType):
|
||||
config: PlatformConfigBase
|
||||
|
||||
def __new__(cls, platform_config: PlatformConfig):
|
||||
member = str.__new__(cls, platform_config.platform_str)
|
||||
member.config = platform_config
|
||||
member._value_ = platform_config.platform_str
|
||||
return member
|
||||
|
||||
def __repr__(self):
|
||||
return f"<{self.__class__.__name__}.{self.name}>"
|
||||
|
||||
@classmethod
|
||||
def create_dbc_map(cls) -> dict[str, DbcDict]:
|
||||
return {p: p.config.dbc_dict for p in cls}
|
||||
|
||||
@classmethod
|
||||
def with_flags(cls, flags: IntFlag) -> set['Platforms']:
|
||||
return {p for p in cls if p.config.flags & flags}
|
||||
0
opendbc_repo/opendbc/car/body/__init__.py
Normal file
0
opendbc_repo/opendbc/car/body/__init__.py
Normal file
20
opendbc_repo/opendbc/car/body/bodycan.py
Normal file
20
opendbc_repo/opendbc/car/body/bodycan.py
Normal file
@@ -0,0 +1,20 @@
|
||||
def create_control(packer, torque_l, torque_r):
|
||||
values = {
|
||||
"TORQUE_L": torque_l,
|
||||
"TORQUE_R": torque_r,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("TORQUE_CMD", 0, values)
|
||||
|
||||
|
||||
def body_checksum(address: int, sig, d: bytearray) -> int:
|
||||
crc = 0xFF
|
||||
poly = 0xD5
|
||||
for i in range(len(d) - 2, -1, -1):
|
||||
crc ^= d[i]
|
||||
for _ in range(8):
|
||||
if crc & 0x80:
|
||||
crc = ((crc << 1) ^ poly) & 0xFF
|
||||
else:
|
||||
crc = (crc << 1) & 0xFF
|
||||
return crc
|
||||
82
opendbc_repo/opendbc/car/body/carcontroller.py
Normal file
82
opendbc_repo/opendbc/car/body/carcontroller.py
Normal file
@@ -0,0 +1,82 @@
|
||||
import numpy as np
|
||||
|
||||
from opendbc.can import CANPacker
|
||||
from opendbc.car import Bus, DT_CTRL
|
||||
from opendbc.car.common.pid import PIDController
|
||||
from opendbc.car.body import bodycan
|
||||
from opendbc.car.body.values import SPEED_FROM_RPM
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
|
||||
MAX_TORQUE = 500
|
||||
MAX_TORQUE_RATE = 50
|
||||
MAX_ANGLE_ERROR = np.radians(7)
|
||||
MAX_POS_INTEGRATOR = 0.2 # meters
|
||||
MAX_TURN_INTEGRATOR = 0.1 # meters
|
||||
|
||||
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_names, CP):
|
||||
super().__init__(dbc_names, CP)
|
||||
self.packer = CANPacker(dbc_names[Bus.main])
|
||||
|
||||
# PIDs
|
||||
self.turn_pid = PIDController(110, k_i=11.5, rate=1 / DT_CTRL)
|
||||
self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1 / DT_CTRL)
|
||||
|
||||
self.torque_r_filtered = 0.
|
||||
self.torque_l_filtered = 0.
|
||||
|
||||
@staticmethod
|
||||
def deadband_filter(torque, deadband):
|
||||
if torque > 0:
|
||||
torque += deadband
|
||||
else:
|
||||
torque -= deadband
|
||||
return torque
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
|
||||
torque_l = 0
|
||||
torque_r = 0
|
||||
|
||||
if CC.enabled:
|
||||
# Read these from the joystick
|
||||
# TODO: this isn't acceleration, okay?
|
||||
speed_desired = CC.actuators.accel / 5.
|
||||
speed_diff_desired = -CC.actuators.torque / 2.
|
||||
|
||||
speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
|
||||
speed_error = speed_desired - speed_measured
|
||||
|
||||
torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
|
||||
|
||||
speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
|
||||
turn_error = speed_diff_measured - speed_diff_desired
|
||||
freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
|
||||
(turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
|
||||
torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
|
||||
|
||||
# Combine 2 PIDs outputs
|
||||
torque_r = torque + torque_diff
|
||||
torque_l = torque - torque_diff
|
||||
|
||||
# Torque rate limits
|
||||
self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10),
|
||||
self.torque_r_filtered - MAX_TORQUE_RATE,
|
||||
self.torque_r_filtered + MAX_TORQUE_RATE)
|
||||
self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10),
|
||||
self.torque_l_filtered - MAX_TORQUE_RATE,
|
||||
self.torque_l_filtered + MAX_TORQUE_RATE)
|
||||
torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE))
|
||||
torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
|
||||
|
||||
can_sends = []
|
||||
can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
|
||||
|
||||
new_actuators = CC.actuators.as_builder()
|
||||
new_actuators.accel = torque_l
|
||||
new_actuators.torque = torque_r
|
||||
new_actuators.torqueOutputCan = torque_r
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
35
opendbc_repo/opendbc/car/body/carstate.py
Normal file
35
opendbc_repo/opendbc/car/body/carstate.py
Normal file
@@ -0,0 +1,35 @@
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
from opendbc.car.body.values import DBC
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
cp = can_parsers[Bus.main]
|
||||
ret = structs.CarState()
|
||||
|
||||
ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
|
||||
ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
|
||||
|
||||
ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
|
||||
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
ret.standstill = False
|
||||
|
||||
ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
|
||||
cp.vl['VAR_VALUES']['FAULT']])
|
||||
|
||||
ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
|
||||
ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
|
||||
|
||||
# irrelevant for non-car
|
||||
ret.gearShifter = structs.CarState.GearShifter.drive
|
||||
ret.cruiseState.enabled = True
|
||||
ret.cruiseState.available = True
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers(CP):
|
||||
return {Bus.main: CANParser(DBC[CP.carFingerprint][Bus.main], [], 0)}
|
||||
28
opendbc_repo/opendbc/car/body/fingerprints.py
Normal file
28
opendbc_repo/opendbc/car/body/fingerprints.py
Normal file
@@ -0,0 +1,28 @@
|
||||
""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.body.values import CAR
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
# debug ecu fw version is the git hash of the firmware
|
||||
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.COMMA_BODY: [{
|
||||
513: 8, 516: 8, 514: 3, 515: 4
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.COMMA_BODY: {
|
||||
(Ecu.engine, 0x720, None): [
|
||||
b'0.0.01',
|
||||
b'0.3.00a',
|
||||
b'02/27/2022',
|
||||
],
|
||||
(Ecu.debug, 0x721, None): [
|
||||
b'166bd860',
|
||||
b'dc780f85',
|
||||
],
|
||||
},
|
||||
}
|
||||
30
opendbc_repo/opendbc/car/body/interface.py
Normal file
30
opendbc_repo/opendbc/car/body/interface.py
Normal file
@@ -0,0 +1,30 @@
|
||||
import math
|
||||
from opendbc.car import get_safety_config, structs
|
||||
from opendbc.car.body.carcontroller import CarController
|
||||
from opendbc.car.body.carstate import CarState
|
||||
from opendbc.car.body.values import SPEED_FROM_RPM
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
ret.notCar = True
|
||||
ret.brand = "body"
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]
|
||||
|
||||
ret.minSteerSpeed = -math.inf
|
||||
ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
|
||||
ret.steerLimitTimer = 1.0
|
||||
ret.steerActuatorDelay = 0.
|
||||
|
||||
ret.wheelSpeedFactor = SPEED_FROM_RPM
|
||||
|
||||
ret.radarUnavailable = True
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.steerControlType = structs.CarParams.SteerControlType.angle
|
||||
|
||||
return ret
|
||||
40
opendbc_repo/opendbc/car/body/values.py
Normal file
40
opendbc_repo/opendbc/car/body/values.py
Normal file
@@ -0,0 +1,40 @@
|
||||
from opendbc.car import Bus, CarSpecs, PlatformConfig, Platforms
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.docs_definitions import CarDocs
|
||||
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
SPEED_FROM_RPM = 0.008587
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
ANGLE_DELTA_BP = [0., 5., 15.]
|
||||
ANGLE_DELTA_V = [5., .8, .15] # windup limit
|
||||
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
|
||||
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
def __init__(self, CP):
|
||||
pass
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
COMMA_BODY = PlatformConfig(
|
||||
[CarDocs("comma body", package="All")],
|
||||
CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
|
||||
{Bus.main: 'comma_body'},
|
||||
)
|
||||
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
],
|
||||
)
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
0
opendbc_repo/opendbc/car/byd/__init__.py
Normal file
0
opendbc_repo/opendbc/car/byd/__init__.py
Normal file
3
opendbc_repo/opendbc/car/byd/bydcan.py
Normal file
3
opendbc_repo/opendbc/car/byd/bydcan.py
Normal file
File diff suppressed because one or more lines are too long
3
opendbc_repo/opendbc/car/byd/carcontroller.py
Normal file
3
opendbc_repo/opendbc/car/byd/carcontroller.py
Normal file
File diff suppressed because one or more lines are too long
3
opendbc_repo/opendbc/car/byd/carstate.py
Normal file
3
opendbc_repo/opendbc/car/byd/carstate.py
Normal file
File diff suppressed because one or more lines are too long
58
opendbc_repo/opendbc/car/byd/fingerprints.py
Normal file
58
opendbc_repo/opendbc/car/byd/fingerprints.py
Normal file
@@ -0,0 +1,58 @@
|
||||
# ruff: noqa: E501
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.byd.values import CAR
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.BYD_HAN_DM_20: [{
|
||||
85: 8, 140: 8, 213: 8, 269: 8, 287: 5, 289: 8, 290: 8, 291: 8, 301: 8, 303: 8, 307: 8, 309: 8, 315: 8, 384: 8, 496: 8, 530: 8, 536: 8, 544: 8, 546: 8, 547: 8, 576: 8, 578: 8, 588: 8, 660: 8, 694: 8, 790: 8, 792: 8, 797: 8, 798: 8, 801: 8, 802: 8, 813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 836: 8, 843: 8, 860: 8, 884: 8, 916: 8, 918: 8, 926: 8, 940: 8, 941: 8, 944: 8, 948: 8, 985: 8, 988: 8, 1004: 8, 1020: 8, 1037: 8, 1040: 8, 1058: 8, 1074: 8, 1141: 8, 1172: 8, 1178: 8, 1180: 8, 1193: 8, 1246: 8, 1293: 8, 1793: 8, 1796: 8, 1804: 8, 1904: 8, 1905: 8, 1912: 8, 1913: 8, 1986: 8, 2004: 8, 2034: 8, 2042: 8
|
||||
}],
|
||||
CAR.BYD_HAN_DMI_22: [{
|
||||
140: 8, 213: 8, 269: 8, 287: 5, 289: 8, 291: 8, 296: 8, 300: 8, 301: 8, 307: 8, 337: 8, 482: 8, 496: 8, 508: 8, 536: 8, 544: 8, 546: 8, 547: 8, 575: 8, 576: 8, 578: 8, 588: 8, 604: 8, 660: 8, 692: 8, 694: 8, 724: 8, 748: 8, 790: 8, 792: 8, 796: 64, 797: 8, 798: 8, 801: 8, 802: 8, 803: 8, 812: 8, 813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 836: 8, 837: 8, 843: 8, 854: 8, 860: 8, 863: 8, 879: 8, 884: 8, 904: 8, 906: 8, 944: 8, 948: 8, 951: 8, 965: 8, 973: 8, 985: 8, 1023: 8, 1028: 8, 1029: 8, 1031: 8, 1033: 8, 1040: 8, 1048: 8, 1058: 8, 1074: 8, 1092: 8, 1093: 8, 1107: 8, 1141: 8, 1166: 8, 1178: 8, 1189: 8, 1193: 8, 1203: 64, 1204: 64, 1214: 8, 1226: 16, 1246: 8, 1297: 8, 1319: 8, 1322: 8
|
||||
}],
|
||||
CAR.BYD_HAN_EV_20: [{
|
||||
85: 8, 140: 8, 213: 8, 287: 5, 289: 8, 290: 8, 291: 8, 301: 8, 303: 8, 307: 8, 308: 8, 309: 8, 315: 8, 464: 8, 465: 8, 480: 8, 496: 8, 536: 8, 544: 8, 546: 8, 547: 8, 576: 8, 578: 8, 588: 8, 660: 8, 694: 8, 790: 8, 792: 8, 797: 8, 798: 8, 801: 8, 802: 8, 812: 8, 813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 836: 8, 843: 8, 860: 8, 863: 8, 879: 8, 884: 8, 916: 8, 918: 8, 920: 8, 926: 8, 940: 8, 941: 8, 944: 8, 948: 8, 965: 8, 976: 8, 985: 8, 988: 8, 1004: 8, 1020: 8, 1036: 8, 1037: 8, 1040: 8, 1048: 8, 1058: 8, 1074: 8, 1141: 8, 1172: 8, 1178: 8, 1180: 8, 1193: 8, 1246: 8, 1268: 8, 1793: 8, 1794: 8, 1797: 8, 1798: 8, 1801: 8, 1808: 8, 1809: 8, 1811: 8, 1812: 8, 1824: 8, 1827: 8, 1828: 8, 1829: 8, 1830: 8, 1842: 8, 1843: 8, 1845: 8, 1847: 8, 1858: 8, 1859: 8, 1862: 8, 1863: 8, 1872: 8, 1873: 8, 1874: 8, 1876: 8, 1890: 8, 1891: 8, 1894: 8, 1904: 8, 1905: 8, 1912: 8, 1913: 8, 1920: 8, 1921: 8, 1922: 8, 1923: 8, 1925: 8, 1927: 8, 1939: 8, 1940: 8, 1943: 8, 1959: 8, 1971: 8, 1973: 8, 1984: 8, 1986: 8, 1987: 8, 1991: 8, 1994: 8, 2002: 8, 2004: 8, 2006: 8, 2012: 8, 2033: 8, 2034: 8, 2042: 8
|
||||
}],
|
||||
CAR.BYD_TANG_DM: [{
|
||||
85: 8, 140: 8, 213: 8, 269: 8, 270: 8, 287: 5, 289: 8, 290: 8, 291: 8, 301: 8, 307: 8, 315: 8, 356: 8, 371: 8, 464: 8, 480: 8, 496: 8, 522: 8, 523: 8, 525: 8, 527: 8, 530: 8, 536: 8, 537: 8, 544: 8, 546: 8, 547: 8, 576: 8, 577: 8, 578: 8, 588: 8, 593: 8, 596: 8, 635: 8, 636: 8, 638: 8, 660: 8, 694: 8, 781: 8, 784: 8, 788: 8, 790: 8, 792: 8, 797: 8, 798: 8, 800: 8, 801: 8, 802: 8, 812: 8, 813: 8, 814: 8, 815: 8, 827: 8, 828: 8, 829: 8, 833: 8, 834: 8, 836: 8, 847: 8, 854: 8, 860: 8, 863: 8, 879: 8, 916: 8, 926: 8, 944: 8, 946: 8, 948: 8, 973: 8, 976: 8, 985: 8, 1004: 8, 1020: 8, 1036: 8, 1037: 8, 1040: 8, 1048: 8, 1058: 8, 1074: 8, 1104: 8, 1141: 8, 1172: 8, 1178: 8, 1180: 8, 1193: 8, 1208: 8, 1209: 8, 1219: 8, 1224: 8, 1240: 8, 1241: 8, 1246: 8, 1814: 8, 1845: 8, 1847: 8, 1855: 8, 1904: 8, 1905: 8, 1906: 8, 1912: 8, 1913: 8, 1914: 8, 1921: 8, 1929: 8, 1975: 8, 1983: 8, 1986: 8, 1994: 8, 2001: 8, 2004: 8, 2009: 8, 2012: 8, 2034: 8, 2042: 8
|
||||
}],
|
||||
CAR.BYD_TANG_DMI_21: [{
|
||||
85: 8, 140: 8, 213: 8, 269: 8, 270: 8, 287: 5, 289: 8, 290: 8, 291: 8, 300: 8, 301: 8, 307: 8, 309: 8, 315: 8, 337: 8, 356: 8, 371: 8, 418: 8, 450: 8, 464: 8, 480: 8, 496: 8, 522: 8, 523: 8, 525: 8, 527: 8, 530: 8, 536: 8, 537: 8, 544: 8, 546: 8, 547: 8, 575: 8, 576: 8, 577: 8, 578: 8, 588: 8, 593: 8, 596: 8, 629: 8, 635: 8, 636: 8, 638: 8, 660: 8, 681: 8, 694: 8, 703: 8, 724: 8, 748: 8, 775: 8, 777: 8, 781: 8, 784: 8, 788: 8, 790: 8, 792: 8, 797: 8, 798: 8, 800: 8, 801: 8, 802: 8, 803: 8, 812: 8, 813: 8, 814: 8, 815: 8, 827: 8, 828: 8, 829: 8, 833: 8, 834: 8, 835: 8, 836: 8, 843: 8, 847: 8, 854: 8, 860: 8, 863: 8, 878: 8, 879: 8, 884: 8, 906: 8, 916: 8, 926: 8, 940: 8, 941: 8, 944: 8, 946: 8, 948: 8, 951: 8, 965: 8, 973: 8, 976: 8, 985: 8, 1004: 8, 1020: 8, 1023: 8, 1028: 8, 1031: 8, 1036: 8, 1037: 8, 1038: 8, 1040: 8, 1048: 8, 1052: 8, 1058: 8, 1074: 8, 1076: 8, 1097: 8, 1098: 8, 1104: 8, 1141: 8, 1163: 8, 1172: 8, 1178: 8, 1180: 8, 1189: 8, 1193: 8, 1208: 8, 1209: 8, 1215: 8, 1219: 8, 1224: 8, 1240: 8, 1241: 8, 1246: 8, 1273: 8, 1274: 8, 1297: 8, 1298: 8, 1337: 8, 1338: 8, 1796: 8, 1804: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1825: 8, 1826: 8, 1829: 8, 1830: 8, 1833: 8, 1834: 8, 1837: 8, 1838: 8, 1843: 8, 1851: 8, 1859: 8, 1863: 8, 1867: 8, 1871: 8, 1872: 8, 1873: 8, 1874: 8, 1878: 8, 1880: 8, 1882: 8, 1890: 8, 1891: 8, 1899: 8, 1920: 8, 1921: 8, 1922: 8, 1923: 8, 1925: 8, 1927: 8, 1928: 8, 1930: 8, 1931: 8, 1933: 8, 1935: 8, 1959: 8, 1967: 8, 1984: 8, 1991: 8, 1992: 8, 1999: 8, 2016: 8, 2017: 8, 2022: 8, 2024: 8, 2025: 8
|
||||
}],
|
||||
CAR.BYD_SONG_PLUS_DMI_21: [{
|
||||
85: 8, 140: 8, 213: 8, 269: 8, 270: 8, 287: 5, 289: 8, 290: 8, 291: 8, 300: 8, 301: 8, 307: 8, 327: 8, 330: 8, 337: 8, 356: 8, 371: 8, 418:8, 450: 8, 496: 8, 522: 8, 525: 8, 527: 8, 536: 8, 537: 8, 544: 8, 546: 8, 547: 8, 575: 8, 576: 8, 577: 8, 578: 8, 588: 8, 593: 8, 629: 8, 638: 8, 660:8, 681: 8, 694: 8, 703: 8, 724: 8, 748: 8, 781: 8, 786: 8, 790: 8, 792: 8, 797: 8, 798: 8, 800: 8, 801: 8, 802: 8, 803: 8, 812: 8, 813: 8, 814: 8, 815:8, 833: 8, 834: 8, 835: 8, 836: 8, 847: 8, 854: 8, 860: 8, 863: 8, 878: 8, 879: 8, 906: 8, 940: 8, 941: 8, 944: 8, 951: 8, 965: 8, 973: 8, 985: 8, 1004: 8, 1023: 8, 1028: 8, 1031: 8, 1037: 8, 1038: 8, 1040: 8, 1048: 8, 1050: 8,1052: 8, 1058: 8, 1074: 8, 1076: 8, 1097: 8, 1098: 8, 1141: 8, 1163: 8, 1178: 8, 1189: 8, 1193: 8, 1211: 8, 1215: 8, 1241: 8, 1246: 8, 1273: 8, 1274: 8, 1278: 8, 1297: 8, 1298: 8, 1337: 8, 1338: 8
|
||||
}],
|
||||
CAR.BYD_SONG_PLUS_DMI_22: [{
|
||||
85: 8, 140: 8, 213: 8, 269: 8, 270: 8, 287: 5, 289: 8, 290: 8, 291: 8, 300: 8, 301: 8, 307: 8, 337: 8, 371: 8, 450: 8, 496: 8, 522: 8, 525: 8, 527: 8, 536: 8, 537: 8, 544: 8, 546: 8, 547: 8, 576: 8, 577: 8, 578: 8, 588: 8, 593: 8, 629: 8, 660: 8, 681: 8, 694: 8, 703: 8, 724: 8, 748: 8, 781: 8, 786: 8, 790: 8, 792: 8, 797: 8, 798: 8, 800: 8, 801: 8, 802: 8, 803: 8, 812: 8, 813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 835: 8, 836: 8, 847: 8, 854: 8, 860: 8, 863: 8, 878: 8, 879: 8, 906: 8, 940: 8, 941: 8, 944: 8, 951: 8, 965: 8, 973: 8, 985: 8, 1004: 8, 1023: 8, 1028: 8, 1031: 8, 1037: 8, 1038: 8, 1040: 8, 1048: 8, 1050: 8, 1052: 8, 1058: 8, 1074: 8, 1076: 8, 1097: 8, 1098: 8, 1141: 8, 1163: 8, 1169: 8, 1178: 8, 1189: 8, 1193: 8, 1211: 8, 1215: 8, 1241: 8, 1246: 8, 1273: 8, 1274: 8, 1278: 8, 1297: 8, 1298: 8, 1337: 8, 1338: 8
|
||||
}],
|
||||
CAR.BYD_SONG_PRO_DMI_22: [{
|
||||
85: 8, 140: 8, 213: 8, 269: 8, 270: 8, 287: 5, 289: 8, 290: 8, 291: 8, 300: 8, 301: 8, 307: 8, 312: 8, 327: 8, 330: 8, 337: 8, 356: 8, 371: 8, 418: 8, 450: 8, 482: 8, 496: 8, 522: 8, 525: 8, 527: 8, 536: 8, 537: 8, 544: 8, 546: 8, 547: 8, 575: 8, 576: 8, 577: 8, 578: 8, 588: 8, 593: 8, 629: 8, 660: 8, 661: 8, 663: 8, 681: 8, 692: 8, 694: 8, 703: 8, 724: 8, 748: 8, 781: 8, 786: 8, 790: 8, 792: 8, 797: 8, 798: 8, 800: 8, 801: 8, 802: 8, 803: 8, 812: 8, 813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 835: 8, 836: 8, 847: 8, 853: 8, 854: 8, 860: 8, 863: 8, 878: 8, 879: 8, 906: 8, 944: 8, 951: 8, 965: 8, 973: 8, 985: 8, 1004: 8, 1023: 8, 1028: 8, 1031: 8, 1037: 8, 1038: 8, 1040: 8, 1048: 8, 1050: 8, 1052: 8, 1058: 8, 1074: 8, 1076: 8, 1097: 8, 1098: 8, 1107: 8, 1141: 8, 1163: 8, 1169: 8, 1178: 8, 1189: 8, 1193: 8, 1211: 8, 1215: 8, 1217: 8, 1241: 8, 1246: 8, 1273: 8, 1274: 8, 1278: 8, 1297: 8, 1298: 8, 1319: 8, 1322: 8
|
||||
}],
|
||||
CAR.BYD_QIN_PLUS_DMI_23: [{
|
||||
85: 8, 140: 8, 213: 8, 234: 8, 235: 8, 269: 8, 270: 8, 287: 5, 289: 8, 290: 8, 291: 8, 300: 8, 301: 8, 307: 8, 337: 8, 371: 8, 450: 8, 455: 8, 496: 8, 522: 8, 525: 8, 527: 8, 536: 8, 537: 8, 544: 8, 546: 8, 547: 8, 575: 8, 576: 8, 577: 8, 578: 8, 588: 8, 593: 8, 629: 8, 635: 8, 638: 8, 660: 8, 681: 8, 694: 8, 703: 8, 724: 8, 733: 8, 748: 8, 781: 8, 786: 8, 797: 8, 798: 8, 800: 8, 801: 8, 802: 8, 803: 8, 813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 835: 8, 836: 8, 847: 8, 854: 8, 860: 8, 878: 8, 906: 8, 944: 8, 951: 8, 965: 8, 973: 8, 985: 8, 1004: 8, 1023: 8, 1028: 8, 1031: 8, 1037: 8, 1038: 8, 1040: 8, 1052: 8, 1058: 8, 1074: 8, 1076: 8, 1097: 8, 1098: 8, 1141: 8, 1163: 8, 1169: 8, 1178: 8, 1189: 8, 1193: 8, 1211: 8, 1215: 8, 1226: 8, 1246: 8, 1273: 8, 1274: 8, 1278: 8, 1297: 8
|
||||
},{
|
||||
85: 8, 140: 8, 213: 8, 234: 8, 235: 8, 269: 8, 270: 8, 287: 5, 289:8, 290: 8, 291: 8, 300: 8, 301: 8, 307: 8, 337: 8, 356: 8, 371: 8, 450: 8, 455:8, 496: 8, 522: 8, 525: 8, 527: 8, 536: 8, 537: 8, 544: 8, 546: 8, 547: 8, 576:8, 577: 8, 578: 8, 588: 8, 593: 8, 629: 8, 635: 8, 638: 8, 660: 8, 681: 8, 694:8, 703: 8, 724: 8, 733: 8, 748: 8, 781: 8, 790: 8, 797: 8, 798: 8, 800: 8, 801:8, 802: 8, 803: 8, 813: 8, 814: 8, 815: 8, 827: 8, 828: 8, 829: 8, 833: 8, 834:8, 835: 8, 836: 8, 847: 8, 854: 8, 860: 8, 878: 8, 906: 8, 944: 8, 951: 8, 965:8, 973: 8, 985: 8, 1004: 8, 1020: 8, 1023: 8, 1028: 8, 1031: 8, 1037: 8, 1038: 8, 1040: 8, 1048: 8, 1052: 8, 1058: 8, 1074: 8, 1076: 8, 1097: 8, 1098: 8, 1141:8, 1163: 8, 1178: 8, 1189: 8, 1193: 8, 1215: 8, 1246: 8, 1273: 8, 1274: 8, 1278: 8, 1297: 8
|
||||
}],
|
||||
CAR.BYD_YUAN_PLUS_DMI_22: [{
|
||||
85: 8, 140: 8, 213: 8, 287: 5, 289: 8, 290: 8, 291: 8, 301: 8, 307: 8, 309: 8, 324: 8, 337: 8, 371: 8, 450: 8, 496: 8, 522: 8, 536: 8, 537: 8, 544: 8, 546: 8, 547: 8, 575: 8, 576: 8, 577: 8, 578: 8, 588: 8, 629: 8, 639: 8, 660: 8, 694: 8, 724: 8, 748: 8, 786: 8, 790: 8, 792: 8, 797: 8, 798: 8, 800: 8, 801: 8, 802: 8, 803: 8, 812: 8, 813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 835: 8, 836: 8, 843: 8, 847: 8, 848: 8, 854: 8, 860: 8, 863: 8, 879: 8, 884: 8, 906: 8, 944: 8, 951: 8, 965: 8, 973: 8, 985: 8, 1004: 8, 1020: 8, 1023: 8, 1028: 8, 1031: 8, 1037: 8, 1040: 8, 1048: 8, 1052: 8, 1058: 8, 1074: 8, 1076: 8, 1098: 8, 1141: 8, 1169: 8, 1178: 8, 1184: 8, 1189: 8, 1192: 8, 1193: 8, 1211: 8, 1215: 8, 1246: 8, 1274: 8, 1278: 8, 1297: 8, 1319: 8, 1322: 8
|
||||
}],
|
||||
CAR.BYD_SEAL_23: [{
|
||||
140: 8, 213: 8, 287: 5, 289: 8, 291: 8, 301: 8, 307: 8, 337: 8, 482: 8, 496: 8, 508: 8, 536: 8, 544: 8, 546: 8, 547: 8, 575: 8, 576: 8, 578: 8, 588: 8, 612: 8, 626: 8, 657: 8, 660: 8, 661: 8, 663: 8, 692: 8, 694: 8, 724: 8, 748: 8, 790: 8, 797: 8, 798: 8, 801: 8, 802: 8, 803: 8, 812: 8, 813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 836: 8, 837: 8, 854: 8, 860: 8, 863: 8, 868: 8, 877: 8, 904: 8, 906: 8, 944: 8, 948: 8, 951: 8, 965: 8, 973: 8, 985: 8, 1023: 8, 1028: 8, 1031: 8, 1033: 8, 1040: 8, 1048: 8, 1058: 8, 1074: 8, 1092: 8, 1093: 8, 1107: 8, 1141: 8, 1166: 8, 1178: 8, 1189: 8, 1193: 8, 1203: 64, 1226: 16, 1246: 8, 1297: 8, 1319: 8, 1322: 8
|
||||
}],
|
||||
CAR.BYD_TENGSHI_D9_22: [{
|
||||
140: 8, 213: 8, 269: 8, 287: 5, 289: 8, 291: 8, 296: 8, 300: 8, 301: 8, 307: 8, 308: 8, 311: 8, 312: 8, 319: 8, 337: 8, 482: 8, 496: 8, 508: 8, 511: 8, 536: 8, 544: 8, 546: 8, 547: 8, 568: 8, 575: 8, 576: 8, 578: 8, 588: 8, 604: 8, 644: 8, 660: 8, 668: 8, 692: 8, 694: 8, 714: 8, 724: 8, 748: 8, 790: 8, 797: 8, 798: 8, 801: 8, 802: 8, 803: 8, 813: 8, 814: 8, 815: 8, 833: 8, 834: 8, 836: 8, 837: 8, 843: 8, 854: 8, 860: 8, 879: 8, 884: 8, 904: 8, 905: 8, 906: 8, 940: 8, 941: 8, 944: 8, 948: 8, 951: 8, 965: 8, 973: 8, 985: 8, 1023: 8, 1028: 8, 1031: 8, 1033: 8, 1040: 8, 1048: 8, 1050: 8, 1052: 8, 1058: 8, 1074: 8, 1092: 8, 1093: 8, 1107: 8, 1141: 8, 1166: 8, 1178: 8, 1189: 8, 1190: 8, 1193: 8, 1203: 64, 1204: 64, 1214: 8, 1223: 64, 1226: 16, 1246: 8, 1297: 8, 1319: 8, 1322: 8, 1365: 8, 1366: 8
|
||||
}],
|
||||
CAR.BYD_TENGSHI_D9_24: [{
|
||||
140: 8, 213: 8, 269: 8, 287: 5, 289: 8, 290: 8, 291: 8, 296: 8, 300: 8, 301: 8, 307: 8, 312: 8, 337: 8, 482: 8, 493: 8, 496: 8, 508: 8, 511: 8, 536: 8, 544: 8, 546: 8, 547: 8, 568: 8, 575: 8, 576: 8, 578: 8, 588: 8, 604: 8, 644: 8, 660: 8, 661: 8, 663: 8, 692: 8, 694: 8, 724: 8, 748: 8, 758: 8, 790: 8, 797: 8, 798: 8, 801: 8, 802: 8, 803: 8, 813: 8, 814: 8, 815: 8, 831: 8, 833: 8, 834: 8, 836: 8, 837: 8, 854: 8, 860: 8, 879: 8, 904: 8, 905: 8, 906: 8, 944: 8, 948: 8, 951: 8, 965: 8, 973: 8, 985: 8, 1023: 8, 1028: 8, 1031: 8, 1033: 8, 1040: 8, 1048: 8, 1050: 8, 1052: 8, 1058: 8, 1074: 8, 1092: 8, 1093: 8, 1107: 8, 1141: 8, 1166: 8, 1178: 8, 1189: 8, 1190: 8, 1193: 8, 1203: 64, 1204: 64, 1214: 8, 1223: 64, 1226: 16, 1246: 8, 1279: 8, 1297: 8, 1319: 8, 1322: 8
|
||||
}],
|
||||
}
|
||||
|
||||
#Todo: Get a byd VDS to see how fw could be queried. Currently added just for preventing ruffs error.
|
||||
FW_VERSIONS = {
|
||||
CAR.BYD_HAN_DM_20: {
|
||||
(Ecu.eps, 0x700, None): [
|
||||
b'DUMMYDATA',
|
||||
],
|
||||
},
|
||||
}
|
||||
140
opendbc_repo/opendbc/car/byd/interface.py
Normal file
140
opendbc_repo/opendbc/car/byd/interface.py
Normal file
@@ -0,0 +1,140 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from math import fabs, exp
|
||||
|
||||
from opendbc.car import get_safety_config, get_friction, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from openpilot.common.params import Params
|
||||
from opendbc.car.byd.carcontroller import CarController
|
||||
from opendbc.car.byd.carstate import CarState
|
||||
from opendbc.car.byd.radar_interface import RadarInterface
|
||||
from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
|
||||
from opendbc.car.byd.values import CAR, CanBus, BydFlags, BydSafetyFlags, MPC_ACC_CAR, TORQUE_LAT_CAR, EXP_LONG_CAR, PT_RADAR_CAR, RADAR_CAR,\
|
||||
PLATFORM_TANG_DMI, PLATFORM_SONG_PLUS_DMI, PLATFORM_QIN_PLUS_DMI, PLATFORM_YUAN_PLUS_DMI_ATTO3, PLATFORM_SEAL, PLATFORM_TENGSHI, PLATFORM_HAN_DMI
|
||||
|
||||
from opendbc.car.byd.tuning import Tuning
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
TransmissionType = structs.CarParams.TransmissionType
|
||||
NetworkLocation = structs.CarParams.NetworkLocation
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
|
||||
lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
|
||||
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
|
||||
|
||||
def sig(val):
|
||||
# https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
|
||||
if val >= 0:
|
||||
return 1 / (1 + exp(-val)) - 0.5
|
||||
else:
|
||||
z = exp(val)
|
||||
return z / (1 + z) - 0.5
|
||||
|
||||
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
|
||||
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
|
||||
# This has big effect on the stability about 0 (noise when going straight)
|
||||
#non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
|
||||
#assert non_linear_torque_params, "The params are not defined"
|
||||
a, b, c = Tuning.LAT_SIGLIN_TABLE
|
||||
steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
|
||||
return float(steer_torque / torque_params.latAccelFactor + friction)
|
||||
|
||||
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
|
||||
if Params().get_bool("BydLatUseSiglin"):
|
||||
return self.torque_from_lateral_accel_siglin
|
||||
else:
|
||||
return self.torque_from_lateral_accel_linear
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
ret.brand = "byd"
|
||||
|
||||
if Params().get_bool("UseRedPanda"):
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput),get_safety_config(structs.CarParams.SafetyModel.byd)]
|
||||
else:
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.byd)]
|
||||
|
||||
ret.dashcamOnly = False
|
||||
|
||||
radar_car = candidate in (PT_RADAR_CAR | RADAR_CAR)
|
||||
ret.radarUnavailable = not radar_car
|
||||
|
||||
ret.enableBsm = 0x418 in fingerprint[CanBus.ESC]
|
||||
ret.transmissionType = TransmissionType.direct
|
||||
|
||||
valid_safety_index = 1 if Params().get_bool("UseRedPanda") else 0
|
||||
if candidate in PLATFORM_TANG_DMI:
|
||||
ret.safetyConfigs[valid_safety_index].safetyParam |= BydSafetyFlags.TANG_DMI.value
|
||||
|
||||
elif candidate in PLATFORM_HAN_DMI:
|
||||
ret.safetyConfigs[valid_safety_index].safetyParam |= BydSafetyFlags.HAN_DMI.value
|
||||
|
||||
elif candidate in PLATFORM_SONG_PLUS_DMI:
|
||||
ret.safetyConfigs[valid_safety_index].safetyParam |= BydSafetyFlags.SONG_PLUS_DMI.value
|
||||
|
||||
elif candidate in PLATFORM_QIN_PLUS_DMI:
|
||||
ret.safetyConfigs[valid_safety_index].safetyParam |= BydSafetyFlags.QIN_PLUS_DMI.value
|
||||
|
||||
elif candidate in PLATFORM_YUAN_PLUS_DMI_ATTO3:
|
||||
ret.safetyConfigs[valid_safety_index].safetyParam |= BydSafetyFlags.YUAN_PLUS_DMI_ATTO3.value
|
||||
|
||||
elif candidate in PLATFORM_TENGSHI:
|
||||
ret.safetyConfigs[valid_safety_index].safetyParam |= BydSafetyFlags.TENGSHI.value
|
||||
|
||||
elif candidate in PLATFORM_SEAL:
|
||||
ret.safetyConfigs[valid_safety_index].safetyParam |= BydSafetyFlags.SEAL.value
|
||||
|
||||
else: #汉dm，唐dm，宋Pro
|
||||
ret.safetyConfigs[valid_safety_index].safetyParam |= BydSafetyFlags.HAN_TANG_DMEV.value
|
||||
|
||||
if candidate in MPC_ACC_CAR:
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
|
||||
if candidate in TORQUE_LAT_CAR:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
else:
|
||||
ret.steerControlType = structs.CarParams.SteerControlType.angle
|
||||
ret.flags |= BydFlags.ANGLE_CONTROL.value
|
||||
|
||||
ret.openpilotLongitudinalControl = candidate in EXP_LONG_CAR
|
||||
|
||||
ret.longitudinalTuning.kpBP, ret.longitudinalTuning.kiBP = [[0.], [0.]]
|
||||
ret.longitudinalTuning.kpV, ret.longitudinalTuning.kiV = [[1.], [0.]]
|
||||
ret.longitudinalTuning.kf = 1.0
|
||||
|
||||
#car specified settings
|
||||
if candidate in TORQUE_LAT_CAR:
|
||||
ret.minEnableSpeed = -1.
|
||||
ret.minSteerSpeed = 0.1 * CV.KPH_TO_MS
|
||||
ret.autoResumeSng = True
|
||||
ret.startingState = True
|
||||
ret.startAccel = 0.8
|
||||
ret.stopAccel = -0.5
|
||||
ret.vEgoStarting = 0.1
|
||||
ret.vEgoStopping = 0.1
|
||||
ret.longitudinalActuatorDelay = 0.5
|
||||
ret.steerActuatorDelay = 0.2 # 转向执行器延迟，测量是0.4，但是在torqued.py里55行会加上0.2
|
||||
ret.steerLimitTimer = 0.6
|
||||
elif candidate in (PLATFORM_SEAL | PLATFORM_TENGSHI):
|
||||
ret.minEnableSpeed = -1.
|
||||
ret.minSteerSpeed = 0.1 * CV.KPH_TO_MS
|
||||
ret.autoResumeSng = True
|
||||
ret.startingState = True
|
||||
ret.startAccel = 0.8
|
||||
ret.stopAccel = -0.5
|
||||
ret.vEgoStarting = 0.1
|
||||
ret.vEgoStopping = 0.1
|
||||
ret.longitudinalActuatorDelay = 0.5
|
||||
ret.steerActuatorDelay = 0.1 # 转向执行器延迟，测量是0.4，但是在torqued.py里55行会加上0.2
|
||||
ret.steerLimitTimer = 1.0
|
||||
else:
|
||||
ret.dashcamOnly = True
|
||||
|
||||
|
||||
return ret
|
||||
4
opendbc_repo/opendbc/car/byd/radar_interface.py
Normal file
4
opendbc_repo/opendbc/car/byd/radar_interface.py
Normal file
File diff suppressed because one or more lines are too long
36
opendbc_repo/opendbc/car/byd/tuning.py
Normal file
36
opendbc_repo/opendbc/car/byd/tuning.py
Normal file
@@ -0,0 +1,36 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
class Tuning:
|
||||
#仅开启非线性模式，但又没有选NNFF时候才有效
|
||||
LAT_SIGLIN_TABLE = [4.867, 1.09, 0.243]
|
||||
|
||||
#方向盘手动偏差
|
||||
STEERING_ANGLE_OFFSET = 0
|
||||
|
||||
# modified stock long control 原车long控制的速度平滑百分比设定, 例如下面40米以内，则加速率是原来的70%，减速率是原来的100%
|
||||
K_ACCEL_BP = [40, 50, 60, 70, 80] # meters BP是离前车距离
|
||||
|
||||
K_ACCEL_POS_4BAR = [0.8, 0.7, 0.7, 0.7, 0.7] # acceleration 加速的百分比
|
||||
K_ACCEL_NEG_4BAR = [1.0, 0.8, 0.7, 0.7, 0.7] # deceleration 减速的百分比
|
||||
|
||||
K_ACCEL_POS_3BAR = [0.8, 0.7, 0.7, 0.7, 0.7] # acceleration 加速的百分比
|
||||
K_ACCEL_NEG_3BAR = [1.0, 0.9, 0.8, 0.7, 0.7] # deceleration 减速的百分比
|
||||
|
||||
K_ACCEL_POS_2BAR = [0.8, 0.8, 0.7, 0.7, 0.7] # acceleration 加速的百分比
|
||||
K_ACCEL_NEG_2BAR = [1.0, 1.0, 0.9, 0.8, 0.7] # deceleration 减速的百分比
|
||||
|
||||
K_ACCEL_POS_1BAR = [1.0, 1.0, 1.0, 0.9, 0.8] # acceleration 加速的百分比
|
||||
K_ACCEL_NEG_1BAR = [1.1, 1.0, 1.0, 1.0, 0.9] # deceleration 减速的百分比
|
||||
|
||||
# 人为扭动方向盘的阈值，大于这个值才认为方向盘被故意扭动了，变道辅助涉及它
|
||||
STEER_PRESSED_THRESHOLD = 56
|
||||
|
||||
# 禁用EPS故障检查, 某些车有EPS固件比较奇怪报错的话，则可以设为True
|
||||
DISABLE_EPS_WARNING = False
|
||||
DISABLE_EPS_TEMPORARY_FAULT = False
|
||||
DISABLE_EPS_PERMANENT_FAULT = False
|
||||
|
||||
EPS_ANGLE_EXCEED_WARNING_CNT = 3
|
||||
EPS_ANGLE_SPEED_WARNING_CNT = 3
|
||||
|
||||
DISABLE_PARKBRAKE = False
|
||||
3
opendbc_repo/opendbc/car/byd/values.py
Normal file
3
opendbc_repo/opendbc/car/byd/values.py
Normal file
File diff suppressed because one or more lines are too long
15
opendbc_repo/opendbc/car/can_definitions.py
Normal file
15
opendbc_repo/opendbc/car/can_definitions.py
Normal file
@@ -0,0 +1,15 @@
|
||||
from collections.abc import Callable
|
||||
from typing import NamedTuple, Protocol
|
||||
|
||||
|
||||
class CanData(NamedTuple):
|
||||
address: int
|
||||
dat: bytes
|
||||
src: int
|
||||
|
||||
|
||||
CanSendCallable = Callable[[list[CanData]], None]
|
||||
|
||||
|
||||
class CanRecvCallable(Protocol):
|
||||
def __call__(self, wait_for_one: bool = False) -> list[list[CanData]]: ...
|
||||
822
opendbc_repo/opendbc/car/car.capnp
Normal file
822
opendbc_repo/opendbc/car/car.capnp
Normal file
@@ -0,0 +1,822 @@
|
||||
using Cxx = import "./include/c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
@0x8e2af1e708af8b8d;
|
||||
|
||||
# ******* events causing controls state machine transition *******
|
||||
|
||||
# IMPORTANT: This struct is to not be modified so old logs can be parsed
|
||||
struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
|
||||
name @0 :EventName;
|
||||
|
||||
# event types
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool; # alerts presented only when enabled or soft disabling
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool; # alerts presented regardless of openpilot state
|
||||
overrideLateral @10 :Bool;
|
||||
overrideLongitudinal @9 :Bool;
|
||||
|
||||
enum EventName @0xbaa8c5d505f727de {
|
||||
canError @0;
|
||||
steerUnavailable @1;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
espDisabled @7;
|
||||
wrongCarMode @8;
|
||||
steerTempUnavailable @9;
|
||||
reverseGear @10;
|
||||
buttonCancel @11;
|
||||
buttonEnable @12;
|
||||
pedalPressed @13; # exits active state
|
||||
preEnableStandstill @73; # added during pre-enable state with brake
|
||||
gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
|
||||
steerOverride @114;
|
||||
cruiseDisabled @14;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
calibrationIncomplete @20;
|
||||
calibrationInvalid @21;
|
||||
calibrationRecalibrating @117;
|
||||
controlsMismatch @22;
|
||||
pcmEnable @23;
|
||||
pcmDisable @24;
|
||||
radarFault @26;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
joystickDebug @34;
|
||||
longitudinalManeuver @124;
|
||||
steerTempUnavailableSilent @35;
|
||||
resumeRequired @36;
|
||||
preDriverDistracted @37;
|
||||
promptDriverDistracted @38;
|
||||
driverDistracted @39;
|
||||
preDriverUnresponsive @43;
|
||||
promptDriverUnresponsive @44;
|
||||
driverUnresponsive @45;
|
||||
belowSteerSpeed @46;
|
||||
lowBattery @48;
|
||||
accFaulted @51;
|
||||
sensorDataInvalid @52;
|
||||
commIssue @53;
|
||||
commIssueAvgFreq @109;
|
||||
tooDistracted @54;
|
||||
posenetInvalid @55;
|
||||
preLaneChangeLeft @57;
|
||||
preLaneChangeRight @58;
|
||||
laneChange @59;
|
||||
lowMemory @63;
|
||||
stockAeb @64;
|
||||
ldw @65;
|
||||
carUnrecognized @66;
|
||||
invalidLkasSetting @69;
|
||||
speedTooHigh @70;
|
||||
laneChangeBlocked @71;
|
||||
relayMalfunction @72;
|
||||
stockFcw @74;
|
||||
startup @75;
|
||||
startupNoCar @76;
|
||||
startupNoControl @77;
|
||||
startupNoSecOcKey @125;
|
||||
startupMaster @78;
|
||||
fcw @79;
|
||||
steerSaturated @80;
|
||||
belowEngageSpeed @84;
|
||||
noGps @85;
|
||||
wrongCruiseMode @87;
|
||||
modeldLagging @89;
|
||||
deviceFalling @90;
|
||||
fanMalfunction @91;
|
||||
cameraMalfunction @92;
|
||||
cameraFrameRate @110;
|
||||
processNotRunning @95;
|
||||
dashcamMode @96;
|
||||
selfdriveInitializing @98;
|
||||
usbError @99;
|
||||
cruiseMismatch @106;
|
||||
canBusMissing @111;
|
||||
selfdrivedLagging @112;
|
||||
resumeBlocked @113;
|
||||
steerTimeLimit @115;
|
||||
vehicleSensorsInvalid @116;
|
||||
locationdTemporaryError @103;
|
||||
locationdPermanentError @118;
|
||||
paramsdTemporaryError @50;
|
||||
paramsdPermanentError @119;
|
||||
actuatorsApiUnavailable @120;
|
||||
espActive @121;
|
||||
personalityChanged @122;
|
||||
aeb @123;
|
||||
|
||||
radarCanErrorDEPRECATED @15;
|
||||
communityFeatureDisallowedDEPRECATED @62;
|
||||
radarCommIssueDEPRECATED @67;
|
||||
driverMonitorLowAccDEPRECATED @68;
|
||||
gasUnavailableDEPRECATED @3;
|
||||
dataNeededDEPRECATED @16;
|
||||
modelCommIssueDEPRECATED @27;
|
||||
ipasOverrideDEPRECATED @33;
|
||||
geofenceDEPRECATED @40;
|
||||
driverMonitorOnDEPRECATED @41;
|
||||
driverMonitorOffDEPRECATED @42;
|
||||
calibrationProgressDEPRECATED @47;
|
||||
invalidGiraffeHondaDEPRECATED @49;
|
||||
invalidGiraffeToyotaDEPRECATED @60;
|
||||
internetConnectivityNeededDEPRECATED @61;
|
||||
whitePandaUnsupportedDEPRECATED @81;
|
||||
commIssueWarningDEPRECATED @83;
|
||||
focusRecoverActiveDEPRECATED @86;
|
||||
neosUpdateRequiredDEPRECATED @88;
|
||||
modelLagWarningDEPRECATED @93;
|
||||
startupOneplusDEPRECATED @82;
|
||||
startupFuzzyFingerprintDEPRECATED @97;
|
||||
noTargetDEPRECATED @25;
|
||||
brakeUnavailableDEPRECATED @2;
|
||||
plannerErrorDEPRECATED @32;
|
||||
gpsMalfunctionDEPRECATED @94;
|
||||
roadCameraErrorDEPRECATED @100;
|
||||
driverCameraErrorDEPRECATED @101;
|
||||
wideRoadCameraErrorDEPRECATED @102;
|
||||
highCpuUsageDEPRECATED @105;
|
||||
startupNoFwDEPRECATED @104;
|
||||
lowSpeedLockoutDEPRECATED @31;
|
||||
lkasDisabledDEPRECATED @107;
|
||||
soundsUnavailableDEPRECATED @56;
|
||||
}
|
||||
}
|
||||
|
||||
# ******* main car state @ 100hz *******
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
# CAN health
|
||||
canValid @26 :Bool; # invalid counter/checksums
|
||||
canTimeout @40 :Bool; # CAN bus dropped out
|
||||
canErrorCounter @48 :UInt32;
|
||||
|
||||
# car speed
|
||||
vEgo @1 :Float32; # best estimate of speed
|
||||
aEgo @16 :Float32; # best estimate of aCAN cceleration
|
||||
vEgoRaw @17 :Float32; # unfiltered speed from wheel speed sensors
|
||||
vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
|
||||
|
||||
vCruise @53 :Float32; # actual set speed
|
||||
vCruiseCluster @54 :Float32; # set speed to display in the UI
|
||||
|
||||
yawRate @22 :Float32; # best estimate of yaw rate
|
||||
standstill @18 :Bool;
|
||||
wheelSpeeds @2 :WheelSpeeds;
|
||||
|
||||
# gas pedal, 0.0-1.0
|
||||
gas @3 :Float32; # this is user pedal only
|
||||
gasPressed @4 :Bool; # this is user pedal only
|
||||
|
||||
engineRpm @46 :Float32;
|
||||
|
||||
# brake pedal, 0.0-1.0
|
||||
brake @5 :Float32; # this is user pedal only
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
regenBraking @45 :Bool; # this is user pedal only
|
||||
parkingBrake @39 :Bool;
|
||||
brakeHoldActive @38 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngleDeg @7 :Float32;
|
||||
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
|
||||
steeringRateDeg @15 :Float32;
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringTorqueEps @27 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
steerFaultTemporary @35 :Bool; # temporary EPS fault
|
||||
steerFaultPermanent @36 :Bool; # permanent EPS fault
|
||||
invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off)
|
||||
stockAeb @30 :Bool;
|
||||
stockFcw @31 :Bool;
|
||||
espDisabled @32 :Bool;
|
||||
accFaulted @42 :Bool;
|
||||
carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
|
||||
espActive @51 :Bool;
|
||||
vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc.
|
||||
lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
|
||||
# gear
|
||||
gearShifter @14 :GearShifter;
|
||||
|
||||
# button presses
|
||||
buttonEvents @11 :List(ButtonEvent);
|
||||
buttonEnable @57 :Bool; # user is requesting enable, usually one frame. set if pcmCruise=False
|
||||
leftBlinker @20 :Bool;
|
||||
rightBlinker @21 :Bool;
|
||||
genericToggle @23 :Bool;
|
||||
|
||||
# lock info
|
||||
doorOpen @24 :Bool;
|
||||
seatbeltUnlatched @25 :Bool;
|
||||
|
||||
# clutch (manual transmission only)
|
||||
clutchPressed @28 :Bool;
|
||||
|
||||
# blindspot sensors
|
||||
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
|
||||
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
|
||||
|
||||
fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
|
||||
charging @43 :Bool;
|
||||
|
||||
# process meta
|
||||
cumLagMs @50 :Float32;
|
||||
|
||||
vCluRatio @58 :Float32;
|
||||
logCarrot @59 :Text;
|
||||
softHoldActive @60 :Int16; #0: not active, 1: active ready, 2: activated
|
||||
activateCruise @61 :Int16;
|
||||
latEnabled @62 :Bool;
|
||||
pcmCruiseGap @63 :Int16; #0: can't read, 1,2,3,4: gap setting
|
||||
speedLimit @64 :Float32;
|
||||
speedLimitDistance @65 :Float32;
|
||||
gearStep @66 :Int16;
|
||||
tpms @67 : Tpms;
|
||||
useLaneLineSpeed @68 : Float32;
|
||||
leftLatDist @69 : Float32; # distance to left lane line
|
||||
rightLatDist @70 : Float32; # distance to right lane line
|
||||
leftLongDist @71 : Float32; # distance to left lane line in the direction of travel
|
||||
rightLongDist @72 : Float32; # distance to right lane line in the direction of travel
|
||||
carrotCruise @73 : Int16;
|
||||
leftLaneLine @74 : Int16; # -1: no lane, 0: dashed, 1: solid, +10: white, +20: yellow, ex) 21: solid yellow
|
||||
rightLaneLine @75 : Int16; # -1: no lane, 0: dashed, 1: solid, +10: white, +20: yellow, ex) 21: solid yellow
|
||||
datetime @76 :UInt64; # timestamp in milliseconds since epoch
|
||||
|
||||
struct Tpms {
|
||||
fl @0 :Float32;
|
||||
fr @1 :Float32;
|
||||
rl @2 :Float32;
|
||||
rr @3 :Float32;
|
||||
}
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
fr @1 :Float32;
|
||||
rl @2 :Float32;
|
||||
rr @3 :Float32;
|
||||
}
|
||||
|
||||
struct CruiseState {
|
||||
enabled @0 :Bool;
|
||||
speed @1 :Float32;
|
||||
speedCluster @6 :Float32; # Set speed as shown on instrument cluster
|
||||
available @2 :Bool;
|
||||
speedOffset @3 :Float32;
|
||||
standstill @4 :Bool;
|
||||
nonAdaptive @5 :Bool;
|
||||
}
|
||||
|
||||
enum GearShifter {
|
||||
unknown @0;
|
||||
park @1;
|
||||
drive @2;
|
||||
neutral @3;
|
||||
reverse @4;
|
||||
sport @5;
|
||||
low @6;
|
||||
brake @7;
|
||||
eco @8;
|
||||
manumatic @9;
|
||||
}
|
||||
|
||||
# send on change
|
||||
struct ButtonEvent {
|
||||
pressed @0 :Bool;
|
||||
type @1 :Type;
|
||||
|
||||
enum Type {
|
||||
unknown @0;
|
||||
leftBlinker @1;
|
||||
rightBlinker @2;
|
||||
accelCruise @3;
|
||||
decelCruise @4;
|
||||
cancel @5;
|
||||
lkas @6;
|
||||
altButton2 @7;
|
||||
mainCruise @8;
|
||||
setCruise @9;
|
||||
resumeCruise @10;
|
||||
gapAdjustCruise @11;
|
||||
|
||||
lfaButton @12;
|
||||
paddleLeft @13;
|
||||
paddleRight @14;
|
||||
}
|
||||
}
|
||||
|
||||
# deprecated
|
||||
errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
|
||||
brakeLights @19 :Bool;
|
||||
steeringRateLimitedDEPRECATED @29 :Bool;
|
||||
canMonoTimesDEPRECATED @12: List(UInt64);
|
||||
canRcvTimeoutDEPRECATED @49 :Bool;
|
||||
eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
|
||||
struct RadarData @0x888ad6581cf0aacb {
|
||||
errors @3 :Error;
|
||||
points @1 :List(RadarPoint);
|
||||
|
||||
struct Error {
|
||||
canError @0 :Bool;
|
||||
radarFault @1 :Bool;
|
||||
wrongConfig @2 :Bool;
|
||||
radarUnavailableTemporary @3 :Bool; # radar data is temporarily unavailable due to conditions the car sets
|
||||
}
|
||||
|
||||
# similar to LiveTracks
|
||||
# is one timestamp valid for all? I think so
|
||||
struct RadarPoint {
|
||||
trackId @0 :UInt64; # no trackId reuse
|
||||
|
||||
# these 3 are the minimum required
|
||||
dRel @1 :Float32; # m from the front bumper of the car
|
||||
yRel @2 :Float32; # m
|
||||
vRel @3 :Float32; # m/s
|
||||
|
||||
# these are optional and valid if they are not NaN
|
||||
aRel @4 :Float32; # m/s^2
|
||||
yvRel @5 :Float32; # m/s
|
||||
|
||||
# some radars flag measurements VS estimates
|
||||
measured @6 :Bool;
|
||||
|
||||
vLead @7 :Float32; # m/s
|
||||
aLead @8 :Float32; # m/s^2
|
||||
jLead @9 :Float32; # m/s^3
|
||||
}
|
||||
|
||||
enum ErrorDEPRECATED {
|
||||
canError @0;
|
||||
fault @1;
|
||||
wrongConfig @2;
|
||||
}
|
||||
|
||||
# deprecated
|
||||
canMonoTimesDEPRECATED @2 :List(UInt64);
|
||||
errorsDEPRECATED @0 :List(ErrorDEPRECATED);
|
||||
}
|
||||
|
||||
# ******* car controls @ 100hz *******
|
||||
|
||||
struct CarControl {
|
||||
# must be true for any actuator commands to work
|
||||
enabled @0 :Bool;
|
||||
latActive @11: Bool;
|
||||
longActive @12: Bool;
|
||||
|
||||
# Final actuator commands
|
||||
actuators @6 :Actuators;
|
||||
|
||||
# Blinker controls
|
||||
leftBlinker @15: Bool;
|
||||
rightBlinker @16: Bool;
|
||||
|
||||
orientationNED @13 :List(Float32);
|
||||
angularVelocity @14 :List(Float32);
|
||||
currentCurvature @17 :Float32; # From vehicle model
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
hudControl @5 :HUDControl;
|
||||
|
||||
struct Actuators {
|
||||
# lateral commands, mutually exclusive
|
||||
torque @2: Float32; # [0.0, 1.0]
|
||||
steeringAngleDeg @3: Float32;
|
||||
curvature @7: Float32;
|
||||
|
||||
# longitudinal commands
|
||||
accel @4: Float32; # m/s^2
|
||||
longControlState @5: LongControlState;
|
||||
|
||||
# these are only for logging the actual values sent to the car over CAN
|
||||
gas @0: Float32; # [0.0, 1.0]
|
||||
brake @1: Float32; # [0.0, 1.0]
|
||||
torqueOutputCan @8: Float32; # value sent over can to the car
|
||||
speed @6: Float32; # m/s
|
||||
|
||||
jerk @9: Float32; # m/s^3
|
||||
aTarget @10: Float32; # m/s^2
|
||||
|
||||
enum LongControlState @0xe40f3a917d908282{
|
||||
off @0;
|
||||
pid @1;
|
||||
stopping @2;
|
||||
starting @3;
|
||||
}
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
cancel @0: Bool;
|
||||
resume @1: Bool;
|
||||
override @4: Bool;
|
||||
speedOverrideDEPRECATED @2: Float32;
|
||||
accelOverrideDEPRECATED @3: Float32;
|
||||
}
|
||||
|
||||
struct HUDControl {
|
||||
speedVisible @0: Bool;
|
||||
setSpeed @1: Float32;
|
||||
lanesVisible @2: Bool;
|
||||
leadVisible @3: Bool;
|
||||
visualAlert @4: VisualAlert;
|
||||
rightLaneVisible @6: Bool;
|
||||
leftLaneVisible @7: Bool;
|
||||
rightLaneDepart @8: Bool;
|
||||
leftLaneDepart @9: Bool;
|
||||
leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
|
||||
|
||||
activeCarrot @11: Int16;
|
||||
leadDistance @12: Float32;
|
||||
leadRelSpeed @13: Float32;
|
||||
leadDPath @14: Float32;
|
||||
leadRadar @15: Int16;
|
||||
modelDesire @16: Int16;
|
||||
atcDistance @17: Float32;
|
||||
|
||||
leadLeftDist @18: Float32;
|
||||
leadRightDist @19: Float32;
|
||||
leadLeftLat @20: Float32;
|
||||
leadRightLat @21: Float32;
|
||||
leadLeftDist2 @22: Float32;
|
||||
leadRightDist2 @23: Float32;
|
||||
leadLeftLat2 @24: Float32;
|
||||
leadRightLat2 @25: Float32;
|
||||
|
||||
# not used with the dash, TODO: separate structs for dash UI and device UI
|
||||
audibleAlert @5: AudibleAlert;
|
||||
|
||||
enum VisualAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
fcw @1;
|
||||
steerRequired @2;
|
||||
brakePressed @3;
|
||||
wrongGear @4;
|
||||
seatbeltUnbuckled @5;
|
||||
speedTooHigh @6;
|
||||
ldw @7;
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
none @0;
|
||||
|
||||
engage @1;
|
||||
disengage @2;
|
||||
refuse @3;
|
||||
|
||||
warningSoft @4;
|
||||
warningImmediate @5;
|
||||
|
||||
prompt @6;
|
||||
promptRepeat @7;
|
||||
promptDistracted @8;
|
||||
|
||||
longEngaged @10;
|
||||
longDisengaged @11;
|
||||
trafficSignGreen @12;
|
||||
trafficSignChanged @13;
|
||||
laneChange @14;
|
||||
stopping @15;
|
||||
autoHold @16;
|
||||
engage2 @17;
|
||||
disengage2 @18;
|
||||
trafficError @19;
|
||||
bsdWarning @20;
|
||||
speedDown @21;
|
||||
stopStop @22;
|
||||
audioTurn @9;
|
||||
reverseGear @23;
|
||||
audio1 @24;
|
||||
audio2 @25;
|
||||
audio3 @26;
|
||||
audio4 @27;
|
||||
audio5 @28;
|
||||
audio6 @29;
|
||||
audio7 @30;
|
||||
audio8 @31;
|
||||
audio9 @32;
|
||||
audio10 @33;
|
||||
|
||||
nnff @34;
|
||||
}
|
||||
}
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
activeDEPRECATED @7 :Bool;
|
||||
rollDEPRECATED @8 :Float32;
|
||||
pitchDEPRECATED @9 :Float32;
|
||||
actuatorsOutputDEPRECATED @10 :Actuators;
|
||||
}
|
||||
|
||||
struct CarOutput {
|
||||
# Any car specific rate limits or quirks applied by
|
||||
# the CarController are reflected in actuatorsOutput
|
||||
# and matches what is sent to the car
|
||||
actuatorsOutput @0 :CarControl.Actuators;
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
|
||||
struct CarParams {
|
||||
brand @0 :Text; # Designates which group a platform falls under. Each folder in opendbc/car is assigned one brand string
|
||||
carFingerprint @1 :Text;
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
|
||||
notCar @66 :Bool; # flag for non-car robotics platforms
|
||||
|
||||
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
|
||||
enableDsu @5 :Bool; # driving support unit
|
||||
enableBsm @56 :Bool; # blind spot monitoring
|
||||
flags @64 :UInt32; # flags for car specific quirks
|
||||
alphaLongitudinalAvailable @71 :Bool;
|
||||
extFlags @78 :UInt32; # carrot ext car flags
|
||||
|
||||
minEnableSpeed @7 :Float32;
|
||||
minSteerSpeed @8 :Float32;
|
||||
steerAtStandstill @77 :Bool; # is steering available at standstill? just check if it faults
|
||||
safetyConfigs @62 :List(SafetyConfig);
|
||||
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
|
||||
|
||||
# Car docs fields, not used for control
|
||||
maxLateralAccel @68 :Float32;
|
||||
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically
|
||||
|
||||
# things about the car in the manual
|
||||
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
|
||||
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
|
||||
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
|
||||
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
|
||||
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
|
||||
tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear]
|
||||
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
|
||||
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
|
||||
|
||||
longitudinalTuning @25 :LongitudinalPIDTuning;
|
||||
lateralParams @48 :LateralParams;
|
||||
lateralTuning :union {
|
||||
pid @26 :LateralPIDTuning;
|
||||
indiDEPRECATED @27 :LateralINDITuning;
|
||||
lqrDEPRECATED @40 :LateralLQRTuning;
|
||||
torque @67 :LateralTorqueTuning;
|
||||
}
|
||||
|
||||
steerLimitAlert @28 :Bool;
|
||||
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
|
||||
|
||||
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
|
||||
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
|
||||
steerControlType @34 :SteerControlType;
|
||||
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
|
||||
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
|
||||
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
|
||||
startAccel @32 :Float32; # Required acceleration to get car moving
|
||||
startingState @70 :Bool; # Does this car make use of special starting state
|
||||
|
||||
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
|
||||
longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
|
||||
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
|
||||
carVin @38 :Text; # VIN number queried during fingerprinting
|
||||
dashcamOnly @41: Bool;
|
||||
passive @73: Bool; # is openpilot in control?
|
||||
transmissionType @43 :TransmissionType;
|
||||
carFw @44 :List(CarFw);
|
||||
|
||||
radarDelay @74 :Float32;
|
||||
fingerprintSource @49: FingerprintSource;
|
||||
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
|
||||
|
||||
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
|
||||
|
||||
secOcRequired @75 :Bool; # Car requires SecOC message authentication to operate
|
||||
secOcKeyAvailable @76 :Bool; # Stored SecOC key loaded from params
|
||||
|
||||
struct SafetyConfig {
|
||||
safetyModel @0 :SafetyModel;
|
||||
safetyParam @3 :UInt16;
|
||||
safetyParamDEPRECATED @1 :Int16;
|
||||
safetyParam2DEPRECATED @2 :UInt32;
|
||||
}
|
||||
|
||||
struct LateralParams {
|
||||
torqueBP @0 :List(Int32);
|
||||
torqueV @1 :List(Int32);
|
||||
}
|
||||
|
||||
struct LateralPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kf @4 :Float32;
|
||||
}
|
||||
|
||||
struct LateralTorqueTuning {
|
||||
useSteeringAngle @0 :Bool;
|
||||
kp @1 :Float32;
|
||||
ki @2 :Float32;
|
||||
friction @3 :Float32;
|
||||
kf @4 :Float32;
|
||||
steeringAngleDeadzoneDeg @5 :Float32;
|
||||
latAccelFactor @6 :Float32;
|
||||
latAccelOffset @7 :Float32;
|
||||
}
|
||||
|
||||
struct LongitudinalPIDTuning {
|
||||
kpBP @0 :List(Float32);
|
||||
kpV @1 :List(Float32);
|
||||
kiBP @2 :List(Float32);
|
||||
kiV @3 :List(Float32);
|
||||
kf @6 :Float32;
|
||||
deadzoneBPDEPRECATED @4 :List(Float32);
|
||||
deadzoneVDEPRECATED @5 :List(Float32);
|
||||
}
|
||||
|
||||
struct LateralINDITuning {
|
||||
outerLoopGainBP @4 :List(Float32);
|
||||
outerLoopGainV @5 :List(Float32);
|
||||
innerLoopGainBP @6 :List(Float32);
|
||||
innerLoopGainV @7 :List(Float32);
|
||||
timeConstantBP @8 :List(Float32);
|
||||
timeConstantV @9 :List(Float32);
|
||||
actuatorEffectivenessBP @10 :List(Float32);
|
||||
actuatorEffectivenessV @11 :List(Float32);
|
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32;
|
||||
innerLoopGainDEPRECATED @1 :Float32;
|
||||
timeConstantDEPRECATED @2 :Float32;
|
||||
actuatorEffectivenessDEPRECATED @3 :Float32;
|
||||
}
|
||||
|
||||
struct LateralLQRTuning {
|
||||
scale @0 :Float32;
|
||||
ki @1 :Float32;
|
||||
dcGain @2 :Float32;
|
||||
|
||||
# State space system
|
||||
a @3 :List(Float32);
|
||||
b @4 :List(Float32);
|
||||
c @5 :List(Float32);
|
||||
|
||||
k @6 :List(Float32); # LQR gain
|
||||
l @7 :List(Float32); # Kalman gain
|
||||
}
|
||||
|
||||
enum SafetyModel {
|
||||
silent @0;
|
||||
hondaNidec @1;
|
||||
toyota @2;
|
||||
elm327 @3;
|
||||
gm @4;
|
||||
hondaBoschGiraffe @5;
|
||||
ford @6;
|
||||
cadillac @7;
|
||||
hyundai @8;
|
||||
chrysler @9;
|
||||
tesla @10;
|
||||
subaru @11;
|
||||
gmPassive @12;
|
||||
mazda @13;
|
||||
nissan @14;
|
||||
volkswagen @15;
|
||||
toyotaIpas @16;
|
||||
allOutput @17;
|
||||
gmAscm @18;
|
||||
noOutput @19; # like silent but without silent CAN TXs
|
||||
hondaBosch @20;
|
||||
volkswagenPq @21;
|
||||
subaruPreglobal @22; # pre-Global platform
|
||||
hyundaiLegacy @23;
|
||||
hyundaiCommunity @24;
|
||||
volkswagenMlb @25;
|
||||
hongqi @26;
|
||||
body @27;
|
||||
hyundaiCanfd @28;
|
||||
volkswagenMqbEvo @29;
|
||||
chryslerCusw @30;
|
||||
psa @31;
|
||||
fcaGiorgio @32;
|
||||
rivian @33;
|
||||
volkswagenMeb @34;
|
||||
byd @35;
|
||||
}
|
||||
|
||||
enum SteerControlType {
|
||||
torque @0;
|
||||
angle @1;
|
||||
|
||||
curvatureDEPRECATED @2;
|
||||
}
|
||||
|
||||
enum TransmissionType {
|
||||
unknown @0;
|
||||
automatic @1; # Traditional auto, including DSG
|
||||
manual @2; # True "stick shift" only
|
||||
direct @3; # Electric vehicle or other direct drive
|
||||
cvt @4;
|
||||
}
|
||||
|
||||
struct CarFw {
|
||||
ecu @0 :Ecu;
|
||||
fwVersion @1 :Data;
|
||||
address @2 :UInt32;
|
||||
subAddress @3 :UInt8;
|
||||
responseAddress @4 :UInt32;
|
||||
request @5 :List(Data);
|
||||
brand @6 :Text;
|
||||
bus @7 :UInt8;
|
||||
logging @8 :Bool;
|
||||
obdMultiplexing @9 :Bool;
|
||||
}
|
||||
|
||||
enum Ecu {
|
||||
eps @0;
|
||||
abs @1;
|
||||
fwdRadar @2;
|
||||
fwdCamera @3;
|
||||
engine @4;
|
||||
unknown @5;
|
||||
transmission @8; # Transmission Control Module
|
||||
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
|
||||
srs @9; # airbag
|
||||
gateway @10; # can gateway
|
||||
hud @11; # heads up display
|
||||
combinationMeter @12; # instrument cluster
|
||||
electricBrakeBooster @15;
|
||||
shiftByWire @16;
|
||||
adas @19;
|
||||
cornerRadar @21;
|
||||
hvac @20;
|
||||
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
|
||||
epb @22; # electronic parking brake
|
||||
telematics @23;
|
||||
body @24; # body control module
|
||||
|
||||
# Toyota only
|
||||
dsu @6;
|
||||
|
||||
# Honda only
|
||||
vsa @13; # Vehicle Stability Assist
|
||||
programmedFuelInjection @14;
|
||||
|
||||
debug @17;
|
||||
}
|
||||
|
||||
enum FingerprintSource {
|
||||
can @0;
|
||||
fw @1;
|
||||
fixed @2;
|
||||
}
|
||||
|
||||
enum NetworkLocation {
|
||||
fwdCamera @0; # Standard/default integration at LKAS camera
|
||||
gateway @1; # Integration at vehicle's CAN gateway
|
||||
}
|
||||
|
||||
enableGasInterceptorDEPRECATED @2 :Bool;
|
||||
enableCameraDEPRECATED @4 :Bool;
|
||||
enableApgsDEPRECATED @6 :Bool;
|
||||
steerRateCostDEPRECATED @33 :Float32;
|
||||
isPandaBlackDEPRECATED @39 :Bool;
|
||||
hasStockCameraDEPRECATED @57 :Bool;
|
||||
safetyParamDEPRECATED @10 :Int16;
|
||||
safetyModelDEPRECATED @9 :SafetyModel;
|
||||
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
|
||||
minSpeedCanDEPRECATED @51 :Float32;
|
||||
communityFeatureDEPRECATED @46: Bool;
|
||||
startingAccelRateDEPRECATED @53 :Float32;
|
||||
steerMaxBPDEPRECATED @11 :List(Float32);
|
||||
steerMaxVDEPRECATED @12 :List(Float32);
|
||||
gasMaxBPDEPRECATED @13 :List(Float32);
|
||||
gasMaxVDEPRECATED @14 :List(Float32);
|
||||
brakeMaxBPDEPRECATED @15 :List(Float32);
|
||||
brakeMaxVDEPRECATED @16 :List(Float32);
|
||||
directAccelControlDEPRECATED @30 :Bool;
|
||||
maxSteeringAngleDegDEPRECATED @54 :Float32;
|
||||
longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
|
||||
stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
|
||||
radarTimeStep @45: Float32; # time delta between radar updates, 20Hz is very standard
|
||||
}
|
||||
216
opendbc_repo/opendbc/car/car_helpers.py
Normal file
216
opendbc_repo/opendbc/car/car_helpers.py
Normal file
@@ -0,0 +1,216 @@
|
||||
import os
|
||||
import time
|
||||
|
||||
from opendbc.car import gen_empty_fingerprint
|
||||
from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.carlog import carlog
|
||||
from opendbc.car.structs import CarParams, CarParamsT
|
||||
from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
|
||||
from opendbc.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from opendbc.car.values import BRANDS
|
||||
from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
|
||||
|
||||
from common.params import Params
|
||||
|
||||
|
||||
FRAME_FINGERPRINT = 100 # 1s
|
||||
|
||||
|
||||
def load_interfaces(brand_names):
|
||||
ret = {}
|
||||
for brand_name in brand_names:
|
||||
path = f'opendbc.car.{brand_name}'
|
||||
CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
|
||||
for model_name in brand_names[brand_name]:
|
||||
ret[model_name] = CarInterface
|
||||
return ret
|
||||
|
||||
|
||||
def _get_interface_names() -> dict[str, list[str]]:
|
||||
# returns a dict of brand name and its respective models
|
||||
brand_names = {}
|
||||
for brand in BRANDS:
|
||||
brand_name = brand.__module__.split('.')[-2]
|
||||
brand_names[brand_name] = [model.value for model in brand]
|
||||
|
||||
return brand_names
|
||||
|
||||
|
||||
# imports from directory opendbc/car/<name>/
|
||||
interface_names = _get_interface_names()
|
||||
interfaces = load_interfaces(interface_names)
|
||||
|
||||
|
||||
def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, dict]]:
|
||||
finger = gen_empty_fingerprint()
|
||||
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1, 4, 5]} # attempt fingerprint on both bus 0 and 1
|
||||
frame = 0
|
||||
car_fingerprint = None
|
||||
done = False
|
||||
|
||||
while not done:
|
||||
# can_recv(wait_for_one=True) may return zero or multiple packets, so we increment frame for each one we receive
|
||||
can_packets = can_recv(wait_for_one=True)
|
||||
for can_packet in can_packets:
|
||||
for can in can_packet:
|
||||
# The fingerprint dict is generated for all buses, this way the car interface
|
||||
# can use it to detect a (valid) multipanda setup and initialize accordingly
|
||||
if can.src < 128:
|
||||
if can.src not in finger:
|
||||
finger[can.src] = {}
|
||||
finger[can.src][can.address] = len(can.dat)
|
||||
|
||||
for b in candidate_cars:
|
||||
# Ignore extended messages and VIN query response.
|
||||
if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
|
||||
candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
|
||||
|
||||
# if we only have one car choice and the time since we got our first
|
||||
# message has elapsed, exit
|
||||
for b in candidate_cars:
|
||||
if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
|
||||
# fingerprint done
|
||||
car_fingerprint = candidate_cars[b][0]
|
||||
|
||||
# bail if no cars left or we've been waiting for more than 2s
|
||||
failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
|
||||
succeeded = car_fingerprint is not None
|
||||
done = failed or succeeded
|
||||
|
||||
frame += 1
|
||||
|
||||
return car_fingerprint, finger
|
||||
|
||||
|
||||
# **** for use live only ****
|
||||
def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int,
|
||||
cached_params: CarParamsT | None) -> tuple[str | None, dict, str, list[CarParams.CarFw], CarParams.FingerprintSource, bool]:
|
||||
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
|
||||
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
|
||||
disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
|
||||
ecu_rx_addrs = set()
|
||||
|
||||
start_time = time.monotonic()
|
||||
if not skip_fw_query:
|
||||
if cached_params is not None and cached_params.brand != "mock" and len(cached_params.carFw) > 0 and \
|
||||
cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
|
||||
carlog.warning("Using cached CarParams")
|
||||
vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
|
||||
car_fw = list(cached_params.carFw)
|
||||
cached = True
|
||||
else:
|
||||
carlog.warning("Getting VIN & FW versions")
|
||||
# enable OBD multiplexing for VIN query
|
||||
# NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
|
||||
set_obd_multiplexing(True)
|
||||
# VIN query only reliably works through OBDII
|
||||
vin_rx_addr, vin_rx_bus, vin = get_vin(can_recv, can_send, (0, 1))
|
||||
ecu_rx_addrs = get_present_ecus(can_recv, can_send, set_obd_multiplexing, num_pandas=num_pandas)
|
||||
car_fw = get_fw_versions_ordered(can_recv, can_send, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
|
||||
cached = False
|
||||
|
||||
exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
|
||||
else:
|
||||
vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
|
||||
exact_fw_match, fw_candidates, car_fw = True, set(), []
|
||||
cached = False
|
||||
|
||||
if not is_valid_vin(vin):
|
||||
carlog.error({"event": "Malformed VIN", "vin": vin})
|
||||
vin = VIN_UNKNOWN
|
||||
carlog.warning("VIN %s", vin)
|
||||
|
||||
# disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
|
||||
set_obd_multiplexing(False)
|
||||
|
||||
fw_query_time = time.monotonic() - start_time
|
||||
|
||||
# CAN fingerprint
|
||||
# drain CAN socket so we get the latest messages
|
||||
can_recv()
|
||||
car_fingerprint, finger = can_fingerprint(can_recv)
|
||||
|
||||
exact_match = True
|
||||
source = CarParams.FingerprintSource.can
|
||||
|
||||
# If FW query returns exactly 1 candidate, use it
|
||||
if len(fw_candidates) == 1:
|
||||
car_fingerprint = list(fw_candidates)[0]
|
||||
source = CarParams.FingerprintSource.fw
|
||||
exact_match = exact_fw_match
|
||||
|
||||
if fixed_fingerprint:
|
||||
car_fingerprint = fixed_fingerprint
|
||||
source = CarParams.FingerprintSource.fixed
|
||||
|
||||
carlog.error({"event": "fingerprinted", "car_fingerprint": str(car_fingerprint), "source": source, "fuzzy": not exact_match,
|
||||
"cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
|
||||
"vin_rx_bus": vin_rx_bus, "fingerprints": repr(finger), "fw_query_time": fw_query_time})
|
||||
|
||||
return car_fingerprint, finger, vin, car_fw, source, exact_match
|
||||
|
||||
|
||||
def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool,
|
||||
is_release: bool, num_pandas: int = 1, cached_params: CarParamsT | None = None):
|
||||
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
|
||||
|
||||
if candidate is None:
|
||||
carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
|
||||
candidate = "MOCK"
|
||||
|
||||
selected_car = Params().get("CarSelected3")
|
||||
if selected_car:
|
||||
def find_car(name: str):
|
||||
from opendbc.car.hyundai.values import CAR as HYUNDAI
|
||||
from opendbc.car.gm.values import CAR as GM
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from opendbc.car.mazda.values import CAR as MAZDA
|
||||
from opendbc.car.byd.values import CAR as BYD
|
||||
|
||||
for platform in GM:
|
||||
for doc in platform.config.car_docs:
|
||||
if name == doc.name:
|
||||
return platform
|
||||
for platform in TOYOTA:
|
||||
for doc in platform.config.car_docs:
|
||||
if name == doc.name:
|
||||
return platform
|
||||
for platform in BYD:
|
||||
for doc in platform.config.car_docs:
|
||||
if name == doc.name:
|
||||
return platform
|
||||
for platform in HYUNDAI:
|
||||
for doc in platform.config.car_docs:
|
||||
if name == doc.name:
|
||||
return platform
|
||||
for platform in MAZDA:
|
||||
for doc in platform.config.car_docs:
|
||||
if name == doc.name:
|
||||
return platform
|
||||
return None
|
||||
found_car = find_car(selected_car.decode("utf-8"))
|
||||
if found_car is not None:
|
||||
candidate = found_car
|
||||
|
||||
print(f"SelectedCar = {candidate}")
|
||||
Params().put("CarName", candidate)
|
||||
|
||||
Params().put("FingerPrints", str(fingerprints))
|
||||
CarInterface = interfaces[candidate]
|
||||
CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, alpha_long_allowed, is_release, docs=False)
|
||||
CP.carVin = vin
|
||||
CP.carFw = car_fw
|
||||
CP.fingerprintSource = source
|
||||
CP.fuzzyFingerprint = not exact_match
|
||||
|
||||
print("Carrot GitBranch = {}, {}".format(Params().get("GitBranch"), Params().get("GitCommitDate")))
|
||||
|
||||
return interfaces[CP.carFingerprint](CP)
|
||||
|
||||
|
||||
def get_demo_car_params():
|
||||
platform = MOCK.MOCK
|
||||
CarInterface = interfaces[platform]
|
||||
CP = CarInterface.get_non_essential_params(platform)
|
||||
return CP
|
||||
12
opendbc_repo/opendbc/car/carlog.py
Normal file
12
opendbc_repo/opendbc/car/carlog.py
Normal file
@@ -0,0 +1,12 @@
|
||||
import os
|
||||
import logging
|
||||
|
||||
# set up logging
|
||||
LOGPRINT = os.environ.get('LOGPRINT', 'INFO').upper()
|
||||
carlog = logging.getLogger('carlog')
|
||||
carlog.setLevel(LOGPRINT)
|
||||
carlog.propagate = False
|
||||
|
||||
handler = logging.StreamHandler()
|
||||
handler.setFormatter(logging.Formatter('%(message)s'))
|
||||
carlog.addHandler(handler)
|
||||
373
opendbc_repo/opendbc/car/ccp.py
Normal file
373
opendbc_repo/opendbc/car/ccp.py
Normal file
@@ -0,0 +1,373 @@
|
||||
import sys
|
||||
import time
|
||||
import struct
|
||||
from enum import IntEnum, Enum
|
||||
from dataclasses import dataclass
|
||||
|
||||
@dataclass
|
||||
class ExchangeStationIdsReturn:
|
||||
id_length: int
|
||||
data_type: int
|
||||
available: int
|
||||
protected: int
|
||||
|
||||
@dataclass
|
||||
class GetDaqListSizeReturn:
|
||||
list_size: int
|
||||
first_pid: int
|
||||
|
||||
@dataclass
|
||||
class GetSessionStatusReturn:
|
||||
status: int
|
||||
info: int | None
|
||||
|
||||
@dataclass
|
||||
class DiagnosticServiceReturn:
|
||||
length: int
|
||||
type: int
|
||||
|
||||
@dataclass
|
||||
class ActionServiceReturn:
|
||||
length: int
|
||||
type: int
|
||||
|
||||
class COMMAND_CODE(IntEnum):
|
||||
CONNECT = 0x01
|
||||
SET_MTA = 0x02
|
||||
DNLOAD = 0x03
|
||||
UPLOAD = 0x04
|
||||
TEST = 0x05
|
||||
START_STOP = 0x06
|
||||
DISCONNECT = 0x07
|
||||
START_STOP_ALL = 0x08
|
||||
GET_ACTIVE_CAL_PAGE = 0x09
|
||||
SET_S_STATUS = 0x0C
|
||||
GET_S_STATUS = 0x0D
|
||||
BUILD_CHKSUM = 0x0E
|
||||
SHORT_UP = 0x0F
|
||||
CLEAR_MEMORY = 0x10
|
||||
SELECT_CAL_PAGE = 0x11
|
||||
GET_SEED = 0x12
|
||||
UNLOCK = 0x13
|
||||
GET_DAQ_SIZE = 0x14
|
||||
SET_DAQ_PTR = 0x15
|
||||
WRITE_DAQ = 0x16
|
||||
EXCHANGE_ID = 0x17
|
||||
PROGRAM = 0x18
|
||||
MOVE = 0x19
|
||||
GET_CCP_VERSION = 0x1B
|
||||
DIAG_SERVICE = 0x20
|
||||
ACTION_SERVICE = 0x21
|
||||
PROGRAM_6 = 0x22
|
||||
DNLOAD_6 = 0x23
|
||||
|
||||
COMMAND_RETURN_CODES = {
|
||||
0x00: "acknowledge / no error",
|
||||
0x01: "DAQ processor overload",
|
||||
0x10: "command processor busy",
|
||||
0x11: "DAQ processor busy",
|
||||
0x12: "internal timeout",
|
||||
0x18: "key request",
|
||||
0x19: "session status request",
|
||||
0x20: "cold start request",
|
||||
0x21: "cal. data init. request",
|
||||
0x22: "DAQ list init. request",
|
||||
0x23: "code update request",
|
||||
0x30: "unknown command",
|
||||
0x31: "command syntax",
|
||||
0x32: "parameter(s) out of range",
|
||||
0x33: "access denied",
|
||||
0x34: "overload",
|
||||
0x35: "access locked",
|
||||
0x36: "resource/function not available",
|
||||
}
|
||||
|
||||
class BYTE_ORDER(Enum):
|
||||
LITTLE_ENDIAN = '<'
|
||||
BIG_ENDIAN = '>'
|
||||
|
||||
class CommandTimeoutError(Exception):
|
||||
pass
|
||||
|
||||
class CommandCounterError(Exception):
|
||||
pass
|
||||
|
||||
class CommandResponseError(Exception):
|
||||
def __init__(self, message, return_code):
|
||||
super().__init__()
|
||||
self.message = message
|
||||
self.return_code = return_code
|
||||
|
||||
def __str__(self):
|
||||
return self.message
|
||||
|
||||
class CcpClient:
|
||||
def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int=0, byte_order: BYTE_ORDER=BYTE_ORDER.BIG_ENDIAN, debug=False):
|
||||
self.tx_addr = tx_addr
|
||||
self.rx_addr = rx_addr
|
||||
self.can_bus = bus
|
||||
self.byte_order = byte_order
|
||||
self.debug = debug
|
||||
self._panda = panda
|
||||
self._command_counter = -1
|
||||
|
||||
def _send_cro(self, cmd: int, dat: bytes = b"") -> None:
|
||||
self._command_counter = (self._command_counter + 1) & 0xFF
|
||||
tx_data = (bytes([cmd, self._command_counter]) + dat).ljust(8, b"\x00")
|
||||
if self.debug:
|
||||
print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(tx_data)}")
|
||||
assert len(tx_data) == 8, "data is not 8 bytes"
|
||||
self._panda.can_clear(self.can_bus)
|
||||
self._panda.can_clear(0xFFFF)
|
||||
self._panda.can_send(self.tx_addr, tx_data, self.can_bus)
|
||||
|
||||
def _recv_dto(self, timeout: float) -> bytes:
|
||||
start_time = time.time()
|
||||
while time.time() - start_time < timeout:
|
||||
msgs = self._panda.can_recv() or []
|
||||
if len(msgs) >= 256:
|
||||
print("CAN RX buffer overflow!!!", file=sys.stderr)
|
||||
for rx_addr, rx_data_bytearray, rx_bus in msgs:
|
||||
if rx_bus == self.can_bus and rx_addr == self.rx_addr:
|
||||
rx_data = bytes(rx_data_bytearray)
|
||||
if self.debug:
|
||||
print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
|
||||
assert len(rx_data) == 8, f"message length not 8: {len(rx_data)}"
|
||||
|
||||
pid = rx_data[0]
|
||||
if pid == 0xFF or pid == 0xFE:
|
||||
err = rx_data[1]
|
||||
err_desc = COMMAND_RETURN_CODES.get(err, "unknown error")
|
||||
ctr = rx_data[2]
|
||||
dat = rx_data[3:]
|
||||
|
||||
if pid == 0xFF and self._command_counter != ctr:
|
||||
raise CommandCounterError(f"counter invalid: {ctr} != {self._command_counter}")
|
||||
|
||||
if err >= 0x10 and err <= 0x12:
|
||||
if self.debug:
|
||||
print(f"CCP-WAIT: {hex(err)} - {err_desc}")
|
||||
start_time = time.time()
|
||||
continue
|
||||
|
||||
if err >= 0x30:
|
||||
raise CommandResponseError(f"{hex(err)} - {err_desc}", err)
|
||||
else:
|
||||
dat = rx_data[1:]
|
||||
|
||||
return dat
|
||||
time.sleep(0.001)
|
||||
|
||||
raise CommandTimeoutError("timeout waiting for response")
|
||||
|
||||
# commands
|
||||
def connect(self, station_addr: int) -> None:
|
||||
if station_addr > 65535:
|
||||
raise ValueError("station address must be less than 65536")
|
||||
# NOTE: station address is always little endian
|
||||
self._send_cro(COMMAND_CODE.CONNECT, struct.pack("<H", station_addr))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def exchange_station_ids(self, device_id_info: bytes = b"") -> ExchangeStationIdsReturn:
|
||||
self._send_cro(COMMAND_CODE.EXCHANGE_ID, device_id_info)
|
||||
resp = self._recv_dto(0.025)
|
||||
return ExchangeStationIdsReturn(id_length=resp[0], data_type=resp[1], available=resp[2], protected=resp[3])
|
||||
|
||||
def get_seed(self, resource_mask: int) -> bytes:
|
||||
if resource_mask > 255:
|
||||
raise ValueError("resource mask must be less than 256")
|
||||
self._send_cro(COMMAND_CODE.GET_SEED, bytes([resource_mask]))
|
||||
resp = self._recv_dto(0.025)
|
||||
# protected = resp[0] == 0
|
||||
seed = resp[1:]
|
||||
return seed
|
||||
|
||||
def unlock(self, key: bytes) -> int:
|
||||
if len(key) > 6:
|
||||
raise ValueError("max key size is 6 bytes")
|
||||
self._send_cro(COMMAND_CODE.UNLOCK, key)
|
||||
resp = self._recv_dto(0.025)
|
||||
status = resp[0]
|
||||
return status
|
||||
|
||||
def set_memory_transfer_address(self, mta_num: int, addr_ext: int, addr: int) -> None:
|
||||
if mta_num > 255:
|
||||
raise ValueError("MTA number must be less than 256")
|
||||
if addr_ext > 255:
|
||||
raise ValueError("address extension must be less than 256")
|
||||
self._send_cro(COMMAND_CODE.SET_MTA, bytes([mta_num, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def download(self, data: bytes) -> int:
|
||||
if len(data) > 5:
|
||||
raise ValueError("max data size is 5 bytes")
|
||||
self._send_cro(COMMAND_CODE.DNLOAD, bytes([len(data)]) + data)
|
||||
resp = self._recv_dto(0.025)
|
||||
# mta_addr_ext = resp[0]
|
||||
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
|
||||
return mta_addr # type: ignore
|
||||
|
||||
def download_6_bytes(self, data: bytes) -> int:
|
||||
if len(data) != 6:
|
||||
raise ValueError("data size must be 6 bytes")
|
||||
self._send_cro(COMMAND_CODE.DNLOAD_6, data)
|
||||
resp = self._recv_dto(0.025)
|
||||
# mta_addr_ext = resp[0]
|
||||
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
|
||||
return mta_addr # type: ignore
|
||||
|
||||
def upload(self, size: int) -> bytes:
|
||||
if size > 5:
|
||||
raise ValueError("size must be less than 6")
|
||||
self._send_cro(COMMAND_CODE.UPLOAD, bytes([size]))
|
||||
return self._recv_dto(0.025)[:size]
|
||||
|
||||
def short_upload(self, size: int, addr_ext: int, addr: int) -> bytes:
|
||||
if size > 5:
|
||||
raise ValueError("size must be less than 6")
|
||||
if addr_ext > 255:
|
||||
raise ValueError("address extension must be less than 256")
|
||||
self._send_cro(COMMAND_CODE.SHORT_UP, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
|
||||
return self._recv_dto(0.025)[:size]
|
||||
|
||||
def select_calibration_page(self) -> None:
|
||||
self._send_cro(COMMAND_CODE.SELECT_CAL_PAGE)
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def get_daq_list_size(self, list_num: int, can_id: int = 0) -> GetDaqListSizeReturn:
|
||||
if list_num > 255:
|
||||
raise ValueError("list number must be less than 256")
|
||||
self._send_cro(COMMAND_CODE.GET_DAQ_SIZE, bytes([list_num, 0]) + struct.pack(f"{self.byte_order.value}I", can_id))
|
||||
resp = self._recv_dto(0.025)
|
||||
return GetDaqListSizeReturn(list_size=resp[0], first_pid=resp[1])
|
||||
|
||||
def set_daq_list_pointer(self, list_num: int, odt_num: int, element_num: int) -> None:
|
||||
if list_num > 255:
|
||||
raise ValueError("list number must be less than 256")
|
||||
if odt_num > 255:
|
||||
raise ValueError("ODT number must be less than 256")
|
||||
if element_num > 255:
|
||||
raise ValueError("element number must be less than 256")
|
||||
self._send_cro(COMMAND_CODE.SET_DAQ_PTR, bytes([list_num, odt_num, element_num]))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def write_daq_list_entry(self, size: int, addr_ext: int, addr: int) -> None:
|
||||
if size > 255:
|
||||
raise ValueError("size must be less than 256")
|
||||
if addr_ext > 255:
|
||||
raise ValueError("address extension must be less than 256")
|
||||
self._send_cro(COMMAND_CODE.WRITE_DAQ, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def start_stop_transmission(self, mode: int, list_num: int, odt_num: int, channel_num: int, rate_prescaler: int = 0) -> None:
|
||||
if mode > 255:
|
||||
raise ValueError("mode must be less than 256")
|
||||
if list_num > 255:
|
||||
raise ValueError("list number must be less than 256")
|
||||
if odt_num > 255:
|
||||
raise ValueError("ODT number must be less than 256")
|
||||
if channel_num > 255:
|
||||
raise ValueError("channel number must be less than 256")
|
||||
if rate_prescaler > 65535:
|
||||
raise ValueError("rate prescaler must be less than 65536")
|
||||
self._send_cro(COMMAND_CODE.START_STOP, bytes([mode, list_num, odt_num, channel_num]) + struct.pack(f"{self.byte_order.value}H", rate_prescaler))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def disconnect(self, station_addr: int, temporary: bool = False) -> None:
|
||||
if station_addr > 65535:
|
||||
raise ValueError("station address must be less than 65536")
|
||||
# NOTE: station address is always little endian
|
||||
self._send_cro(COMMAND_CODE.DISCONNECT, bytes([int(not temporary), 0x00]) + struct.pack("<H", station_addr))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def set_session_status(self, status: int) -> None:
|
||||
if status > 255:
|
||||
raise ValueError("status must be less than 256")
|
||||
self._send_cro(COMMAND_CODE.SET_S_STATUS, bytes([status]))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def get_session_status(self) -> GetSessionStatusReturn:
|
||||
self._send_cro(COMMAND_CODE.GET_S_STATUS)
|
||||
resp = self._recv_dto(0.025)
|
||||
info = resp[2] if resp[1] else None
|
||||
return GetSessionStatusReturn(status=resp[0], info=info)
|
||||
|
||||
def build_checksum(self, size: int) -> bytes:
|
||||
self._send_cro(COMMAND_CODE.BUILD_CHKSUM, struct.pack(f"{self.byte_order.value}I", size))
|
||||
resp = self._recv_dto(30.0)
|
||||
chksum_size = resp[0]
|
||||
assert chksum_size <= 4, "checksum more than 4 bytes"
|
||||
chksum = resp[1:1+chksum_size]
|
||||
return chksum
|
||||
|
||||
def clear_memory(self, size: int) -> None:
|
||||
self._send_cro(COMMAND_CODE.CLEAR_MEMORY, struct.pack(f"{self.byte_order.value}I", size))
|
||||
self._recv_dto(30.0)
|
||||
|
||||
def program(self, size: int, data: bytes) -> int:
|
||||
if size > 5:
|
||||
raise ValueError("size must be less than 6")
|
||||
if len(data) > 5:
|
||||
raise ValueError("max data size is 5 bytes")
|
||||
self._send_cro(COMMAND_CODE.PROGRAM, bytes([size]) + data)
|
||||
resp = self._recv_dto(0.1)
|
||||
# mta_addr_ext = resp[0]
|
||||
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
|
||||
return mta_addr # type: ignore
|
||||
|
||||
def program_6_bytes(self, data: bytes) -> int:
|
||||
if len(data) != 6:
|
||||
raise ValueError("data size must be 6 bytes")
|
||||
self._send_cro(COMMAND_CODE.PROGRAM_6, data)
|
||||
resp = self._recv_dto(0.1)
|
||||
# mta_addr_ext = resp[0]
|
||||
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
|
||||
return mta_addr # type: ignore
|
||||
|
||||
def move_memory_block(self, size: int) -> None:
|
||||
self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def diagnostic_service(self, service_num: int, data: bytes = b"") -> DiagnosticServiceReturn:
|
||||
if service_num > 65535:
|
||||
raise ValueError("service number must be less than 65536")
|
||||
if len(data) > 4:
|
||||
raise ValueError("max data size is 4 bytes")
|
||||
self._send_cro(COMMAND_CODE.DIAG_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data)
|
||||
resp = self._recv_dto(0.025)
|
||||
return DiagnosticServiceReturn(length=resp[0], type=resp[1])
|
||||
|
||||
def action_service(self, service_num: int, data: bytes = b"") -> ActionServiceReturn:
|
||||
if service_num > 65535:
|
||||
raise ValueError("service number must be less than 65536")
|
||||
if len(data) > 4:
|
||||
raise ValueError("max data size is 4 bytes")
|
||||
self._send_cro(COMMAND_CODE.ACTION_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data)
|
||||
resp = self._recv_dto(0.025)
|
||||
return ActionServiceReturn(length=resp[0], type=resp[1])
|
||||
|
||||
def test_availability(self, station_addr: int) -> None:
|
||||
if station_addr > 65535:
|
||||
raise ValueError("station address must be less than 65536")
|
||||
# NOTE: station address is always little endian
|
||||
self._send_cro(COMMAND_CODE.TEST, struct.pack("<H", station_addr))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def start_stop_synchronised_transmission(self, mode: int) -> None:
|
||||
if mode > 255:
|
||||
raise ValueError("mode must be less than 256")
|
||||
self._send_cro(COMMAND_CODE.START_STOP_ALL, bytes([mode]))
|
||||
self._recv_dto(0.025)
|
||||
|
||||
def get_active_calibration_page(self):
|
||||
self._send_cro(COMMAND_CODE.GET_ACTIVE_CAL_PAGE)
|
||||
resp = self._recv_dto(0.025)
|
||||
# cal_addr_ext = resp[0]
|
||||
cal_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
|
||||
return cal_addr
|
||||
|
||||
def get_version(self, desired_version: float = 2.1) -> float:
|
||||
major, minor = map(int, str(desired_version).split("."))
|
||||
self._send_cro(COMMAND_CODE.GET_CCP_VERSION, bytes([major, minor]))
|
||||
resp = self._recv_dto(0.025)
|
||||
return float(f"{resp[0]}.{resp[1]}")
|
||||
0
opendbc_repo/opendbc/car/chrysler/__init__.py
Normal file
0
opendbc_repo/opendbc/car/chrysler/__init__.py
Normal file
83
opendbc_repo/opendbc/car/chrysler/carcontroller.py
Normal file
83
opendbc_repo/opendbc/car/chrysler/carcontroller.py
Normal file
@@ -0,0 +1,83 @@
|
||||
from opendbc.can import CANPacker
|
||||
from opendbc.car import Bus, DT_CTRL, apply_meas_steer_torque_limits
|
||||
from opendbc.car.chrysler import chryslercan
|
||||
from opendbc.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
|
||||
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_names, CP):
|
||||
super().__init__(dbc_names, CP)
|
||||
self.apply_torque_last = 0
|
||||
|
||||
self.hud_count = 0
|
||||
self.last_lkas_falling_edge = 0
|
||||
self.lkas_control_bit_prev = False
|
||||
self.last_button_frame = 0
|
||||
|
||||
self.packer = CANPacker(dbc_names[Bus.pt])
|
||||
self.params = CarControllerParams(CP)
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
can_sends = []
|
||||
|
||||
lkas_active = CC.latActive and self.lkas_control_bit_prev
|
||||
|
||||
# cruise buttons
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.05:
|
||||
das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
|
||||
|
||||
# ACC cancellation
|
||||
if CC.cruiseControl.cancel:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
|
||||
|
||||
# ACC resume from standstill
|
||||
elif CC.cruiseControl.resume:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
|
||||
|
||||
# HUD alerts
|
||||
if self.frame % 25 == 0:
|
||||
if CS.lkas_car_model != -1:
|
||||
can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
|
||||
self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
|
||||
self.hud_count += 1
|
||||
|
||||
# steering
|
||||
if self.frame % self.params.STEER_STEP == 0:
|
||||
|
||||
# TODO: can we make this more sane? why is it different for all the cars?
|
||||
lkas_control_bit = self.lkas_control_bit_prev
|
||||
if CS.out.vEgo > self.CP.minSteerSpeed:
|
||||
lkas_control_bit = True
|
||||
elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
|
||||
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
|
||||
lkas_control_bit = False
|
||||
elif self.CP.carFingerprint in RAM_CARS:
|
||||
if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
|
||||
lkas_control_bit = False
|
||||
|
||||
# EPS faults if LKAS re-enables too quickly
|
||||
lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
|
||||
|
||||
if not lkas_control_bit and self.lkas_control_bit_prev:
|
||||
self.last_lkas_falling_edge = self.frame
|
||||
self.lkas_control_bit_prev = lkas_control_bit
|
||||
|
||||
# steer torque
|
||||
new_torque = int(round(CC.actuators.torque * self.params.STEER_MAX))
|
||||
apply_torque = apply_meas_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorqueEps, self.params)
|
||||
if not lkas_active or not lkas_control_bit:
|
||||
apply_torque = 0
|
||||
self.apply_torque_last = apply_torque
|
||||
|
||||
can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_torque), lkas_control_bit))
|
||||
|
||||
self.frame += 1
|
||||
|
||||
new_actuators = CC.actuators.as_builder()
|
||||
new_actuators.torque = self.apply_torque_last / self.params.STEER_MAX
|
||||
new_actuators.torqueOutputCan = self.apply_torque_last
|
||||
|
||||
return new_actuators, can_sends
|
||||
115
opendbc_repo/opendbc/car/chrysler/carstate.py
Normal file
115
opendbc_repo/opendbc/car/chrysler/carstate.py
Normal file
@@ -0,0 +1,115 @@
|
||||
from opendbc.can import CANDefine, CANParser
|
||||
from opendbc.car import Bus, create_button_events, structs
|
||||
from opendbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
self.CP = CP
|
||||
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
|
||||
|
||||
self.auto_high_beam = 0
|
||||
self.button_counter = 0
|
||||
self.lkas_car_model = -1
|
||||
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
|
||||
else:
|
||||
self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
|
||||
|
||||
self.distance_button = 0
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
|
||||
ret = structs.CarState()
|
||||
|
||||
prev_distance_button = self.distance_button
|
||||
self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
|
||||
|
||||
# lock info
|
||||
ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
|
||||
cp.vl["BCM_1"]["DOOR_OPEN_FR"],
|
||||
cp.vl["BCM_1"]["DOOR_OPEN_RL"],
|
||||
cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
|
||||
ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
|
||||
|
||||
# brake pedal
|
||||
ret.brake = 0
|
||||
ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch
|
||||
|
||||
# gas pedal
|
||||
ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
|
||||
ret.gasPressed = ret.gas > 1e-5
|
||||
|
||||
# car speed
|
||||
if self.CP.carFingerprint in RAM_CARS:
|
||||
ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
|
||||
else:
|
||||
ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
ret.standstill = not ret.vEgoRaw > 0.001
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
|
||||
cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
|
||||
cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
|
||||
cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
|
||||
unit=1,
|
||||
)
|
||||
|
||||
# button presses
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
|
||||
cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
|
||||
ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
|
||||
|
||||
# steering wheel
|
||||
ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
|
||||
ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
|
||||
ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
|
||||
ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
|
||||
|
||||
# cruise state
|
||||
cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
|
||||
|
||||
ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
|
||||
ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
|
||||
ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
|
||||
ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2) # 1 NormalCCOn and 2 NormalCCSet
|
||||
ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
|
||||
ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
|
||||
|
||||
if self.CP.carFingerprint in RAM_CARS:
|
||||
# Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
|
||||
self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
|
||||
ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
|
||||
else:
|
||||
ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
|
||||
ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
|
||||
|
||||
# blindspot sensors
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
|
||||
ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
|
||||
|
||||
self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
|
||||
self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
|
||||
|
||||
ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers(CP):
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
|
||||
}
|
||||
112
opendbc_repo/opendbc/car/chrysler/chryslercan.py
Normal file
112
opendbc_repo/opendbc/car/chrysler/chryslercan.py
Normal file
@@ -0,0 +1,112 @@
|
||||
from opendbc.car import structs
|
||||
from opendbc.car.crc import CRC8J1850
|
||||
from opendbc.car.chrysler.values import RAM_CARS
|
||||
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
|
||||
def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
|
||||
# LKAS_HUD - Controls what lane-keeping icon is displayed
|
||||
|
||||
# == Color ==
|
||||
# 0 hidden?
|
||||
# 1 white
|
||||
# 2 green
|
||||
# 3 ldw
|
||||
|
||||
# == Lines ==
|
||||
# 03 white Lines
|
||||
# 04 grey lines
|
||||
# 09 left lane close
|
||||
# 0A right lane close
|
||||
# 0B left Lane very close
|
||||
# 0C right Lane very close
|
||||
# 0D left cross cross
|
||||
# 0E right lane cross
|
||||
|
||||
# == Alerts ==
|
||||
# 7 Normal
|
||||
# 6 lane departure place hands on wheel
|
||||
|
||||
color = 2 if lkas_active else 1
|
||||
lines = 3 if lkas_active else 0
|
||||
alerts = 7 if lkas_active else 0
|
||||
|
||||
if hud_count < (1 * 4): # first 3 seconds, 4Hz
|
||||
alerts = 1
|
||||
|
||||
if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
|
||||
color = 4
|
||||
lines = 0
|
||||
alerts = 6
|
||||
|
||||
values = {
|
||||
"LKAS_ICON_COLOR": color,
|
||||
"CAR_MODEL": car_model,
|
||||
"LKAS_LANE_LINES": lines,
|
||||
"LKAS_ALERTS": alerts,
|
||||
}
|
||||
|
||||
if CP.carFingerprint in RAM_CARS:
|
||||
values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
|
||||
|
||||
return packer.make_can_msg("DAS_6", 0, values)
|
||||
|
||||
|
||||
def create_lkas_command(packer, CP, apply_torque, lkas_control_bit):
|
||||
# LKAS_COMMAND Lane-keeping signal to turn the wheel
|
||||
enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
|
||||
values = {
|
||||
"STEERING_TORQUE": apply_torque,
|
||||
"LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
|
||||
}
|
||||
return packer.make_can_msg("LKAS_COMMAND", 0, values)
|
||||
|
||||
|
||||
def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
|
||||
values = {
|
||||
"ACC_Cancel": cancel,
|
||||
"ACC_Resume": resume,
|
||||
"COUNTER": frame % 0x10,
|
||||
}
|
||||
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
|
||||
|
||||
|
||||
def chrysler_checksum(address: int, sig, d: bytearray) -> int:
|
||||
checksum = 0xFF
|
||||
for j in range(len(d) - 1):
|
||||
curr = d[j]
|
||||
shift = 0x80
|
||||
for _ in range(8):
|
||||
bit_sum = curr & shift
|
||||
temp_chk = checksum & 0x80
|
||||
if bit_sum:
|
||||
bit_sum = 0x1C
|
||||
if temp_chk:
|
||||
bit_sum = 1
|
||||
checksum = (checksum << 1) & 0xFF
|
||||
temp_chk = checksum | 1
|
||||
bit_sum ^= temp_chk
|
||||
else:
|
||||
if temp_chk:
|
||||
bit_sum = 0x1D
|
||||
checksum = (checksum << 1) & 0xFF
|
||||
bit_sum ^= checksum
|
||||
checksum = bit_sum & 0xFF
|
||||
shift >>= 1
|
||||
return (~checksum) & 0xFF
|
||||
|
||||
|
||||
def fca_giorgio_checksum(address: int, sig, d: bytearray) -> int:
|
||||
crc = 0
|
||||
for i in range(len(d) - 1):
|
||||
crc ^= d[i]
|
||||
crc = CRC8J1850[crc]
|
||||
if address == 0xDE:
|
||||
return crc ^ 0x10
|
||||
elif address == 0x106:
|
||||
return crc ^ 0xF6
|
||||
elif address == 0x122:
|
||||
return crc ^ 0xF1
|
||||
else:
|
||||
return crc ^ 0x0A
|
||||
783
opendbc_repo/opendbc/car/chrysler/fingerprints.py
Normal file
783
opendbc_repo/opendbc/car/chrysler/fingerprints.py
Normal file
@@ -0,0 +1,783 @@
|
||||
""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.chrysler.values import CAR
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.CHRYSLER_PACIFICA_2018: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68227902AF',
|
||||
b'68227902AG',
|
||||
b'68227902AH',
|
||||
b'68227905AG',
|
||||
b'68360252AC',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68211617AF',
|
||||
b'68211617AG',
|
||||
b'68358974AC',
|
||||
b'68405937AA',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68222747AG',
|
||||
b'68330876AA',
|
||||
b'68330876AB',
|
||||
b'68352227AA',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672758AA',
|
||||
b'04672758AB',
|
||||
b'68226356AF',
|
||||
b'68226356AH',
|
||||
b'68226356AI',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68288891AE',
|
||||
b'68378884AA',
|
||||
b'68525338AA',
|
||||
b'68525338AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'68267018AO ',
|
||||
b'68267020AJ ',
|
||||
b'68303534AG ',
|
||||
b'68303534AJ ',
|
||||
b'68340762AD ',
|
||||
b'68340764AD ',
|
||||
b'68352652AE ',
|
||||
b'68352654AE ',
|
||||
b'68366851AH ',
|
||||
b'68366853AE ',
|
||||
b'68366853AG ',
|
||||
b'68372861AF ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'68277370AJ',
|
||||
b'68277370AM',
|
||||
b'68277372AD',
|
||||
b'68277372AE',
|
||||
b'68277372AN',
|
||||
b'68277374AA',
|
||||
b'68277374AB',
|
||||
b'68277374AD',
|
||||
b'68277374AN',
|
||||
b'68367471AC',
|
||||
b'68367471AD',
|
||||
b'68380571AB',
|
||||
],
|
||||
},
|
||||
CAR.CHRYSLER_PACIFICA_2020: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68405327AC',
|
||||
b'68436233AB',
|
||||
b'68436233AC',
|
||||
b'68436234AB',
|
||||
b'68436250AE',
|
||||
b'68529067AA',
|
||||
b'68594993AB',
|
||||
b'68594994AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68405565AB',
|
||||
b'68405565AC',
|
||||
b'68444299AC',
|
||||
b'68480707AC',
|
||||
b'68480708AC',
|
||||
b'68526663AB',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68397394AA',
|
||||
b'68433480AB',
|
||||
b'68453575AF',
|
||||
b'68577676AA',
|
||||
b'68593395AA',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672758AA',
|
||||
b'04672758AB',
|
||||
b'68417813AF',
|
||||
b'68540436AA',
|
||||
b'68540436AB',
|
||||
b'68540436AC',
|
||||
b'68540436AD',
|
||||
b'68598670AB',
|
||||
b'68598670AC',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68416742AA',
|
||||
b'68460393AA',
|
||||
b'68460393AB',
|
||||
b'68494461AB',
|
||||
b'68494461AC',
|
||||
b'68524936AA',
|
||||
b'68524936AB',
|
||||
b'68525338AB',
|
||||
b'68594337AB',
|
||||
b'68594340AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'68413871AD ',
|
||||
b'68413871AE ',
|
||||
b'68413871AH ',
|
||||
b'68413871AI ',
|
||||
b'68413871AJ ',
|
||||
b'68413873AH ',
|
||||
b'68413873AI ',
|
||||
b'68443120AE ',
|
||||
b'68443123AC ',
|
||||
b'68443125AC ',
|
||||
b'68496647AI ',
|
||||
b'68496647AJ ',
|
||||
b'68496650AH ',
|
||||
b'68496650AI ',
|
||||
b'68496650AL ',
|
||||
b'68496652AH ',
|
||||
b'68526752AD ',
|
||||
b'68526752AE ',
|
||||
b'68526754AD ',
|
||||
b'68526754AE ',
|
||||
b'68536264AE ',
|
||||
b'68700304AB ',
|
||||
b'68700306AB ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'68414271AC',
|
||||
b'68414271AD',
|
||||
b'68414275AC',
|
||||
b'68414275AD',
|
||||
b'68443154AB',
|
||||
b'68443154AC',
|
||||
b'68443155AC',
|
||||
b'68443158AB',
|
||||
b'68501050AD',
|
||||
b'68501051AD',
|
||||
b'68501055AD',
|
||||
b'68527221AB',
|
||||
b'68527223AB',
|
||||
b'68586231AD',
|
||||
b'68586233AD',
|
||||
],
|
||||
},
|
||||
CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68239262AH',
|
||||
b'68239262AI',
|
||||
b'68239262AJ',
|
||||
b'68239263AH',
|
||||
b'68239263AJ',
|
||||
b'68358439AE',
|
||||
b'68358439AG',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68238840AH',
|
||||
b'68358990AC',
|
||||
b'68405939AA',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672758AA',
|
||||
b'68226356AI',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68288309AC',
|
||||
b'68288309AD',
|
||||
b'68525339AA',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'68277480AV ',
|
||||
b'68277480AX ',
|
||||
b'68277480AZ ',
|
||||
b'68366580AI ',
|
||||
b'68366580AK ',
|
||||
b'68366580AM ',
|
||||
],
|
||||
(Ecu.hybrid, 0x7e2, None): [
|
||||
b'05190175BF',
|
||||
b'05190175BH',
|
||||
b'05190226AI',
|
||||
b'05190226AK',
|
||||
b'05190226AM',
|
||||
],
|
||||
},
|
||||
CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68405292AC',
|
||||
b'68434956AC',
|
||||
b'68434956AD',
|
||||
b'68434960AE',
|
||||
b'68434960AF',
|
||||
b'68529064AB',
|
||||
b'68594990AB',
|
||||
b'68594990AD',
|
||||
b'68594990AE',
|
||||
b'68594991AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68405567AB',
|
||||
b'68405567AC',
|
||||
b'68453076AD',
|
||||
b'68480710AC',
|
||||
b'68526665AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672758AB',
|
||||
b'68417813AF',
|
||||
b'68540436AA',
|
||||
b'68540436AB',
|
||||
b'68540436AC',
|
||||
b'68540436AD',
|
||||
b'68598670AB',
|
||||
b'68598670AC',
|
||||
b'68645752AA',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68416741AA',
|
||||
b'68460392AA',
|
||||
b'68525339AA',
|
||||
b'68525339AB',
|
||||
b'68594341AB',
|
||||
b'68594341AC',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05190392AB ',
|
||||
b'68416680AD ',
|
||||
b'68416680AE ',
|
||||
b'68416680AF ',
|
||||
b'68416680AG ',
|
||||
b'68444228AC ',
|
||||
b'68444228AD ',
|
||||
b'68444228AE ',
|
||||
b'68444228AF ',
|
||||
b'68499122AD ',
|
||||
b'68499122AE ',
|
||||
b'68499122AF ',
|
||||
b'68526772AD ',
|
||||
b'68526772AH ',
|
||||
b'68599493AC ',
|
||||
b'68657433AA ',
|
||||
b'68700317AC ',
|
||||
],
|
||||
(Ecu.hybrid, 0x7e2, None): [
|
||||
b'05185116AF',
|
||||
b'05185116AJ',
|
||||
b'05185116AK',
|
||||
b'05185116AL',
|
||||
b'05190240AP',
|
||||
b'05190240AQ',
|
||||
b'05190240AR',
|
||||
b'05190265AG',
|
||||
b'05190265AH',
|
||||
b'05190289AE',
|
||||
b'68540977AH',
|
||||
b'68540977AK',
|
||||
b'68540977AL',
|
||||
b'68597647AE',
|
||||
b'68597647AF',
|
||||
b'68632416AB',
|
||||
b'68632416AC',
|
||||
b'68676877AB',
|
||||
],
|
||||
},
|
||||
CAR.JEEP_GRAND_CHEROKEE: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68243549AG',
|
||||
b'68302211AC',
|
||||
b'68302212AD',
|
||||
b'68302214AC',
|
||||
b'68302223AC',
|
||||
b'68302246AC',
|
||||
b'68331511AC',
|
||||
b'68331574AC',
|
||||
b'68331687AC',
|
||||
b'68331690AC',
|
||||
b'68340272AD',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68309533AA',
|
||||
b'68316742AB',
|
||||
b'68355363AB',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68252642AG',
|
||||
b'68306178AD',
|
||||
b'68336275AB',
|
||||
b'68336276AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672627AB',
|
||||
b'68251506AF',
|
||||
b'68332015AB',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68276201AG',
|
||||
b'68321644AB',
|
||||
b'68321644AC',
|
||||
b'68321646AC',
|
||||
b'68321648AC',
|
||||
b'68321650AC',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05035920AE ',
|
||||
b'68252272AG ',
|
||||
b'68284455AI ',
|
||||
b'68284456AI ',
|
||||
b'68284456AJ ',
|
||||
b'68284477AF ',
|
||||
b'68325564AH ',
|
||||
b'68325564AI ',
|
||||
b'68325565AH ',
|
||||
b'68325565AI ',
|
||||
b'68325565AJ ',
|
||||
b'68325618AD ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035517AH',
|
||||
b'68253222AF',
|
||||
b'68311218AC',
|
||||
b'68311218AD',
|
||||
b'68311223AF',
|
||||
b'68311223AG',
|
||||
b'68361911AE',
|
||||
b'68361911AF',
|
||||
b'68361911AH',
|
||||
b'68361914AE',
|
||||
b'68361916AD',
|
||||
],
|
||||
},
|
||||
CAR.JEEP_GRAND_CHEROKEE_2019: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68402703AB',
|
||||
b'68402704AB',
|
||||
b'68402707AB',
|
||||
b'68402708AB',
|
||||
b'68402714AB',
|
||||
b'68402971AD',
|
||||
b'68454144AD',
|
||||
b'68454145AB',
|
||||
b'68454152AB',
|
||||
b'68454156AB',
|
||||
b'68516650AB',
|
||||
b'68516651AB',
|
||||
b'68516669AB',
|
||||
b'68516671AB',
|
||||
b'68516683AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68355363AB',
|
||||
b'68355364AB',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68408639AC',
|
||||
b'68408639AD',
|
||||
b'68499978AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672788AA',
|
||||
b'68456722AC',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68417279AA',
|
||||
b'68417280AA',
|
||||
b'68417281AA',
|
||||
b'68453431AA',
|
||||
b'68453433AA',
|
||||
b'68453435AA',
|
||||
b'68499171AA',
|
||||
b'68499171AB',
|
||||
b'68501183AA',
|
||||
b'68501186AA',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05035674AB ',
|
||||
b'68412635AE ',
|
||||
b'68412635AG ',
|
||||
b'68412660AD ',
|
||||
b'68412660AF ',
|
||||
b'68422860AB',
|
||||
b'68449435AE ',
|
||||
b'68496223AA ',
|
||||
b'68504959AD ',
|
||||
b'68504959AE ',
|
||||
b'68504960AD ',
|
||||
b'68504993AC ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035707AA',
|
||||
b'68419672AC',
|
||||
b'68419678AB',
|
||||
b'68423905AB',
|
||||
b'68449258AC',
|
||||
b'68495807AA',
|
||||
b'68495807AB',
|
||||
b'68503641AC',
|
||||
b'68503644AC',
|
||||
b'68503664AC',
|
||||
],
|
||||
},
|
||||
CAR.RAM_1500_5TH_GEN: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68294051AG',
|
||||
b'68294051AI',
|
||||
b'68294052AG',
|
||||
b'68294052AH',
|
||||
b'68294059AI',
|
||||
b'68294063AG',
|
||||
b'68294063AH',
|
||||
b'68294063AI',
|
||||
b'68434846AC',
|
||||
b'68434847AC',
|
||||
b'68434849AC',
|
||||
b'68434850AC',
|
||||
b'68434855AC',
|
||||
b'68434856AC',
|
||||
b'68434858AC',
|
||||
b'68434859AC',
|
||||
b'68434860AC',
|
||||
b'68453471AD',
|
||||
b'68453483AC',
|
||||
b'68453483AD',
|
||||
b'68453487AD',
|
||||
b'68453491AC',
|
||||
b'68453491AD',
|
||||
b'68453499AD',
|
||||
b'68453502AC',
|
||||
b'68453503AC',
|
||||
b'68453503AD',
|
||||
b'68453505AC',
|
||||
b'68453505AD',
|
||||
b'68453511AC',
|
||||
b'68453513AC',
|
||||
b'68453513AD',
|
||||
b'68453514AD',
|
||||
b'68505633AB',
|
||||
b'68510277AG',
|
||||
b'68510277AH',
|
||||
b'68510280AG',
|
||||
b'68510280AH',
|
||||
b'68510282AG',
|
||||
b'68510282AH',
|
||||
b'68510283AG',
|
||||
b'68527346AE',
|
||||
b'68527361AD',
|
||||
b'68527375AD',
|
||||
b'68527381AD',
|
||||
b'68527381AE',
|
||||
b'68527382AE',
|
||||
b'68527383AD',
|
||||
b'68527383AE',
|
||||
b'68527387AE',
|
||||
b'68527397AD',
|
||||
b'68527403AC',
|
||||
b'68527403AD',
|
||||
b'68527404AD',
|
||||
b'68546047AF',
|
||||
b'68631938AA',
|
||||
b'68631939AA',
|
||||
b'68631940AA',
|
||||
b'68631940AB',
|
||||
b'68631941AB',
|
||||
b'68631942AA',
|
||||
b'68631943AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68428609AB',
|
||||
b'68441329AA',
|
||||
b'68441329AB',
|
||||
b'68473844AB',
|
||||
b'68490898AA',
|
||||
b'68500728AA',
|
||||
b'68615033AA',
|
||||
b'68615034AA',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68292406AG',
|
||||
b'68292406AH',
|
||||
b'68432418AB',
|
||||
b'68432418AC',
|
||||
b'68432418AD',
|
||||
b'68436004AD',
|
||||
b'68436004AE',
|
||||
b'68438454AC',
|
||||
b'68438454AD',
|
||||
b'68438456AE',
|
||||
b'68438456AF',
|
||||
b'68535469AB',
|
||||
b'68535470AC',
|
||||
b'68548900AB',
|
||||
b'68548900AC',
|
||||
b'68586307AB',
|
||||
b'68586307AC',
|
||||
b'68728724AA',
|
||||
b'68728727AA',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672892AB',
|
||||
b'04672932AB',
|
||||
b'04672932AC',
|
||||
b'22DTRHD_AA',
|
||||
b'68320950AH',
|
||||
b'68320950AI',
|
||||
b'68320950AJ',
|
||||
b'68320950AL',
|
||||
b'68320950AM',
|
||||
b'68454268AB',
|
||||
b'68454268AC',
|
||||
b'68475160AE',
|
||||
b'68475160AF',
|
||||
b'68475160AG',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'21590101AA',
|
||||
b'21590101AB',
|
||||
b'22490101AB',
|
||||
b'68273275AF',
|
||||
b'68273275AG',
|
||||
b'68273275AH',
|
||||
b'68312176AE',
|
||||
b'68312176AF',
|
||||
b'68312176AG',
|
||||
b'68440789AC',
|
||||
b'68466110AA',
|
||||
b'68466110AB',
|
||||
b'68466113AA',
|
||||
b'68466116AA',
|
||||
b'68469901AA',
|
||||
b'68469904AA',
|
||||
b'68469907AA',
|
||||
b'68522583AA',
|
||||
b'68522583AB',
|
||||
b'68522584AA',
|
||||
b'68522585AB',
|
||||
b'68552788AA',
|
||||
b'68552789AA',
|
||||
b'68552790AA',
|
||||
b'68552791AB',
|
||||
b'68552794AA',
|
||||
b'68552794AD',
|
||||
b'68585106AB',
|
||||
b'68585107AB',
|
||||
b'68585108AB',
|
||||
b'68585109AB',
|
||||
b'68585112AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05035699AG ',
|
||||
b'05035841AC ',
|
||||
b'05035841AD ',
|
||||
b'05036026AB ',
|
||||
b'05036030AC ',
|
||||
b'05036065AE ',
|
||||
b'05036066AE ',
|
||||
b'05036067AE ',
|
||||
b'05036193AA ',
|
||||
b'05149368AA ',
|
||||
b'05149374AA ',
|
||||
b'05149591AD ',
|
||||
b'05149591AE ',
|
||||
b'05149592AE ',
|
||||
b'05149599AE ',
|
||||
b'05149600AD ',
|
||||
b'05149600AE ',
|
||||
b'05149605AE ',
|
||||
b'05149846AA ',
|
||||
b'05149848AA ',
|
||||
b'05149848AC ',
|
||||
b'05190341AD',
|
||||
b'05190346AD',
|
||||
b'68378695AI ',
|
||||
b'68378695AJ ',
|
||||
b'68378695AK ',
|
||||
b'68378696AJ ',
|
||||
b'68378696AK ',
|
||||
b'68378701AI ',
|
||||
b'68378702AI ',
|
||||
b'68378710AL ',
|
||||
b'68378742AI ',
|
||||
b'68378742AK ',
|
||||
b'68378743AI ',
|
||||
b'68378743AM ',
|
||||
b'68378748AL ',
|
||||
b'68378758AM ',
|
||||
b'68378759AM ',
|
||||
b'68448163AJ',
|
||||
b'68448163AK',
|
||||
b'68448163AL',
|
||||
b'68448165AG',
|
||||
b'68448165AK',
|
||||
b'68455111AC ',
|
||||
b'68455119AC ',
|
||||
b'68455137AC ',
|
||||
b'68455142AC ',
|
||||
b'68455142AE ',
|
||||
b'68455145AC ',
|
||||
b'68455145AE ',
|
||||
b'68455146AC ',
|
||||
b'68460927AA ',
|
||||
b'68467909AB ',
|
||||
b'68467909AC ',
|
||||
b'68467915AC ',
|
||||
b'68467916AC ',
|
||||
b'68467936AC ',
|
||||
b'68500630AD',
|
||||
b'68500630AE',
|
||||
b'68500630AF',
|
||||
b'68500631AE',
|
||||
b'68502719AC ',
|
||||
b'68502722AC ',
|
||||
b'68502733AC ',
|
||||
b'68502734AF ',
|
||||
b'68502737AF ',
|
||||
b'68502740AF ',
|
||||
b'68502741AF ',
|
||||
b'68502742AC ',
|
||||
b'68502742AF ',
|
||||
b'68539650AD',
|
||||
b'68539650AF',
|
||||
b'68539651AD',
|
||||
b'68586101AA ',
|
||||
b'68586102AA ',
|
||||
b'68586105AB ',
|
||||
b'68629917AC ',
|
||||
b'68629919AC ',
|
||||
b'68629919AD ',
|
||||
b'68629922AC ',
|
||||
b'68629925AC ',
|
||||
b'68629926AC ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035706AD',
|
||||
b'05035842AB',
|
||||
b'05036069AA',
|
||||
b'05036181AA',
|
||||
b'05149536AC',
|
||||
b'05149537AC',
|
||||
b'05149543AC',
|
||||
b'68360078AL',
|
||||
b'68360080AL',
|
||||
b'68360080AM',
|
||||
b'68360081AM',
|
||||
b'68360081AN',
|
||||
b'68360085AH',
|
||||
b'68360085AJ',
|
||||
b'68360085AK',
|
||||
b'68360085AL',
|
||||
b'68360085AO',
|
||||
b'68360086AH',
|
||||
b'68360086AK',
|
||||
b'68360086AN',
|
||||
b'68384328AD',
|
||||
b'68384332AD',
|
||||
b'68445531AC',
|
||||
b'68445532AB',
|
||||
b'68445533AB',
|
||||
b'68445536AB',
|
||||
b'68445537AB',
|
||||
b'68466081AB',
|
||||
b'68466086AB',
|
||||
b'68466087AB',
|
||||
b'68484466AC',
|
||||
b'68484467AC',
|
||||
b'68484471AC',
|
||||
b'68502994AC',
|
||||
b'68502994AD',
|
||||
b'68502996AD',
|
||||
b'68520867AE',
|
||||
b'68520867AF',
|
||||
b'68520870AC',
|
||||
b'68520871AC',
|
||||
b'68528325AE',
|
||||
b'68540431AB',
|
||||
b'68540433AB',
|
||||
b'68551676AA',
|
||||
b'68629935AB',
|
||||
b'68629936AC',
|
||||
],
|
||||
},
|
||||
CAR.RAM_HD_5TH_GEN: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68361606AH',
|
||||
b'68437735AC',
|
||||
b'68492693AD',
|
||||
b'68525485AB',
|
||||
b'68525487AB',
|
||||
b'68525498AB',
|
||||
b'68528791AF',
|
||||
b'68628474AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68399794AC',
|
||||
b'68428503AA',
|
||||
b'68428505AA',
|
||||
b'68428507AA',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68334977AH',
|
||||
b'68455481AC',
|
||||
b'68504022AA',
|
||||
b'68504022AB',
|
||||
b'68504022AC',
|
||||
b'68530686AB',
|
||||
b'68530686AC',
|
||||
b'68544596AC',
|
||||
b'68641704AA',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672895AB',
|
||||
b'04672934AB',
|
||||
b'56029827AG',
|
||||
b'56029827AH',
|
||||
b'68462657AE',
|
||||
b'68484694AD',
|
||||
b'68484694AE',
|
||||
b'68615489AB',
|
||||
],
|
||||
(Ecu.eps, 0x761, None): [
|
||||
b'68421036AC',
|
||||
b'68507906AB',
|
||||
b'68534023AC',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'52370131AF',
|
||||
b'52370231AF',
|
||||
b'52370231AG',
|
||||
b'52370491AA',
|
||||
b'52370931CT',
|
||||
b'52401032AE',
|
||||
b'52421132AF',
|
||||
b'52421332AF',
|
||||
b'68527616AD ',
|
||||
b'M2370131MB',
|
||||
b'M2421132MB',
|
||||
],
|
||||
},
|
||||
CAR.DODGE_DURANGO: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68454261AD',
|
||||
b'68471535AE',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68355362AB',
|
||||
b'68492238AD',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68408639AD',
|
||||
b'68499978AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'68440581AE',
|
||||
b'68456722AC',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68453435AA',
|
||||
b'68498477AA',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05035786AE ',
|
||||
b'68449476AE ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035826AC',
|
||||
b'68449265AC',
|
||||
],
|
||||
},
|
||||
}
|
||||
80
opendbc_repo/opendbc/car/chrysler/interface.py
Executable file
80
opendbc_repo/opendbc/car/chrysler/interface.py
Executable file
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3
|
||||
from opendbc.car import get_safety_config, structs
|
||||
from opendbc.car.chrysler.carcontroller import CarController
|
||||
from opendbc.car.chrysler.carstate import CarState
|
||||
from opendbc.car.chrysler.radar_interface import RadarInterface
|
||||
from opendbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
ret.brand = "chrysler"
|
||||
ret.dashcamOnly = candidate in RAM_HD
|
||||
|
||||
# radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
|
||||
ret.radarUnavailable = True # Bus.radar not in DBC[candidate][Bus.radar]
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.steerLimitTimer = 0.4
|
||||
|
||||
# safety config
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
|
||||
if candidate in RAM_HD:
|
||||
ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_HD.value
|
||||
elif candidate in RAM_DT:
|
||||
ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_DT.value
|
||||
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
if candidate not in RAM_CARS:
|
||||
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
|
||||
new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
|
||||
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
|
||||
if new_eps_platform or new_eps_firmware:
|
||||
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
|
||||
|
||||
# Chrysler
|
||||
if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
|
||||
CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
|
||||
ret.lateralTuning.init('pid')
|
||||
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
# Jeep
|
||||
elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
|
||||
ret.lateralTuning.init('pid')
|
||||
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
# Ram
|
||||
elif candidate == CAR.RAM_1500_5TH_GEN:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.wheelbase = 3.88
|
||||
# Older EPS FW allow steer to zero
|
||||
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
elif candidate == CAR.RAM_HD_5TH_GEN:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
|
||||
|
||||
else:
|
||||
raise ValueError(f"Unsupported car: {candidate}")
|
||||
|
||||
if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
|
||||
# TODO: allow these cars to steer down to 13 m/s if already engaged.
|
||||
# TODO: Durango 2020 may be able to steer to zero once above 38 kph
|
||||
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
ret.enableBsm = 720 in fingerprint[0]
|
||||
|
||||
return ret
|
||||
83
opendbc_repo/opendbc/car/chrysler/radar_interface.py
Executable file
83
opendbc_repo/opendbc/car/chrysler/radar_interface.py
Executable file
@@ -0,0 +1,83 @@
|
||||
#!/usr/bin/env python3
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.interfaces import RadarInterfaceBase
|
||||
from opendbc.car.chrysler.values import DBC
|
||||
|
||||
RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724
|
||||
RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages
|
||||
LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
|
||||
NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
|
||||
|
||||
def _create_radar_can_parser(car_fingerprint):
|
||||
if Bus.radar not in DBC[car_fingerprint]:
|
||||
return None
|
||||
|
||||
msg_n = len(RADAR_MSGS_C)
|
||||
# list of [(signal name, message name or number), (...)]
|
||||
# [('RADAR_STATE', 1024),
|
||||
# ('LONG_DIST', 1072),
|
||||
# ('LONG_DIST', 1073),
|
||||
# ('LONG_DIST', 1074),
|
||||
# ('LONG_DIST', 1075),
|
||||
|
||||
messages = list(zip(RADAR_MSGS_C +
|
||||
RADAR_MSGS_D,
|
||||
[20] * msg_n + # 20Hz (0.05s)
|
||||
[20] * msg_n, strict=True)) # 20Hz (0.05s)
|
||||
|
||||
return CANParser(DBC[car_fingerprint][Bus.radar], messages, 1)
|
||||
|
||||
def _address_to_track(address):
|
||||
if address in RADAR_MSGS_C:
|
||||
return (address - RADAR_MSGS_C[0]) // 2
|
||||
if address in RADAR_MSGS_D:
|
||||
return (address - RADAR_MSGS_D[0]) // 2
|
||||
raise ValueError("radar received unexpected address %d" % address)
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
self.rcp = _create_radar_can_parser(CP.carFingerprint)
|
||||
self.updated_messages = set()
|
||||
self.trigger_msg = LAST_MSG
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.rcp is None or self.CP.radarUnavailable:
|
||||
return super().update(None)
|
||||
|
||||
vls = self.rcp.update(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
if self.trigger_msg not in self.updated_messages:
|
||||
return None
|
||||
|
||||
ret = structs.RadarData()
|
||||
if not self.rcp.can_valid:
|
||||
ret.errors.canError = True
|
||||
|
||||
for ii in self.updated_messages: # ii should be the message ID as a number
|
||||
cpt = self.rcp.vl[ii]
|
||||
trackId = _address_to_track(ii)
|
||||
|
||||
if trackId not in self.pts:
|
||||
self.pts[trackId] = structs.RadarData.RadarPoint()
|
||||
self.pts[trackId].trackId = trackId
|
||||
self.pts[trackId].aRel = float('nan')
|
||||
self.pts[trackId].yvRel = 0 #float('nan')
|
||||
self.pts[trackId].measured = True
|
||||
|
||||
if 'LONG_DIST' in cpt: # c_* message
|
||||
self.pts[trackId].dRel = cpt['LONG_DIST'] # from front of car
|
||||
# our lat_dist is positive to the right in car's frame.
|
||||
# TODO what does yRel want?
|
||||
self.pts[trackId].yRel = cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
||||
else: # d_* message
|
||||
self.pts[trackId].vRel = cpt['REL_SPEED']
|
||||
self.pts[trackId].vLead = self.pts[trackId].vRel + self.v_ego
|
||||
|
||||
# We want a list, not a dictionary. Filter out LONG_DIST==0 because that means it's not valid.
|
||||
ret.points = [x for x in self.pts.values() if x.dRel != 0]
|
||||
|
||||
self.updated_messages.clear()
|
||||
return ret
|
||||
159
opendbc_repo/opendbc/car/chrysler/values.py
Normal file
159
opendbc_repo/opendbc/car/chrysler/values.py
Normal file
@@ -0,0 +1,159 @@
|
||||
from enum import IntFlag
|
||||
from dataclasses import dataclass, field
|
||||
|
||||
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
|
||||
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
|
||||
class ChryslerSafetyFlags(IntFlag):
|
||||
RAM_DT = 1
|
||||
RAM_HD = 2
|
||||
|
||||
|
||||
class ChryslerFlags(IntFlag):
|
||||
# Detected flags
|
||||
HIGHER_MIN_STEERING_SPEED = 1
|
||||
|
||||
@dataclass
|
||||
class ChryslerCarDocs(CarDocs):
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
|
||||
|
||||
|
||||
@dataclass
|
||||
class ChryslerPlatformConfig(PlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: {
|
||||
Bus.pt: 'chrysler_pacifica_2017_hybrid_generated',
|
||||
Bus.radar: 'chrysler_pacifica_2017_hybrid_private_fusion',
|
||||
})
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class ChryslerCarSpecs(CarSpecs):
|
||||
minSteerSpeed: float = 3.8 # m/s
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
# Chrysler
|
||||
CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
|
||||
ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
|
||||
)
|
||||
CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-25")],
|
||||
CHRYSLER_PACIFICA_2018_HYBRID.specs,
|
||||
)
|
||||
CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Chrysler Pacifica 2017-18")],
|
||||
CHRYSLER_PACIFICA_2018_HYBRID.specs,
|
||||
)
|
||||
CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
|
||||
[
|
||||
ChryslerCarDocs("Chrysler Pacifica 2019-20"),
|
||||
ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
|
||||
],
|
||||
CHRYSLER_PACIFICA_2018_HYBRID.specs,
|
||||
)
|
||||
|
||||
# Dodge
|
||||
DODGE_DURANGO = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Dodge Durango 2020-21")],
|
||||
CHRYSLER_PACIFICA_2018_HYBRID.specs,
|
||||
)
|
||||
|
||||
# Jeep
|
||||
JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk
|
||||
[ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
|
||||
ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
|
||||
)
|
||||
|
||||
JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk
|
||||
[ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
|
||||
JEEP_GRAND_CHEROKEE.specs,
|
||||
)
|
||||
|
||||
# Ram
|
||||
RAM_1500_5TH_GEN = ChryslerPlatformConfig(
|
||||
[ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
|
||||
ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
|
||||
{Bus.pt: 'chrysler_ram_dt_generated'},
|
||||
)
|
||||
RAM_HD_5TH_GEN = ChryslerPlatformConfig(
|
||||
[
|
||||
ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
|
||||
ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
|
||||
],
|
||||
ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
|
||||
{Bus.pt: 'chrysler_ram_hd_generated'},
|
||||
)
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
def __init__(self, CP):
|
||||
self.STEER_STEP = 2 # 50 Hz
|
||||
self.STEER_ERROR_MAX = 80
|
||||
if CP.carFingerprint in RAM_HD:
|
||||
self.STEER_DELTA_UP = 14
|
||||
self.STEER_DELTA_DOWN = 14
|
||||
self.STEER_MAX = 361 # higher than this faults the EPS
|
||||
elif CP.carFingerprint in RAM_DT:
|
||||
self.STEER_DELTA_UP = 6
|
||||
self.STEER_DELTA_DOWN = 6
|
||||
self.STEER_MAX = 261 # EPS allows more, up to 350?
|
||||
else:
|
||||
self.STEER_DELTA_UP = 3
|
||||
self.STEER_DELTA_DOWN = 3
|
||||
self.STEER_MAX = 261 # higher than this faults the EPS
|
||||
|
||||
|
||||
STEER_THRESHOLD = 120
|
||||
|
||||
RAM_DT = {CAR.RAM_1500_5TH_GEN, }
|
||||
RAM_HD = {CAR.RAM_HD_5TH_GEN, }
|
||||
RAM_CARS = RAM_DT | RAM_HD
|
||||
|
||||
|
||||
CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xf132)
|
||||
CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(0xf132)
|
||||
|
||||
CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
|
||||
CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
CHRYSLER_RX_OFFSET = -0x280
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[CHRYSLER_VERSION_REQUEST],
|
||||
[CHRYSLER_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.combinationMeter],
|
||||
rx_offset=CHRYSLER_RX_OFFSET,
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[CHRYSLER_VERSION_REQUEST],
|
||||
[CHRYSLER_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[CHRYSLER_SOFTWARE_VERSION_REQUEST],
|
||||
[CHRYSLER_SOFTWARE_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine, Ecu.transmission],
|
||||
bus=0,
|
||||
),
|
||||
],
|
||||
extra_ecus=[
|
||||
(Ecu.abs, 0x7e4, None), # alt address for abs on hybrids, NOTE: not on all hybrid platforms
|
||||
],
|
||||
)
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
0
opendbc_repo/opendbc/car/common/__init__.py
Normal file
0
opendbc_repo/opendbc/car/common/__init__.py
Normal file
4
opendbc_repo/opendbc/car/common/basedir.py
Normal file
4
opendbc_repo/opendbc/car/common/basedir.py
Normal file
@@ -0,0 +1,4 @@
|
||||
import os
|
||||
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
19
opendbc_repo/opendbc/car/common/conversions.py
Normal file
19
opendbc_repo/opendbc/car/common/conversions.py
Normal file
@@ -0,0 +1,19 @@
|
||||
import numpy as np
|
||||
|
||||
class Conversions:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
18
opendbc_repo/opendbc/car/common/filter_simple.py
Normal file
18
opendbc_repo/opendbc/car/common/filter_simple.py
Normal file
@@ -0,0 +1,18 @@
|
||||
class FirstOrderFilter:
|
||||
# first order filter
|
||||
def __init__(self, x0, rc, dt, initialized=True):
|
||||
self.x = x0
|
||||
self.dt = dt
|
||||
self.update_alpha(rc)
|
||||
self.initialized = initialized
|
||||
|
||||
def update_alpha(self, rc):
|
||||
self.alpha = self.dt / (rc + self.dt)
|
||||
|
||||
def update(self, x):
|
||||
if self.initialized:
|
||||
self.x = (1. - self.alpha) * self.x + self.alpha * x
|
||||
else:
|
||||
self.initialized = True
|
||||
self.x = x
|
||||
return self.x
|
||||
70
opendbc_repo/opendbc/car/common/pid.py
Normal file
70
opendbc_repo/opendbc/car/common/pid.py
Normal file
@@ -0,0 +1,70 @@
|
||||
import numpy as np
|
||||
from numbers import Number
|
||||
|
||||
class PIDController:
|
||||
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
|
||||
self._k_p = k_p
|
||||
self._k_i = k_i
|
||||
self._k_d = k_d
|
||||
self.k_f = k_f # feedforward gain
|
||||
if isinstance(self._k_p, Number):
|
||||
self._k_p = [[0], [self._k_p]]
|
||||
if isinstance(self._k_i, Number):
|
||||
self._k_i = [[0], [self._k_i]]
|
||||
if isinstance(self._k_d, Number):
|
||||
self._k_d = [[0], [self._k_d]]
|
||||
|
||||
self.pos_limit = pos_limit
|
||||
self.neg_limit = neg_limit
|
||||
|
||||
self.i_unwind_rate = 0.3 / rate
|
||||
self.i_rate = 1.0 / rate
|
||||
self.speed = 0.0
|
||||
|
||||
self.reset()
|
||||
|
||||
@property
|
||||
def k_p(self):
|
||||
return np.interp(self.speed, self._k_p[0], self._k_p[1])
|
||||
|
||||
@property
|
||||
def k_i(self):
|
||||
return np.interp(self.speed, self._k_i[0], self._k_i[1])
|
||||
|
||||
@property
|
||||
def k_d(self):
|
||||
return np.interp(self.speed, self._k_d[0], self._k_d[1])
|
||||
|
||||
@property
|
||||
def error_integral(self):
|
||||
return self.i/self.k_i
|
||||
|
||||
def reset(self):
|
||||
self.p = 0.0
|
||||
self.i = 0.0
|
||||
self.d = 0.0
|
||||
self.f = 0.0
|
||||
self.control = 0
|
||||
|
||||
def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
|
||||
self.speed = speed
|
||||
|
||||
self.p = float(error) * self.k_p
|
||||
self.f = feedforward * self.k_f
|
||||
self.d = error_rate * self.k_d
|
||||
|
||||
if override:
|
||||
self.i -= self.i_unwind_rate * float(np.sign(self.i))
|
||||
else:
|
||||
if not freeze_integrator:
|
||||
self.i = self.i + error * self.k_i * self.i_rate
|
||||
|
||||
# Clip i to prevent exceeding control limits
|
||||
control_no_i = self.p + self.d + self.f
|
||||
control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
|
||||
self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
|
||||
|
||||
control = self.p + self.i + self.d + self.f
|
||||
|
||||
self.control = np.clip(control, self.neg_limit, self.pos_limit)
|
||||
return self.control
|
||||
54
opendbc_repo/opendbc/car/common/simple_kalman.py
Normal file
54
opendbc_repo/opendbc/car/common/simple_kalman.py
Normal file
@@ -0,0 +1,54 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
def get_kalman_gain(dt, A, C, Q, R, iterations=100):
|
||||
P = np.zeros_like(Q)
|
||||
for _ in range(iterations):
|
||||
P = A.dot(P).dot(A.T) + dt * Q
|
||||
S = C.dot(P).dot(C.T) + R
|
||||
K = P.dot(C.T).dot(np.linalg.inv(S))
|
||||
P = (np.eye(len(P)) - K.dot(C)).dot(P)
|
||||
return K
|
||||
|
||||
|
||||
class KF1D:
|
||||
# this EKF assumes constant covariance matrix, so calculations are much simpler
|
||||
# the Kalman gain also needs to be precomputed using the control module
|
||||
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x0_0 = x0[0][0]
|
||||
self.x1_0 = x0[1][0]
|
||||
self.A0_0 = A[0][0]
|
||||
self.A0_1 = A[0][1]
|
||||
self.A1_0 = A[1][0]
|
||||
self.A1_1 = A[1][1]
|
||||
self.C0_0 = C[0]
|
||||
self.C0_1 = C[1]
|
||||
self.K0_0 = K[0][0]
|
||||
self.K1_0 = K[1][0]
|
||||
|
||||
self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
|
||||
self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
|
||||
self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
|
||||
self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
|
||||
|
||||
# K matrix needs to be pre-computed as follow:
|
||||
# import control
|
||||
# (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
|
||||
# self.K = np.transpose(K)
|
||||
|
||||
def update(self, meas):
|
||||
#self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
|
||||
x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
|
||||
x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
|
||||
self.x0_0 = x0_0
|
||||
self.x1_0 = x1_0
|
||||
return [self.x0_0, self.x1_0]
|
||||
|
||||
@property
|
||||
def x(self):
|
||||
return [[self.x0_0], [self.x1_0]]
|
||||
|
||||
def set_x(self, x):
|
||||
self.x0_0 = x[0][0]
|
||||
self.x1_0 = x[1][0]
|
||||
30
opendbc_repo/opendbc/car/crc.py
Normal file
30
opendbc_repo/opendbc/car/crc.py
Normal file
@@ -0,0 +1,30 @@
|
||||
|
||||
def _gen_crc8_table(poly: int) -> list[int]:
|
||||
table = []
|
||||
for i in range(256):
|
||||
crc = i
|
||||
for _ in range(8):
|
||||
if crc & 0x80:
|
||||
crc = ((crc << 1) ^ poly) & 0xFF
|
||||
else:
|
||||
crc = (crc << 1) & 0xFF
|
||||
table.append(crc)
|
||||
return table
|
||||
|
||||
|
||||
def _gen_crc16_table(poly: int) -> list[int]:
|
||||
table = []
|
||||
for i in range(256):
|
||||
crc = i << 8
|
||||
for _ in range(8):
|
||||
if crc & 0x8000:
|
||||
crc = ((crc << 1) ^ poly) & 0xFFFF
|
||||
else:
|
||||
crc = (crc << 1) & 0xFFFF
|
||||
table.append(crc)
|
||||
return table
|
||||
|
||||
|
||||
CRC8H2F = _gen_crc8_table(0x2F)
|
||||
CRC8J1850 = _gen_crc8_table(0x1D)
|
||||
CRC16_XMODEM = _gen_crc16_table(0x1021)
|
||||
82
opendbc_repo/opendbc/car/debug/format_fingerprints.py
Normal file
82
opendbc_repo/opendbc/car/debug/format_fingerprints.py
Normal file
@@ -0,0 +1,82 @@
|
||||
#!/usr/bin/env python3
|
||||
import jinja2
|
||||
import os
|
||||
|
||||
from opendbc.car.common.basedir import BASEDIR
|
||||
from opendbc.car.interfaces import get_interface_attr
|
||||
from opendbc.car.structs import CarParams
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
CARS = get_interface_attr('CAR')
|
||||
FW_VERSIONS = get_interface_attr('FW_VERSIONS')
|
||||
FINGERPRINTS = get_interface_attr('FINGERPRINTS')
|
||||
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
||||
|
||||
FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
|
||||
{%- if FINGERPRINTS[brand] and brand != 'body' %}
|
||||
# ruff: noqa: E501
|
||||
{% endif %}
|
||||
\"\"\" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE.\"\"\"
|
||||
{% if FW_VERSIONS[brand] %}
|
||||
from opendbc.car.structs import CarParams
|
||||
{% endif %}
|
||||
from opendbc.car.{{brand}}.values import CAR
|
||||
{% if FW_VERSIONS[brand] %}
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
{% endif %}
|
||||
{% if comments +%}
|
||||
{{ comments | join() }}
|
||||
{% endif %}
|
||||
{% if FINGERPRINTS[brand] %}
|
||||
|
||||
FINGERPRINTS = {
|
||||
{% for car, fingerprints in FINGERPRINTS[brand].items() %}
|
||||
CAR.{{car.name}}: [{
|
||||
{% for fingerprint in fingerprints %}
|
||||
{% if not loop.first %}
|
||||
{{ "{" }}
|
||||
{% endif %}
|
||||
{% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %}
|
||||
|
||||
}{% if loop.last %}]{% endif %},
|
||||
{% endfor %}
|
||||
{% endfor %}
|
||||
}
|
||||
{% endif %}
|
||||
|
||||
FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = {
|
||||
{% for car, _ in FW_VERSIONS[brand].items() %}
|
||||
CAR.{{car.name}}: {
|
||||
{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
|
||||
(Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
|
||||
{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
|
||||
{% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
|
||||
{{fw_version}},
|
||||
{% endfor %}
|
||||
],
|
||||
{% endfor %}
|
||||
},
|
||||
{% endfor %}
|
||||
}
|
||||
|
||||
""", trim_blocks=True)
|
||||
|
||||
|
||||
def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
|
||||
extra_fw_versions = extra_fw_versions or {}
|
||||
|
||||
fingerprints_file = os.path.join(BASEDIR, f"{brand}/fingerprints.py")
|
||||
with open(fingerprints_file) as f:
|
||||
comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
|
||||
|
||||
with open(fingerprints_file, "w") as f:
|
||||
f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
|
||||
FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
|
||||
extra_fw_versions=extra_fw_versions))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
for brand in FW_VERSIONS.keys():
|
||||
format_brand_fw_versions(brand)
|
||||
36
opendbc_repo/opendbc/car/disable_ecu.py
Normal file
36
opendbc_repo/opendbc/car/disable_ecu.py
Normal file
@@ -0,0 +1,36 @@
|
||||
from opendbc.car.carlog import carlog
|
||||
from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
|
||||
|
||||
EXT_DIAG_REQUEST = b'\x10\x03'
|
||||
EXT_DIAG_RESPONSE = b'\x50\x03'
|
||||
|
||||
COM_CONT_RESPONSE = b''
|
||||
|
||||
|
||||
def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10):
|
||||
"""Silence an ECU by disabling sending and receiving messages using UDS 0x28.
|
||||
The ECU will stay silent as long as openpilot keeps sending Tester Present.
|
||||
|
||||
This is used to disable the radar in some cars. Openpilot will emulate the radar.
|
||||
WARNING: THIS DISABLES AEB!"""
|
||||
carlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
|
||||
|
||||
for i in range(retry):
|
||||
try:
|
||||
query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE])
|
||||
|
||||
for _, _ in query.get_data(timeout).items():
|
||||
carlog.warning("communication control disable tx/rx ...")
|
||||
|
||||
query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE])
|
||||
query.get_data(0)
|
||||
|
||||
carlog.warning("ecu disabled")
|
||||
return True
|
||||
|
||||
except Exception:
|
||||
carlog.exception("ecu disable exception")
|
||||
|
||||
carlog.error(f"ecu disable retry ({i + 1}) ...")
|
||||
carlog.error("ecu disable failed")
|
||||
return False
|
||||
105
opendbc_repo/opendbc/car/docs.py
Executable file
105
opendbc_repo/opendbc/car/docs.py
Executable file
@@ -0,0 +1,105 @@
|
||||
#!/usr/bin/env python3
|
||||
import argparse
|
||||
import os
|
||||
from typing import get_args
|
||||
|
||||
from collections import defaultdict
|
||||
import jinja2
|
||||
from enum import Enum
|
||||
from natsort import natsorted
|
||||
|
||||
from opendbc.car.common.basedir import BASEDIR
|
||||
from opendbc.car import gen_empty_fingerprint
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.docs_definitions import BaseCarHarness, CarDocs, Device, ExtraCarDocs, Column, ExtraCarsColumn, CommonFootnote, PartType, SupportType
|
||||
from opendbc.car.car_helpers import interfaces
|
||||
from opendbc.car.interfaces import get_interface_attr
|
||||
from opendbc.car.values import Platform
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from opendbc.car.extra_cars import CAR as EXTRA
|
||||
|
||||
|
||||
EXTRA_CARS_MD_OUT = os.path.join(BASEDIR, "../", "../", "docs", "CARS.md")
|
||||
EXTRA_CARS_MD_TEMPLATE = os.path.join(BASEDIR, "CARS_template.md")
|
||||
|
||||
# TODO: merge these platforms into normal car ports with SupportType flag
|
||||
ExtraPlatform = Platform | EXTRA
|
||||
EXTRA_BRANDS = get_args(ExtraPlatform)
|
||||
EXTRA_PLATFORMS: dict[str, ExtraPlatform] = {str(platform): platform for brand in EXTRA_BRANDS for platform in brand}
|
||||
|
||||
|
||||
def get_params_for_docs(platform) -> CarParams:
|
||||
cp_platform = platform if platform in interfaces else MOCK.MOCK
|
||||
CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
|
||||
car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
|
||||
alpha_long=True, is_release=False, docs=True)
|
||||
return CP
|
||||
|
||||
|
||||
def get_all_footnotes() -> dict[Enum, int]:
|
||||
all_footnotes = list(CommonFootnote)
|
||||
for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
|
||||
all_footnotes.extend(footnotes)
|
||||
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
|
||||
|
||||
|
||||
def build_sorted_car_docs_list(platforms, footnotes=None):
|
||||
collected_car_docs: list[CarDocs | ExtraCarDocs] = []
|
||||
for platform in platforms.values():
|
||||
car_docs = platform.config.car_docs
|
||||
CP = get_params_for_docs(platform)
|
||||
|
||||
if not len(car_docs):
|
||||
continue
|
||||
|
||||
# A platform can include multiple car models
|
||||
for _car_docs in car_docs:
|
||||
if not hasattr(_car_docs, "row"):
|
||||
_car_docs.init_make(CP)
|
||||
_car_docs.init(CP, footnotes)
|
||||
collected_car_docs.append(_car_docs)
|
||||
|
||||
# Sort cars by make and model + year
|
||||
sorted_cars = natsorted(collected_car_docs, key=lambda car: car.name.lower())
|
||||
return sorted_cars
|
||||
|
||||
|
||||
# CAUTION: This function is imported by shop.comma.ai and comma.ai/vehicles, test changes carefully
|
||||
def get_all_car_docs() -> list[CarDocs]:
|
||||
collected_footnotes = get_all_footnotes()
|
||||
sorted_list: list[CarDocs] = build_sorted_car_docs_list(EXTRA_PLATFORMS, footnotes=collected_footnotes)
|
||||
return sorted_list
|
||||
|
||||
|
||||
def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
|
||||
sorted_car_docs = defaultdict(list)
|
||||
for car_docs in all_car_docs:
|
||||
sorted_car_docs[car_docs.make].append(car_docs)
|
||||
return dict(sorted_car_docs)
|
||||
|
||||
|
||||
# CAUTION: This function is imported by shop.comma.ai and comma.ai/vehicles, test changes carefully
|
||||
def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str, **kwargs) -> str:
|
||||
with open(template_fn) as f:
|
||||
template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
|
||||
|
||||
footnotes = [fn.value.text for fn in get_all_footnotes()]
|
||||
cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
|
||||
group_by_make=group_by_make, footnotes=footnotes,
|
||||
Device=Device, Column=Column, ExtraCarsColumn=ExtraCarsColumn,
|
||||
BaseCarHarness=BaseCarHarness, SupportType=SupportType,
|
||||
**kwargs)
|
||||
return cars_md
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser(description="Auto generates supportability info docs for all known cars",
|
||||
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
||||
|
||||
parser.add_argument("--template", default=EXTRA_CARS_MD_TEMPLATE, help="Override default template filename")
|
||||
parser.add_argument("--out", default=EXTRA_CARS_MD_OUT, help="Override default generated filename")
|
||||
args = parser.parse_args()
|
||||
|
||||
with open(args.out, 'w') as f:
|
||||
f.write(generate_cars_md(get_all_car_docs(), args.template))
|
||||
print(f"Generated and written to {args.out}")
|
||||
419
opendbc_repo/opendbc/car/docs_definitions.py
Normal file
419
opendbc_repo/opendbc/car/docs_definitions.py
Normal file
@@ -0,0 +1,419 @@
|
||||
import re
|
||||
from collections import namedtuple
|
||||
import copy
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.structs import CarParams
|
||||
|
||||
GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
|
||||
MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
|
||||
|
||||
|
||||
class Column(Enum):
|
||||
MAKE = "Make"
|
||||
MODEL = "Model"
|
||||
PACKAGE = "Supported Package"
|
||||
LONGITUDINAL = "ACC"
|
||||
FSR_LONGITUDINAL = "No ACC accel below"
|
||||
FSR_STEERING = "No ALC below"
|
||||
STEERING_TORQUE = "Steering Torque"
|
||||
AUTO_RESUME = "Resume from stop"
|
||||
HARDWARE = "Hardware Needed"
|
||||
VIDEO = "Video"
|
||||
SETUP_VIDEO = "Setup Video"
|
||||
|
||||
|
||||
class ExtraCarsColumn(Enum):
|
||||
MAKE = "Make"
|
||||
MODEL = "Model"
|
||||
PACKAGE = "Package"
|
||||
SUPPORT = "Support Level"
|
||||
|
||||
|
||||
class SupportType(Enum):
|
||||
UPSTREAM = "Upstream" # Actively maintained by comma, plug-and-play in release versions of openpilot
|
||||
REVIEW = "Under review" # Dashcam, but planned for official support after safety validation
|
||||
DASHCAM = "Dashcam mode" # Dashcam, but may be drivable in a community fork
|
||||
COMMUNITY = "Community" # Not upstream, but available in a custom community fork, not validated by comma
|
||||
CUSTOM = "Custom" # Upstream, but don't have a harness available or need an unusual custom install
|
||||
INCOMPATIBLE = "Not compatible" # Known fundamental incompatibility such as Flexray or hydraulic power steering
|
||||
|
||||
|
||||
class Star(Enum):
|
||||
FULL = "full"
|
||||
HALF = "half"
|
||||
EMPTY = "empty"
|
||||
|
||||
|
||||
# A part + its comprised parts
|
||||
@dataclass
|
||||
class BasePart:
|
||||
name: str
|
||||
parts: list[Enum] = field(default_factory=list)
|
||||
|
||||
def all_parts(self):
|
||||
# Recursively get all parts
|
||||
_parts = 'parts'
|
||||
parts = []
|
||||
parts.extend(getattr(self, _parts))
|
||||
for part in getattr(self, _parts):
|
||||
parts.extend(part.value.all_parts())
|
||||
|
||||
return parts
|
||||
|
||||
|
||||
class EnumBase(Enum):
|
||||
@property
|
||||
def part_type(self):
|
||||
return PartType(self.__class__)
|
||||
|
||||
|
||||
class Mount(EnumBase):
|
||||
mount = BasePart("mount")
|
||||
angled_mount_8_degrees = BasePart("angled mount (8 degrees)")
|
||||
|
||||
|
||||
class Cable(EnumBase):
|
||||
long_obdc_cable = BasePart("long OBD-C cable (9.5 ft)")
|
||||
usb_a_2_a_cable = BasePart("USB A-A cable")
|
||||
usbc_otg_cable = BasePart("USB C OTG cable")
|
||||
usbc_coupler = BasePart("USB-C coupler")
|
||||
obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)")
|
||||
right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)")
|
||||
|
||||
|
||||
class Accessory(EnumBase):
|
||||
harness_box = BasePart("harness box")
|
||||
comma_power = BasePart("comma power v3")
|
||||
|
||||
|
||||
class Tool(EnumBase):
|
||||
socket_8mm_deep = BasePart("Socket Wrench 8mm or 5/16\" (deep)")
|
||||
pry_tool = BasePart("Pry Tool")
|
||||
|
||||
|
||||
@dataclass
|
||||
class BaseCarHarness(BasePart):
|
||||
parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power])
|
||||
has_connector: bool = True # without are hidden on the harness connector page
|
||||
|
||||
|
||||
class CarHarness(EnumBase):
|
||||
nidec = BaseCarHarness("Honda Nidec connector")
|
||||
bosch_a = BaseCarHarness("Honda Bosch A connector")
|
||||
bosch_b = BaseCarHarness("Honda Bosch B connector")
|
||||
bosch_c = BaseCarHarness("Honda Bosch C connector")
|
||||
toyota_a = BaseCarHarness("Toyota A connector")
|
||||
toyota_b = BaseCarHarness("Toyota B connector")
|
||||
subaru_a = BaseCarHarness("Subaru A connector", parts=[Accessory.harness_box, Accessory.comma_power, Tool.socket_8mm_deep, Tool.pry_tool])
|
||||
subaru_b = BaseCarHarness("Subaru B connector", parts=[Accessory.harness_box, Accessory.comma_power, Tool.socket_8mm_deep, Tool.pry_tool])
|
||||
subaru_c = BaseCarHarness("Subaru C connector", parts=[Accessory.harness_box, Accessory.comma_power, Tool.socket_8mm_deep, Tool.pry_tool])
|
||||
subaru_d = BaseCarHarness("Subaru D connector", parts=[Accessory.harness_box, Accessory.comma_power, Tool.socket_8mm_deep, Tool.pry_tool])
|
||||
fca = BaseCarHarness("FCA connector")
|
||||
ram = BaseCarHarness("Ram connector")
|
||||
vw_a = BaseCarHarness("VW A connector")
|
||||
vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
hyundai_a = BaseCarHarness("Hyundai A connector")
|
||||
hyundai_b = BaseCarHarness("Hyundai B connector")
|
||||
hyundai_c = BaseCarHarness("Hyundai C connector")
|
||||
hyundai_d = BaseCarHarness("Hyundai D connector")
|
||||
hyundai_e = BaseCarHarness("Hyundai E connector")
|
||||
hyundai_f = BaseCarHarness("Hyundai F connector")
|
||||
hyundai_g = BaseCarHarness("Hyundai G connector")
|
||||
hyundai_h = BaseCarHarness("Hyundai H connector")
|
||||
hyundai_i = BaseCarHarness("Hyundai I connector")
|
||||
hyundai_j = BaseCarHarness("Hyundai J connector")
|
||||
hyundai_k = BaseCarHarness("Hyundai K connector")
|
||||
hyundai_l = BaseCarHarness("Hyundai L connector")
|
||||
hyundai_m = BaseCarHarness("Hyundai M connector")
|
||||
hyundai_n = BaseCarHarness("Hyundai N connector")
|
||||
hyundai_o = BaseCarHarness("Hyundai O connector")
|
||||
hyundai_p = BaseCarHarness("Hyundai P connector")
|
||||
hyundai_q = BaseCarHarness("Hyundai Q connector")
|
||||
hyundai_r = BaseCarHarness("Hyundai R connector")
|
||||
custom = BaseCarHarness("Developer connector")
|
||||
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
|
||||
gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
|
||||
gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
mazda = BaseCarHarness("Mazda connector")
|
||||
ford_q3 = BaseCarHarness("Ford Q3 connector")
|
||||
ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
|
||||
|
||||
|
||||
class Device(EnumBase):
|
||||
threex = BasePart("comma 3X", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
|
||||
# variant of comma 3X with angled mounts
|
||||
threex_angled_mount = BasePart("comma 3X", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
|
||||
red_panda = BasePart("red panda")
|
||||
|
||||
|
||||
class Kit(EnumBase):
|
||||
red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box,
|
||||
Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
|
||||
|
||||
|
||||
class PartType(Enum):
|
||||
accessory = Accessory
|
||||
cable = Cable
|
||||
connector = CarHarness
|
||||
device = Device
|
||||
kit = Kit
|
||||
mount = Mount
|
||||
tool = Tool
|
||||
|
||||
|
||||
DEFAULT_CAR_PARTS: list[EnumBase] = [Device.threex]
|
||||
|
||||
|
||||
@dataclass
|
||||
class CarParts:
|
||||
parts: list[EnumBase] = field(default_factory=list)
|
||||
|
||||
def __call__(self):
|
||||
return copy.deepcopy(self)
|
||||
|
||||
@classmethod
|
||||
def common(cls, add: list[EnumBase] = None, remove: list[EnumBase] = None):
|
||||
p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
|
||||
return cls(p)
|
||||
|
||||
def all_parts(self):
|
||||
parts = []
|
||||
for part in self.parts:
|
||||
parts.extend(part.value.all_parts())
|
||||
return self.parts + parts
|
||||
|
||||
|
||||
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "setup_note"], defaults=(False, False))
|
||||
|
||||
|
||||
class CommonFootnote(Enum):
|
||||
EXP_LONG_AVAIL = CarFootnote(
|
||||
"openpilot Longitudinal Control (Alpha) is available behind a toggle; " +
|
||||
"the toggle is only available in non-release branches such as `devel` or `nightly-dev`.",
|
||||
Column.LONGITUDINAL, docs_only=True)
|
||||
EXP_LONG_DSU = CarFootnote(
|
||||
"By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
|
||||
"If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
|
||||
"stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
|
||||
Column.LONGITUDINAL)
|
||||
|
||||
|
||||
def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]:
|
||||
# Returns applicable footnotes given current column
|
||||
return [fn for fn in footnotes if fn.value.column == column]
|
||||
|
||||
|
||||
# TODO: store years as a list
|
||||
def get_year_list(years):
|
||||
years_list = []
|
||||
if len(years) == 0:
|
||||
return years_list
|
||||
|
||||
for year in years.split(','):
|
||||
year = year.strip()
|
||||
if len(year) == 4:
|
||||
years_list.append(str(year))
|
||||
elif "-" in year and len(year) == 7:
|
||||
start, end = year.split("-")
|
||||
years_list.extend(map(str, range(int(start), int(f"20{end}") + 1)))
|
||||
else:
|
||||
raise Exception(f"Malformed year string: {years}")
|
||||
return years_list
|
||||
|
||||
|
||||
def split_name(name: str) -> tuple[str, str, str]:
|
||||
make, model = name.split(" ", 1)
|
||||
years = ""
|
||||
match = re.search(MODEL_YEARS_RE, model)
|
||||
if match is not None:
|
||||
years = model[match.start():]
|
||||
model = model[:match.start() - 1]
|
||||
return make, model, years
|
||||
|
||||
|
||||
@dataclass
|
||||
class CarDocs:
|
||||
# make + model + model years
|
||||
name: str
|
||||
|
||||
# the simplest description of the requirements for the US market
|
||||
package: str
|
||||
|
||||
video: str | None = None
|
||||
setup_video: str | None = None
|
||||
footnotes: list[Enum] = field(default_factory=list)
|
||||
min_steer_speed: float | None = None
|
||||
min_enable_speed: float | None = None
|
||||
auto_resume: bool | None = None
|
||||
|
||||
# all the parts needed for the supported car
|
||||
car_parts: CarParts = field(default_factory=CarParts)
|
||||
|
||||
merged: bool = True
|
||||
support_type: SupportType = SupportType.UPSTREAM
|
||||
support_link: str | None = "#upstream"
|
||||
|
||||
def __post_init__(self):
|
||||
self.make, self.model, self.years = split_name(self.name)
|
||||
self.year_list = get_year_list(self.years)
|
||||
|
||||
def init(self, CP: CarParams, all_footnotes=None):
|
||||
self.brand = CP.brand
|
||||
self.car_fingerprint = CP.carFingerprint
|
||||
|
||||
if self.merged and CP.dashcamOnly:
|
||||
if self.support_type != SupportType.REVIEW:
|
||||
self.support_type = SupportType.DASHCAM
|
||||
self.support_link = "#dashcam"
|
||||
else:
|
||||
self.support_link = "#under-review"
|
||||
|
||||
# longitudinal column
|
||||
op_long = "Stock"
|
||||
if CP.alphaLongitudinalAvailable or CP.enableDsu:
|
||||
op_long = "openpilot available"
|
||||
if CP.enableDsu:
|
||||
self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
|
||||
else:
|
||||
self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
|
||||
elif CP.openpilotLongitudinalControl and not CP.enableDsu:
|
||||
op_long = "openpilot"
|
||||
|
||||
# min steer & enable speed columns
|
||||
# TODO: set all the min steer speeds in carParams and remove this
|
||||
if self.min_steer_speed is not None:
|
||||
assert CP.minSteerSpeed < 0.5, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
|
||||
else:
|
||||
self.min_steer_speed = CP.minSteerSpeed
|
||||
|
||||
# TODO: set all the min enable speeds in carParams correctly and remove this
|
||||
if self.min_enable_speed is None:
|
||||
self.min_enable_speed = CP.minEnableSpeed
|
||||
|
||||
if self.auto_resume is None:
|
||||
self.auto_resume = CP.autoResumeSng and self.min_enable_speed <= 0
|
||||
|
||||
# hardware column
|
||||
hardware_col = "None"
|
||||
if self.car_parts.parts:
|
||||
buy_link = f'<a href="https://comma.ai/shop/comma-3x?harness={self.name}">Buy Here</a>'
|
||||
|
||||
tools_docs = [part for part in self.car_parts.all_parts() if isinstance(part, Tool)]
|
||||
parts_docs = [part for part in self.car_parts.all_parts() if not isinstance(part, Tool)]
|
||||
|
||||
def display_func(parts):
|
||||
return '<br>'.join([f"- {parts.count(part)} {part.value.name}" for part in sorted(set(parts), key=lambda part: str(part.value.name))])
|
||||
|
||||
hardware_col = f'<details><summary>Parts</summary><sub>{display_func(parts_docs)}<br>{buy_link}</sub></details>'
|
||||
if len(tools_docs):
|
||||
hardware_col += f'<details><summary>Tools</summary><sub>{display_func(tools_docs)}</sub></details>'
|
||||
|
||||
self.row: dict[Enum, str | Star] = {
|
||||
Column.MAKE: self.make,
|
||||
Column.MODEL: self.model,
|
||||
Column.PACKAGE: self.package,
|
||||
Column.LONGITUDINAL: op_long,
|
||||
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
|
||||
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
|
||||
Column.STEERING_TORQUE: Star.EMPTY,
|
||||
Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY,
|
||||
Column.HARDWARE: hardware_col,
|
||||
Column.VIDEO: self.video or "", # replaced with an image and link from template in get_column
|
||||
Column.SETUP_VIDEO: self.setup_video or "", # replaced with an image and link from template in get_column
|
||||
}
|
||||
|
||||
if self.support_link is not None:
|
||||
support_info = f"[{self.support_type.value}]({self.support_link})"
|
||||
else:
|
||||
support_info = self.support_type.value
|
||||
|
||||
self.extra_cars_row: dict[Enum, str] = {
|
||||
ExtraCarsColumn.MAKE: self.make,
|
||||
ExtraCarsColumn.MODEL: self.model,
|
||||
ExtraCarsColumn.PACKAGE: self.package,
|
||||
ExtraCarsColumn.SUPPORT: support_info,
|
||||
}
|
||||
|
||||
# Set steering torque star from max lateral acceleration
|
||||
assert CP.maxLateralAccel > 0.1
|
||||
if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
|
||||
self.row[Column.STEERING_TORQUE] = Star.FULL
|
||||
|
||||
self.all_footnotes = all_footnotes
|
||||
self.detail_sentence = self.get_detail_sentence(CP)
|
||||
|
||||
return self
|
||||
|
||||
def init_make(self, CP: CarParams):
|
||||
"""CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
|
||||
|
||||
def get_detail_sentence(self, CP):
|
||||
if not CP.notCar:
|
||||
sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
|
||||
|
||||
if self.min_steer_speed > self.min_enable_speed:
|
||||
alc = f" <strong>above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph</strong>," if self.min_steer_speed > 0 else " <strong>at all speeds</strong>,"
|
||||
else:
|
||||
alc = ""
|
||||
|
||||
# Exception for cars which do not auto-resume yet
|
||||
acc = ""
|
||||
if self.min_enable_speed > 0:
|
||||
acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
|
||||
elif self.auto_resume:
|
||||
acc = " <strong>that automatically resumes from a stop</strong>"
|
||||
|
||||
if self.row[Column.STEERING_TORQUE] != Star.FULL:
|
||||
sentence_builder += " This car may not be able to take tight turns on its own."
|
||||
|
||||
# experimental mode
|
||||
exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='highlight'>Experimental mode</a>"
|
||||
if CP.openpilotLongitudinalControl and not CP.alphaLongitudinalAvailable:
|
||||
sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
|
||||
|
||||
return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
|
||||
|
||||
else:
|
||||
if CP.carFingerprint == "COMMA_BODY":
|
||||
return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com' target='_blank' class='highlight'>Learn more.</a>"
|
||||
else:
|
||||
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
|
||||
|
||||
def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
|
||||
item: str | Star = self.row[column]
|
||||
if isinstance(item, Star):
|
||||
item = star_icon.format(item.value)
|
||||
elif column == Column.MODEL and len(self.years):
|
||||
item += f" {self.years}"
|
||||
elif column in (Column.VIDEO, Column.SETUP_VIDEO) and len(item) > 0:
|
||||
item = video_icon.format(item)
|
||||
|
||||
footnotes = get_footnotes(self.footnotes, column)
|
||||
if len(footnotes):
|
||||
sups = sorted([self.all_footnotes[fn] for fn in footnotes])
|
||||
item += footnote_tag.format(f'{",".join(map(str, sups))}')
|
||||
|
||||
return item
|
||||
|
||||
def get_extra_cars_column(self, column: ExtraCarsColumn) -> str:
|
||||
item: str = self.extra_cars_row[column]
|
||||
if column == ExtraCarsColumn.MODEL and len(self.years):
|
||||
item += f" {self.years}"
|
||||
|
||||
return item
|
||||
|
||||
|
||||
@dataclass
|
||||
class ExtraCarDocs(CarDocs):
|
||||
package: str = "Any"
|
||||
merged: bool = False
|
||||
support_type: SupportType = SupportType.INCOMPATIBLE
|
||||
support_link: str | None = "#incompatible"
|
||||
55
opendbc_repo/opendbc/car/ecu_addrs.py
Normal file
55
opendbc_repo/opendbc/car/ecu_addrs.py
Normal file
@@ -0,0 +1,55 @@
|
||||
import time
|
||||
|
||||
from opendbc.car import make_tester_present_msg, uds
|
||||
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.carlog import carlog
|
||||
from opendbc.car.fw_query_definitions import EcuAddrBusType
|
||||
|
||||
|
||||
def _is_tester_present_response(msg: CanData, subaddr: int = None) -> bool:
|
||||
# ISO-TP messages are always padded to 8 bytes
|
||||
# tester present response is always a single frame
|
||||
dat_offset = 1 if subaddr is not None else 0
|
||||
if len(msg.dat) == 8 and 1 <= msg.dat[dat_offset] <= 7:
|
||||
# success response
|
||||
if msg.dat[dat_offset + 1] == (uds.SERVICE_TYPE.TESTER_PRESENT + 0x40):
|
||||
return True
|
||||
# error response
|
||||
if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == uds.SERVICE_TYPE.TESTER_PRESENT:
|
||||
return True
|
||||
return False
|
||||
|
||||
|
||||
def get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1) -> set[EcuAddrBusType]:
|
||||
addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
|
||||
queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
|
||||
responses = queries
|
||||
return get_ecu_addrs(can_recv, can_send, queries, responses, timeout=timeout)
|
||||
|
||||
|
||||
def get_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, queries: set[EcuAddrBusType],
|
||||
responses: set[EcuAddrBusType], timeout: float = 1) -> set[EcuAddrBusType]:
|
||||
ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
|
||||
try:
|
||||
msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
|
||||
|
||||
can_recv()
|
||||
can_send(msgs)
|
||||
start_time = time.monotonic()
|
||||
while time.monotonic() - start_time < timeout:
|
||||
can_packets = can_recv(wait_for_one=True)
|
||||
for packet in can_packets:
|
||||
for msg in packet:
|
||||
if not len(msg.dat):
|
||||
carlog.warning("ECU addr scan: skipping empty remote frame")
|
||||
continue
|
||||
|
||||
subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
|
||||
if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
|
||||
carlog.debug(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
|
||||
if (msg.address, subaddr, msg.src) in ecu_responses:
|
||||
carlog.debug(f"Duplicate ECU address: {hex(msg.address)}")
|
||||
ecu_responses.add((msg.address, subaddr, msg.src))
|
||||
except Exception:
|
||||
carlog.exception("ECU addr scan exception")
|
||||
return ecu_responses
|
||||
72
opendbc_repo/opendbc/car/extra_cars.py
Normal file
72
opendbc_repo/opendbc/car/extra_cars.py
Normal file
@@ -0,0 +1,72 @@
|
||||
from dataclasses import dataclass
|
||||
|
||||
from opendbc.car import structs, Platforms, ExtraPlatformConfig
|
||||
from opendbc.car.docs_definitions import ExtraCarDocs, SupportType
|
||||
|
||||
|
||||
@dataclass
|
||||
class CommunityCarDocs(ExtraCarDocs):
|
||||
def init_make(self, CP: structs.CarParams):
|
||||
self.support_type = SupportType.COMMUNITY
|
||||
self.support_link = "#community"
|
||||
|
||||
|
||||
@dataclass
|
||||
class ToyotaSecurityCarDocs(ExtraCarDocs):
|
||||
def init_make(self, CP: structs.CarParams):
|
||||
self.support_type = SupportType.INCOMPATIBLE
|
||||
self.support_link = "#can-bus-security"
|
||||
|
||||
|
||||
@dataclass
|
||||
class FlexRayCarDocs(ExtraCarDocs):
|
||||
def init_make(self, CP: structs.CarParams):
|
||||
self.support_type = SupportType.INCOMPATIBLE
|
||||
self.support_link = "#flexray"
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
config: ExtraPlatformConfig
|
||||
|
||||
EXTRA_HONDA = ExtraPlatformConfig(
|
||||
[
|
||||
CommunityCarDocs("Acura Integra 2024", "All"),
|
||||
CommunityCarDocs("Honda Accord 2023-24", "All"),
|
||||
CommunityCarDocs("Honda Clarity 2018-21", "All"),
|
||||
CommunityCarDocs("Honda CR-V 2024", "All"),
|
||||
CommunityCarDocs("Honda CR-V Hybrid 2024", "All"),
|
||||
CommunityCarDocs("Honda Odyssey 2021-25", "All"),
|
||||
CommunityCarDocs("Honda Pilot 2023-24", "All"),
|
||||
],
|
||||
)
|
||||
|
||||
EXTRA_HYUNDAI = ExtraPlatformConfig(
|
||||
[
|
||||
CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
|
||||
CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
|
||||
],
|
||||
)
|
||||
|
||||
EXTRA_TOYOTA = ExtraPlatformConfig(
|
||||
[
|
||||
ToyotaSecurityCarDocs("Subaru Solterra 2023-25"),
|
||||
ToyotaSecurityCarDocs("Lexus NS 2022-25"),
|
||||
ToyotaSecurityCarDocs("Toyota bZ4x 2023-25"),
|
||||
ToyotaSecurityCarDocs("Toyota Camry 2025"),
|
||||
ToyotaSecurityCarDocs("Toyota Corolla Cross 2022-25"),
|
||||
ToyotaSecurityCarDocs("Toyota Highlander 2025"),
|
||||
ToyotaSecurityCarDocs("Toyota RAV4 Prime 2024-25"),
|
||||
ToyotaSecurityCarDocs("Toyota Sequoia 2023-25"),
|
||||
ToyotaSecurityCarDocs("Toyota Sienna 2024-25"),
|
||||
ToyotaSecurityCarDocs("Toyota Tundra 2022-25"),
|
||||
ToyotaSecurityCarDocs("Toyota Venza 2021-25"),
|
||||
],
|
||||
)
|
||||
|
||||
EXTRA_VOLKSWAGEN = ExtraPlatformConfig(
|
||||
[
|
||||
FlexRayCarDocs("Audi A4 2016-24", package="All"),
|
||||
FlexRayCarDocs("Audi A5 2016-24", package="All"),
|
||||
FlexRayCarDocs("Audi Q5 2017-24", package="All"),
|
||||
],
|
||||
)
|
||||
358
opendbc_repo/opendbc/car/fingerprints.py
Normal file
358
opendbc_repo/opendbc/car/fingerprints.py
Normal file
@@ -0,0 +1,358 @@
|
||||
from opendbc.car.interfaces import get_interface_attr
|
||||
from opendbc.car.body.values import CAR as BODY
|
||||
from opendbc.car.byd.values import CAR as BYD
|
||||
from opendbc.car.chrysler.values import CAR as CHRYSLER
|
||||
from opendbc.car.ford.values import CAR as FORD
|
||||
from opendbc.car.gm.values import CAR as GM
|
||||
from opendbc.car.honda.values import CAR as HONDA
|
||||
from opendbc.car.hyundai.values import CAR as HYUNDAI
|
||||
from opendbc.car.mazda.values import CAR as MAZDA
|
||||
from opendbc.car.mock.values import CAR as MOCK
|
||||
from opendbc.car.nissan.values import CAR as NISSAN
|
||||
from opendbc.car.subaru.values import CAR as SUBARU
|
||||
from opendbc.car.toyota.values import CAR as TOYOTA
|
||||
from opendbc.car.volkswagen.values import CAR as VW
|
||||
|
||||
FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
|
||||
_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
|
||||
|
||||
_DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes
|
||||
|
||||
|
||||
def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]):
|
||||
adr = msg.address
|
||||
# ignore addresses that are more than 11 bits
|
||||
return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
|
||||
|
||||
|
||||
def eliminate_incompatible_cars(msg, candidate_cars):
|
||||
"""Removes cars that could not have sent msg.
|
||||
|
||||
Inputs:
|
||||
msg: A cereal/log CanData message from the car.
|
||||
candidate_cars: A list of cars to consider.
|
||||
|
||||
Returns:
|
||||
A list containing the subset of candidate_cars that could have sent msg.
|
||||
"""
|
||||
compatible_cars = []
|
||||
|
||||
for car_name in candidate_cars:
|
||||
car_fingerprints = _FINGERPRINTS[car_name]
|
||||
|
||||
for fingerprint in car_fingerprints:
|
||||
# add alien debug address
|
||||
if is_valid_for_fingerprint(msg, fingerprint | _DEBUG_ADDRESS):
|
||||
compatible_cars.append(car_name)
|
||||
break
|
||||
|
||||
return compatible_cars
|
||||
|
||||
|
||||
def all_legacy_fingerprint_cars():
|
||||
"""Returns a list of all known car strings, FPv1 only."""
|
||||
return list(_FINGERPRINTS.keys())
|
||||
|
||||
|
||||
# A dict that maps old platform strings to their latest representations
|
||||
MIGRATION = {
|
||||
"ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
|
||||
"ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
|
||||
"ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
|
||||
"AUDI A3": VW.AUDI_A3_MK3,
|
||||
"BYD HAN DM 20": BYD.BYD_HAN_DM_20,
|
||||
"BYD HAN EV 20": BYD.BYD_HAN_EV_20,
|
||||
"HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
|
||||
"HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
|
||||
"HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
|
||||
"HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
|
||||
"HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
|
||||
"HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
|
||||
"HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
|
||||
"HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
|
||||
"HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
|
||||
"HONDA FIT 2018 EX": HONDA.HONDA_FIT,
|
||||
"HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
|
||||
"HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
|
||||
"HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
|
||||
"HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
|
||||
"HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
|
||||
"HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
|
||||
"HONDA PILOT 2019": HONDA.HONDA_PILOT,
|
||||
"HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
|
||||
"HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
|
||||
"HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
|
||||
"HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
|
||||
"HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
|
||||
"KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
|
||||
"KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
|
||||
"KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
|
||||
"LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
|
||||
"LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
|
||||
"LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
|
||||
"LEXUS IS300 2018": TOYOTA.LEXUS_IS,
|
||||
"LEXUS NX300 2018": TOYOTA.LEXUS_NX,
|
||||
"LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
|
||||
"LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
|
||||
"LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
|
||||
"LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
|
||||
"TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
|
||||
"TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
|
||||
"TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
|
||||
"TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
|
||||
"LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
|
||||
"LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
|
||||
"LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
|
||||
"LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
|
||||
"TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
|
||||
"TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
|
||||
"TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
|
||||
"TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
|
||||
"TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
|
||||
"TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
|
||||
"TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
|
||||
"TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
|
||||
"TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
|
||||
"TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
|
||||
"LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
|
||||
"LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
|
||||
"HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
|
||||
"KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
|
||||
"KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
|
||||
"CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019,
|
||||
|
||||
# Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
|
||||
"COMMA BODY": BODY.COMMA_BODY,
|
||||
"CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
|
||||
"CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
|
||||
"CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
|
||||
"CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
|
||||
"CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
|
||||
"CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
|
||||
"DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
|
||||
"JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
|
||||
"JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
|
||||
"RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
|
||||
"RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
|
||||
"FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
|
||||
"FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
|
||||
"FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
|
||||
"FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
|
||||
"FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
|
||||
"FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
|
||||
"FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
|
||||
"FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
|
||||
"HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
|
||||
"CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
|
||||
"CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
|
||||
"CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
|
||||
"GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
|
||||
"BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
|
||||
"BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
|
||||
"CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
|
||||
"CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
|
||||
"CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
|
||||
"CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
|
||||
"CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
|
||||
"CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
|
||||
"CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
|
||||
"HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
|
||||
"HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
|
||||
"HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
|
||||
"HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
|
||||
"HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
|
||||
"HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
|
||||
"HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
|
||||
"ACURA RDX 2020": HONDA.ACURA_RDX_3G,
|
||||
"HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
|
||||
"HONDA E 2020": HONDA.HONDA_E,
|
||||
"ACURA ILX 2016": HONDA.ACURA_ILX,
|
||||
"HONDA CR-V 2016": HONDA.HONDA_CRV,
|
||||
"HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
|
||||
"HONDA FIT 2018": HONDA.HONDA_FIT,
|
||||
"HONDA FREED 2020": HONDA.HONDA_FREED,
|
||||
"HONDA HRV 2019": HONDA.HONDA_HRV,
|
||||
"HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
|
||||
"HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
|
||||
"ACURA RDX 2018": HONDA.ACURA_RDX,
|
||||
"HONDA PILOT 2017": HONDA.HONDA_PILOT,
|
||||
"HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
|
||||
"HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
|
||||
"HYUNDAI AZERA 7TH GEN": HYUNDAI.HYUNDAI_AZERA_7TH_GEN,
|
||||
"HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
|
||||
"HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
|
||||
"HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
|
||||
"HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
|
||||
"HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
|
||||
"HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
|
||||
"HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
|
||||
"HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
|
||||
"HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
|
||||
"HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
|
||||
"HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
|
||||
"HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
|
||||
"HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
|
||||
"HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
|
||||
"HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
|
||||
"HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
|
||||
"HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
|
||||
"HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
|
||||
"HYUNDAI KONA HYBRID 2ND GEN": HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN,
|
||||
"HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
|
||||
"HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
|
||||
"HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
|
||||
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
|
||||
"HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
|
||||
"HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
|
||||
"HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
|
||||
"HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
|
||||
"HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
|
||||
"HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
|
||||
"HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
|
||||
"HYUNDAI SONATA 2024": HYUNDAI.HYUNDAI_SONATA_2024,
|
||||
"HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
|
||||
"HYUNDAI IONIQ 5 PE (NE1)": HYUNDAI.HYUNDAI_IONIQ_5_PE,
|
||||
"HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
|
||||
"HYUNDAI IONIQ 9 2025": HYUNDAI.HYUNDAI_IONIQ_9,
|
||||
"HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
|
||||
"HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
|
||||
"HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
|
||||
"HYUNDAI CASPER (AX1)": HYUNDAI.HYUNDAI_CASPER,
|
||||
"HYUNDAI SANTAFE (MX5)": HYUNDAI.HYUNDAI_SANTAFE_MX5,
|
||||
"HYUNDAI SANTAFE HYBRID (MX5)": HYUNDAI.HYUNDAI_SANTAFE_MX5_HEV,
|
||||
"HYUNDAI PORTER II EV 2024": HYUNDAI.HYUNDAI_PORTER_II_EV,
|
||||
"HYUNDAI NEXO 1ST GEN": HYUNDAI.HYUNDAI_NEXO_1ST_GEN,
|
||||
"KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
|
||||
"KIA K5 2021": HYUNDAI.KIA_K5_2021,
|
||||
"KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
|
||||
"KIA K5 2024 (DL3)": HYUNDAI.KIA_K5_DL3_24,
|
||||
"KIA K5 HYBRID 2024 (DL3)": HYUNDAI.KIA_K5_DL3_24_HEV,
|
||||
"KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
|
||||
"KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
|
||||
"KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
|
||||
"KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
|
||||
"KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
|
||||
"KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
|
||||
"KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
|
||||
"KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
|
||||
"KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
|
||||
"KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
|
||||
"KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
|
||||
"KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
|
||||
"KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
|
||||
"KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
|
||||
"KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
|
||||
"KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
|
||||
"KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
|
||||
"KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
|
||||
"KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
|
||||
"KIA EV6 2022": HYUNDAI.KIA_EV6,
|
||||
"KIA EV6 PE (CV1)": HYUNDAI.KIA_EV6_PE,
|
||||
"KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
|
||||
"KIA EV9 (MV)": HYUNDAI.KIA_EV9,
|
||||
"KIA EV3 (SV1)": HYUNDAI.KIA_EV3,
|
||||
"GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
|
||||
"GENESIS G70 2018": HYUNDAI.GENESIS_G70,
|
||||
"GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
|
||||
"GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
|
||||
"GENESIS G80 2017": HYUNDAI.GENESIS_G80,
|
||||
"GENESIS G90 2017": HYUNDAI.GENESIS_G90,
|
||||
"GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
|
||||
"MAZDA CX-5": MAZDA.MAZDA_CX5,
|
||||
"MAZDA CX-9": MAZDA.MAZDA_CX9,
|
||||
"MAZDA 3": MAZDA.MAZDA_3,
|
||||
"MAZDA 6": MAZDA.MAZDA_6,
|
||||
"MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
|
||||
"MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
|
||||
"NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
|
||||
"NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
|
||||
"NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
|
||||
"NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
|
||||
"NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
|
||||
"SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
|
||||
"SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
|
||||
"SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
|
||||
"SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
|
||||
"SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
|
||||
"SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
|
||||
"SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
|
||||
"SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
|
||||
"SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
|
||||
"SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
|
||||
"SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
|
||||
"SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
|
||||
"SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
|
||||
"SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
|
||||
"SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
|
||||
"TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
|
||||
"TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
|
||||
"TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
|
||||
"TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
|
||||
"TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
|
||||
"TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
|
||||
"TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
|
||||
"TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
|
||||
"TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
|
||||
"TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
|
||||
"TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
|
||||
"TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
|
||||
"TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
|
||||
"TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
|
||||
"TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
|
||||
"TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
|
||||
"TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
|
||||
"TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
|
||||
"TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
|
||||
"TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
|
||||
"TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
|
||||
"TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
|
||||
"LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
|
||||
"LEXUS ES 2018": TOYOTA.LEXUS_ES,
|
||||
"LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
|
||||
"LEXUS IS 2018": TOYOTA.LEXUS_IS,
|
||||
"LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
|
||||
"LEXUS NX 2018": TOYOTA.LEXUS_NX,
|
||||
"LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
|
||||
"LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
|
||||
"LEXUS RC 2020": TOYOTA.LEXUS_RC,
|
||||
"LEXUS RX 2016": TOYOTA.LEXUS_RX,
|
||||
"LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
|
||||
"LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
|
||||
"VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
|
||||
"VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
|
||||
"VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
|
||||
"VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
|
||||
"VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
|
||||
"VOLKSWAGEN JETTA 6TH GEN": VW.VOLKSWAGEN_JETTA_MK6,
|
||||
"VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
|
||||
"VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
|
||||
"VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
|
||||
"VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
|
||||
"VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
|
||||
"VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
|
||||
"VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
|
||||
"VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
|
||||
"VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
|
||||
"VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
|
||||
"VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
|
||||
"AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
|
||||
"AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
|
||||
"AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
|
||||
"SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
|
||||
"SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1,
|
||||
"SEAT_LEON_MK3": VW.SEAT_ATECA_MK1,
|
||||
"SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
|
||||
"SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
|
||||
"SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
|
||||
"SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
|
||||
"SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
|
||||
"SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1,
|
||||
"SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
|
||||
"SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
|
||||
|
||||
"mock": MOCK.MOCK,
|
||||
}
|
||||
0
opendbc_repo/opendbc/car/ford/__init__.py
Normal file
0
opendbc_repo/opendbc/car/ford/__init__.py
Normal file
179
opendbc_repo/opendbc/car/ford/carcontroller.py
Normal file
179
opendbc_repo/opendbc/car/ford/carcontroller.py
Normal file
@@ -0,0 +1,179 @@
|
||||
import math
|
||||
import numpy as np
|
||||
from opendbc.can.packer import CANPacker
|
||||
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_std_steer_angle_limits, structs
|
||||
from opendbc.car.ford import fordcan
|
||||
from opendbc.car.ford.values import CarControllerParams, FordFlags
|
||||
from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
|
||||
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
|
||||
# ISO 11270
|
||||
ISO_LATERAL_ACCEL = 3.0 # m/s^2 # TODO: import from test lateral limits file?
|
||||
|
||||
# Limit to average banked road since safety doesn't have the roll
|
||||
EARTH_G = 9.81
|
||||
AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation
|
||||
MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (EARTH_G * AVERAGE_ROAD_ROLL) # ~2.4 m/s^2
|
||||
|
||||
|
||||
def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw, steering_angle, lat_active, CP):
|
||||
# No blending at low speed due to lack of torque wind-up and inaccurate current curvature
|
||||
if v_ego_raw > 9:
|
||||
apply_curvature = np.clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
|
||||
current_curvature + CarControllerParams.CURVATURE_ERROR)
|
||||
|
||||
# Curvature rate limit after driver torque limit
|
||||
apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, steering_angle, lat_active, CarControllerParams.ANGLE_LIMITS)
|
||||
|
||||
# Ford Q4/CAN FD has more torque available compared to Q3/CAN so we limit it based on lateral acceleration.
|
||||
# Safety is not aware of the road roll so we subtract a conservative amount at all times
|
||||
if CP.flags & FordFlags.CANFD:
|
||||
# Limit curvature to conservative max lateral acceleration
|
||||
curvature_accel_limit = MAX_LATERAL_ACCEL / (max(v_ego_raw, 1) ** 2)
|
||||
apply_curvature = float(np.clip(apply_curvature, -curvature_accel_limit, curvature_accel_limit))
|
||||
|
||||
return apply_curvature
|
||||
|
||||
|
||||
def apply_creep_compensation(accel: float, v_ego: float) -> float:
|
||||
creep_accel = np.interp(v_ego, [1., 3.], [0.6, 0.])
|
||||
creep_accel = np.interp(accel, [0., 0.2], [creep_accel, 0.])
|
||||
accel -= creep_accel
|
||||
return float(accel)
|
||||
|
||||
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_names, CP):
|
||||
super().__init__(dbc_names, CP)
|
||||
self.packer = CANPacker(dbc_names[Bus.pt])
|
||||
self.CAN = fordcan.CanBus(CP)
|
||||
|
||||
self.apply_curvature_last = 0
|
||||
self.accel = 0.0
|
||||
self.gas = 0.0
|
||||
self.brake_request = False
|
||||
self.main_on_last = False
|
||||
self.lkas_enabled_last = False
|
||||
self.steer_alert_last = False
|
||||
self.lead_distance_bars_last = None
|
||||
self.distance_bar_frame = 0
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
can_sends = []
|
||||
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
|
||||
main_on = CS.out.cruiseState.available
|
||||
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
|
||||
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
|
||||
|
||||
### acc buttons ###
|
||||
if CC.cruiseControl.cancel:
|
||||
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
|
||||
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
|
||||
elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
|
||||
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
|
||||
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
|
||||
# if stock lane centering isn't off, send a button press to toggle it off
|
||||
# the stock system checks for steering pressed, and eventually disengages cruise control
|
||||
elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
|
||||
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
|
||||
|
||||
### lateral control ###
|
||||
# send steer msg at 20Hz
|
||||
if (self.frame % CarControllerParams.STEER_STEP) == 0:
|
||||
# apply rate limits, curvature error limit, and clip to signal range
|
||||
current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
|
||||
self.apply_curvature_last = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature,
|
||||
CS.out.vEgoRaw, 0., CC.latActive, self.CP)
|
||||
|
||||
if self.CP.flags & FordFlags.CANFD:
|
||||
# TODO: extended mode
|
||||
# Ford uses four individual signals to dictate how to drive to the car. Curvature alone (limited to 0.02m/s^2)
|
||||
# can actuate the steering for a large portion of any lateral movements. However, in order to get further control on
|
||||
# steer actuation, the other three signals are necessary. Ford controls vehicles differently than most other makes.
|
||||
# A detailed explanation on ford control can be found here:
|
||||
# https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706
|
||||
mode = 1 if CC.latActive else 0
|
||||
counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
|
||||
can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -self.apply_curvature_last, 0., counter))
|
||||
else:
|
||||
can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -self.apply_curvature_last, 0.))
|
||||
|
||||
# send lka msg at 33Hz
|
||||
if (self.frame % CarControllerParams.LKA_STEP) == 0:
|
||||
can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
|
||||
|
||||
### longitudinal control ###
|
||||
# send acc msg at 50Hz
|
||||
if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
|
||||
accel = actuators.accel
|
||||
gas = accel
|
||||
|
||||
if CC.longActive:
|
||||
# Compensate for engine creep at low speed.
|
||||
# Either the ABS does not account for engine creep, or the correction is very slow
|
||||
# TODO: verify this applies to EV/hybrid
|
||||
accel = apply_creep_compensation(accel, CS.out.vEgo)
|
||||
|
||||
# The stock system has been seen rate limiting the brake accel to 5 m/s^3,
|
||||
# however even 3.5 m/s^3 causes some overshoot with a step response.
|
||||
accel = max(accel, self.accel - (3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL))
|
||||
|
||||
accel = float(np.clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
|
||||
gas = float(np.clip(gas, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
|
||||
|
||||
# Both gas and accel are in m/s^2, accel is used solely for braking
|
||||
if not CC.longActive or gas < CarControllerParams.MIN_GAS:
|
||||
gas = CarControllerParams.INACTIVE_GAS
|
||||
|
||||
# PCM applies pitch compensation to gas/accel, but we need to compensate for the brake/pre-charge bits
|
||||
accel_due_to_pitch = 0.0
|
||||
if len(CC.orientationNED) == 3:
|
||||
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
|
||||
|
||||
accel_pitch_compensated = accel + accel_due_to_pitch
|
||||
if accel_pitch_compensated > 0.3 or not CC.longActive:
|
||||
self.brake_request = False
|
||||
elif accel_pitch_compensated < 0.0:
|
||||
self.brake_request = True
|
||||
|
||||
stopping = CC.actuators.longControlState == LongCtrlState.stopping
|
||||
# TODO: look into using the actuators packet to send the desired speed
|
||||
can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
|
||||
|
||||
self.accel = accel
|
||||
self.gas = gas
|
||||
|
||||
### ui ###
|
||||
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
|
||||
# send lkas ui msg at 1Hz or if ui state changes
|
||||
if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
|
||||
can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
|
||||
|
||||
# send acc ui msg at 5Hz or if ui state changes
|
||||
if hud_control.leadDistanceBars != self.lead_distance_bars_last:
|
||||
send_ui = True
|
||||
self.distance_bar_frame = self.frame
|
||||
|
||||
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
|
||||
show_distance_bars = self.frame - self.distance_bar_frame < 400
|
||||
can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
|
||||
fcw_alert, CS.out.cruiseState.standstill, show_distance_bars,
|
||||
hud_control, CS.acc_tja_status_stock_values))
|
||||
|
||||
self.main_on_last = main_on
|
||||
self.lkas_enabled_last = CC.latActive
|
||||
self.steer_alert_last = steer_alert
|
||||
self.lead_distance_bars_last = hud_control.leadDistanceBars
|
||||
|
||||
new_actuators = actuators.as_builder()
|
||||
new_actuators.curvature = self.apply_curvature_last
|
||||
new_actuators.accel = self.accel
|
||||
new_actuators.gas = self.gas
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
127
opendbc_repo/opendbc/car/ford/carstate.py
Normal file
127
opendbc_repo/opendbc/car/ford/carstate.py
Normal file
@@ -0,0 +1,127 @@
|
||||
from opendbc.can import CANDefine, CANParser
|
||||
from opendbc.car import Bus, create_button_events, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.ford.fordcan import CanBus
|
||||
from opendbc.car.ford.values import DBC, CarControllerParams, FordFlags
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
TransmissionType = structs.CarParams.TransmissionType
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
|
||||
if CP.transmissionType == TransmissionType.automatic:
|
||||
self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
|
||||
|
||||
self.distance_button = 0
|
||||
self.lc_button = 0
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
|
||||
ret = structs.CarState()
|
||||
|
||||
# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
|
||||
# The vehicle usually recovers out of this state within a minute of normal driving
|
||||
ret.vehicleSensorsInvalid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] != 3
|
||||
|
||||
# car speed
|
||||
ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"]
|
||||
ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1
|
||||
|
||||
# gas pedal
|
||||
ret.gas = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100.
|
||||
ret.gasPressed = ret.gas > 1e-6
|
||||
|
||||
# brake pedal
|
||||
ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756. # torque in Nm
|
||||
ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2
|
||||
ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2)
|
||||
|
||||
# steering wheel
|
||||
ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
|
||||
ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
|
||||
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
|
||||
ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
|
||||
ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
|
||||
ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0 # 0 is default mode
|
||||
|
||||
if self.CP.flags & FordFlags.CANFD:
|
||||
# this signal is always 0 on non-CAN FD cars
|
||||
ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
|
||||
|
||||
# cruise state
|
||||
is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
|
||||
ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
|
||||
ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
|
||||
ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
|
||||
ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
|
||||
ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
|
||||
ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
|
||||
|
||||
# gear
|
||||
if self.CP.transmissionType == TransmissionType.automatic:
|
||||
gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
|
||||
ret.gearShifter = self.parse_gear_shifter(gear)
|
||||
elif self.CP.transmissionType == TransmissionType.manual:
|
||||
ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
|
||||
if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
|
||||
ret.gearShifter = GearShifter.reverse
|
||||
else:
|
||||
ret.gearShifter = GearShifter.drive
|
||||
|
||||
ret.engineRpm = cp.vl["EngVehicleSpThrottle"]["EngAout_N_Actl"]
|
||||
|
||||
# safety
|
||||
ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
|
||||
ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
|
||||
|
||||
# button presses
|
||||
ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1
|
||||
ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
|
||||
# TODO: block this going to the camera otherwise it will enable stock TJA
|
||||
ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
|
||||
prev_distance_button = self.distance_button
|
||||
prev_lc_button = self.lc_button
|
||||
self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
|
||||
self.lc_button = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
|
||||
|
||||
# lock info
|
||||
ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
|
||||
cp.vl["BodyInfo_3_FD1"]["DrStatRl_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatRr_B_Actl"]])
|
||||
ret.seatbeltUnlatched = cp.vl["RCMStatusMessage2_FD1"]["FirstRowBuckleDriver"] == 2
|
||||
|
||||
# blindspot sensors
|
||||
if self.CP.enableBsm:
|
||||
cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD else cp
|
||||
ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
|
||||
ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
|
||||
|
||||
# Stock steering buttons so that we can passthru blinkers etc.
|
||||
self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
|
||||
# Stock values from IPMA so that we can retain some stock functionality
|
||||
self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
|
||||
self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
|
||||
|
||||
ret.buttonEvents = [
|
||||
*create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
|
||||
*create_button_events(self.lc_button, prev_lc_button, {1: ButtonType.lkas}),
|
||||
]
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers(CP):
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).main),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
|
||||
}
|
||||
223
opendbc_repo/opendbc/car/ford/fingerprints.py
Normal file
223
opendbc_repo/opendbc/car/ford/fingerprints.py
Normal file
@@ -0,0 +1,223 @@
|
||||
""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.ford.values import CAR
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.FORD_BRONCO_SPORT_MK1: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_ESCAPE_MK4: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_ESCAPE_MK4_5: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'PZ11-14D003-EA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'PZ1C-2D053-EJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'PJ6T-14H102-ABL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_EXPLORER_MK6: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-BJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_EXPEDITION_MK4: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'RL14-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_F_150_MK14: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'ML3V-14D003-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'NL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PL34-2D053-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PL3V-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PL3V-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'ML3T-14D049-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PJ6T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'RJ6T-14H102-ACJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'RJ6T-14H102-BBC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_F_150_LIGHTNING_MK1: {
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'RL38-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'RJ6T-14H102-ACJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'RJ6T-14H102-BBC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'RL38-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_MUSTANG_MACH_E_MK1: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LJ9C-14D003-FA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LJ9C-14D003-GA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LJ9C-14D003-HA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'LK9C-2D053-CN\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'RJ6T-14H102-BAE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_FOCUS_MK4: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_MAVERICK_MK1: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NZ6C-2D053-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.FORD_RANGER_MK2: {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b'NB3C-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'RB3C-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PB3C-2D053-ZG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'PB3C-2D053-ZJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
b'RJ6T-14H102-BBB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
|
||||
],
|
||||
},
|
||||
}
|
||||
342
opendbc_repo/opendbc/car/ford/fordcan.py
Normal file
342
opendbc_repo/opendbc/car/ford/fordcan.py
Normal file
@@ -0,0 +1,342 @@
|
||||
from opendbc.car import CanBusBase, structs
|
||||
|
||||
HUDControl = structs.CarControl.HUDControl
|
||||
|
||||
|
||||
class CanBus(CanBusBase):
|
||||
def __init__(self, CP=None, fingerprint=None) -> None:
|
||||
super().__init__(CP, fingerprint)
|
||||
|
||||
@property
|
||||
def main(self) -> int:
|
||||
return self.offset
|
||||
|
||||
@property
|
||||
def radar(self) -> int:
|
||||
return self.offset + 1
|
||||
|
||||
@property
|
||||
def camera(self) -> int:
|
||||
return self.offset + 2
|
||||
|
||||
|
||||
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
|
||||
curvature = (dat[2] << 3) | ((dat[3]) >> 5)
|
||||
curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
|
||||
path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
|
||||
path_offset = ((dat[4] & 0x3) << 8) | dat[5]
|
||||
|
||||
checksum = mode + counter
|
||||
for sig_val in (curvature, curvature_rate, path_angle, path_offset):
|
||||
checksum += sig_val + (sig_val >> 8)
|
||||
|
||||
return 0xFF - (checksum & 0xFF)
|
||||
|
||||
|
||||
def create_lka_msg(packer, CAN: CanBus):
|
||||
"""
|
||||
Creates an empty CAN message for the Ford LKA Command.
|
||||
|
||||
This command can apply "Lane Keeping Aid" maneuvers, which are subject to the PSCM lockout.
|
||||
|
||||
Frequency is 33Hz.
|
||||
"""
|
||||
|
||||
return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
|
||||
|
||||
|
||||
def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
|
||||
curvature_rate: float):
|
||||
"""
|
||||
Creates a CAN message for the Ford TJA/LCA Command.
|
||||
|
||||
This command can apply "Lane Centering" maneuvers: continuous lane centering for traffic jam assist and highway
|
||||
driving. It is not subject to the PSCM lockout.
|
||||
|
||||
Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined
|
||||
by the following coefficients:
|
||||
c0: lateral offset between the vehicle and the centerline (positive is right)
|
||||
c1: heading angle between the vehicle and the centerline (positive is right)
|
||||
c2: curvature of the centerline (positive is left)
|
||||
c3: rate of change of curvature of the centerline
|
||||
As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering
|
||||
angle cannot be easily controlled.
|
||||
|
||||
The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done
|
||||
using tools such as Forscan.
|
||||
|
||||
Frequency is 20Hz.
|
||||
"""
|
||||
|
||||
values = {
|
||||
"LatCtlRng_L_Max": 0, # Unknown [0|126] meter
|
||||
"HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1]
|
||||
"LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
|
||||
# 3=InterventionRight, 4-7=NotUsed [0|7]
|
||||
"LatCtlRampType_D_Rq": 0, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
|
||||
# Makes no difference with curvature control
|
||||
"LatCtlPrecision_D_Rq": 1, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
|
||||
# The stock system always uses comfortable
|
||||
"LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter
|
||||
"LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians
|
||||
"LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2
|
||||
"LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter
|
||||
}
|
||||
return packer.make_can_msg("LateralMotionControl", CAN.main, values)
|
||||
|
||||
|
||||
def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float,
|
||||
curvature_rate: float, counter: int):
|
||||
"""
|
||||
Create a CAN message for the new Ford Lane Centering command.
|
||||
|
||||
This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has
|
||||
additional signals for a counter and checksum.
|
||||
|
||||
Frequency is 20Hz.
|
||||
"""
|
||||
|
||||
values = {
|
||||
"LatCtl_D2_Rq": mode, # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
|
||||
# 3=SafeRampOut, 4-7=NotUsed [0|7]
|
||||
"LatCtlRampType_D_Rq": 0, # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
|
||||
"LatCtlPrecision_D_Rq": 1, # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
|
||||
"LatCtlPathOffst_L_Actl": path_offset, # [-5.12|5.11] meter
|
||||
"LatCtlPath_An_Actl": path_angle, # [-0.5|0.5235] radians
|
||||
"LatCtlCurv_No_Actl": curvature, # [-0.02|0.02094] 1/meter
|
||||
"LatCtlCrv_NoRate2_Actl": curvature_rate, # [-0.001024|0.001023] 1/meter^2
|
||||
"HandsOffCnfm_B_Rq": 0, # 0=Inactive, 1=Active [0|1]
|
||||
"LatCtlPath_No_Cnt": counter, # [0|15]
|
||||
"LatCtlPath_No_Cs": 0, # [0|255]
|
||||
}
|
||||
|
||||
# calculate checksum
|
||||
dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
|
||||
values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
|
||||
|
||||
return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
|
||||
|
||||
|
||||
def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, brake_request, v_ego_kph: float):
|
||||
"""
|
||||
Creates a CAN message for the Ford ACC Command.
|
||||
|
||||
This command can be used to enable ACC, to set the ACC gas/brake/decel values
|
||||
and to disable ACC.
|
||||
|
||||
Frequency is 50Hz.
|
||||
"""
|
||||
values = {
|
||||
"AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2
|
||||
"Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes
|
||||
"AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2
|
||||
# No observed acceleration seen from this signal alone. During stock system operation, it appears to
|
||||
# be the raw acceleration request (AccPrpl_A_Rq when positive, AccBrkTot_A_Rq when negative)
|
||||
"AccPrpl_A_Pred": -5.0, # Acceleration request: [-5|5.23] m/s^2
|
||||
"AccResumEnbl_B_Rq": 1 if long_active else 0,
|
||||
# No observed acceleration seen from this signal alone
|
||||
"AccVeh_V_Trg": v_ego_kph, # Target speed: [0|255] km/h
|
||||
# TODO: we may be able to improve braking response by utilizing pre-charging better
|
||||
# When setting these two bits without AccBrkTot_A_Rq, an initial jerk is observed and car may be able to brake temporarily with AccPrpl_A_Rq
|
||||
"AccBrkPrchg_B_Rq": 1 if brake_request else 0, # Pre-charge brake request: 0=No, 1=Yes
|
||||
"AccBrkDecel_B_Rq": 1 if brake_request else 0, # Deceleration request: 0=Inactive, 1=Active
|
||||
"AccStopStat_B_Rq": 1 if stopping else 0,
|
||||
}
|
||||
return packer.make_can_msg("ACCDATA", CAN.main, values)
|
||||
|
||||
|
||||
def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
|
||||
show_distance_bars: bool, hud_control, stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
|
||||
assist status.
|
||||
|
||||
Stock functionality is maintained by passing through unmodified signals.
|
||||
|
||||
Frequency is 5Hz.
|
||||
"""
|
||||
|
||||
# Tja_D_Stat
|
||||
if enabled:
|
||||
if hud_control.leftLaneDepart:
|
||||
status = 3 # ActiveInterventionLeft
|
||||
elif hud_control.rightLaneDepart:
|
||||
status = 4 # ActiveInterventionRight
|
||||
else:
|
||||
status = 2 # Active
|
||||
elif main_on:
|
||||
if hud_control.leftLaneDepart:
|
||||
status = 5 # ActiveWarningLeft
|
||||
elif hud_control.rightLaneDepart:
|
||||
status = 6 # ActiveWarningRight
|
||||
else:
|
||||
status = 1 # Standby
|
||||
else:
|
||||
status = 0 # Off
|
||||
|
||||
values = {s: stock_values[s] for s in [
|
||||
"HaDsply_No_Cs",
|
||||
"HaDsply_No_Cnt",
|
||||
"AccStopStat_D_Dsply", # ACC stopped status message
|
||||
"AccTrgDist2_D_Dsply", # ACC target distance
|
||||
"AccStopRes_B_Dsply",
|
||||
"TjaWarn_D_Rq", # TJA warning
|
||||
"TjaMsgTxt_D_Dsply", # TJA text
|
||||
"IaccLamp_D_Rq", # iACC status icon
|
||||
"AccMsgTxt_D2_Rq", # ACC text
|
||||
"FcwDeny_B_Dsply", # FCW disabled
|
||||
"FcwMemStat_B_Actl", # FCW enabled setting
|
||||
"AccTGap_B_Dsply", # ACC time gap display setting
|
||||
"CadsAlignIncplt_B_Actl",
|
||||
"AccFllwMde_B_Dsply", # ACC follow mode display setting
|
||||
"CadsRadrBlck_B_Actl",
|
||||
"CmbbPostEvnt_B_Dsply", # AEB event status
|
||||
"AccStopMde_B_Dsply", # ACC stop mode display setting
|
||||
"FcwMemSens_D_Actl", # FCW sensitivity setting
|
||||
"FcwMsgTxt_D_Rq", # FCW text
|
||||
"AccWarn_D_Dsply", # ACC warning
|
||||
"FcwVisblWarn_B_Rq", # FCW visible alert
|
||||
"FcwAudioWarn_B_Rq", # FCW audio alert
|
||||
"AccTGap_D_Dsply", # ACC time gap
|
||||
"AccMemEnbl_B_RqDrv", # ACC adaptive/normal setting
|
||||
"FdaMem_B_Stat", # FDA enabled setting
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"Tja_D_Stat": status, # TJA status
|
||||
})
|
||||
|
||||
if CP.openpilotLongitudinalControl:
|
||||
values.update({
|
||||
"AccStopStat_D_Dsply": 2 if standstill else 0, # Stopping status text
|
||||
"AccMsgTxt_D2_Rq": 0, # ACC text
|
||||
"AccTGap_B_Dsply": 1 if show_distance_bars else 0, # Show time gap control UI
|
||||
"AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator
|
||||
"AccStopMde_B_Dsply": 1 if standstill else 0,
|
||||
"AccWarn_D_Dsply": 0, # ACC warning
|
||||
"AccTGap_D_Dsply": hud_control.leadDistanceBars, # Time gap
|
||||
})
|
||||
|
||||
# Forwards FCW alert from IPMA
|
||||
if fcw_alert:
|
||||
values["FcwVisblWarn_B_Rq"] = 1 # FCW visible alert
|
||||
|
||||
return packer.make_can_msg("ACCDATA_3", CAN.main, values)
|
||||
|
||||
|
||||
def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control,
|
||||
stock_values: dict):
|
||||
"""
|
||||
Creates a CAN message for the Ford IPC IPMA/LKAS status.
|
||||
|
||||
Show the LKAS status with the "driver assist" lines in the IPC.
|
||||
|
||||
Stock functionality is maintained by passing through unmodified signals.
|
||||
|
||||
Frequency is 1Hz.
|
||||
"""
|
||||
|
||||
# LaActvStats_D_Dsply
|
||||
# R Intvn Warn Supprs Avail No
|
||||
# L
|
||||
# Intvn 24 19 14 9 4
|
||||
# Warn 23 18 13 8 3
|
||||
# Supprs 22 17 12 7 2
|
||||
# Avail 21 16 11 6 1
|
||||
# No 20 15 10 5 0
|
||||
#
|
||||
# TODO: test suppress state
|
||||
if enabled:
|
||||
lines = 0 # NoLeft_NoRight
|
||||
if hud_control.leftLaneDepart:
|
||||
lines += 4
|
||||
elif hud_control.leftLaneVisible:
|
||||
lines += 1
|
||||
if hud_control.rightLaneDepart:
|
||||
lines += 20
|
||||
elif hud_control.rightLaneVisible:
|
||||
lines += 5
|
||||
elif main_on:
|
||||
lines = 0
|
||||
else:
|
||||
if hud_control.leftLaneDepart:
|
||||
lines = 3 # WarnLeft_NoRight
|
||||
elif hud_control.rightLaneDepart:
|
||||
lines = 15 # NoLeft_WarnRight
|
||||
else:
|
||||
lines = 30 # LA_Off
|
||||
|
||||
hands_on_wheel_dsply = 1 if steer_alert else 0
|
||||
|
||||
values = {s: stock_values[s] for s in [
|
||||
"FeatConfigIpmaActl",
|
||||
"FeatNoIpmaActl",
|
||||
"PersIndexIpma_D_Actl",
|
||||
"AhbcRampingV_D_Rq", # AHB ramping
|
||||
"LaDenyStats_B_Dsply", # LKAS error
|
||||
"CamraDefog_B_Req", # Windshield heater?
|
||||
"CamraStats_D_Dsply", # Camera status
|
||||
"DasAlrtLvl_D_Dsply", # DAS alert level
|
||||
"DasStats_D_Dsply", # DAS status
|
||||
"DasWarn_D_Dsply", # DAS warning
|
||||
"AhbHiBeam_D_Rq", # AHB status
|
||||
"Passthru_63",
|
||||
"Passthru_48",
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31]
|
||||
"LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
|
||||
})
|
||||
return packer.make_can_msg("IPMA_Data", CAN.main, values)
|
||||
|
||||
|
||||
def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False):
|
||||
"""
|
||||
Creates a CAN message for the Ford SCCM buttons/switches.
|
||||
|
||||
Includes cruise control buttons, turn lights and more.
|
||||
|
||||
Frequency is 10Hz.
|
||||
"""
|
||||
|
||||
values = {s: stock_values[s] for s in [
|
||||
"HeadLghtHiFlash_D_Stat", # SCCM Passthrough the remaining buttons
|
||||
"TurnLghtSwtch_D_Stat", # SCCM Turn signal switch
|
||||
"WiprFront_D_Stat",
|
||||
"LghtAmb_D_Sns",
|
||||
"AccButtnGapDecPress",
|
||||
"AccButtnGapIncPress",
|
||||
"AslButtnOnOffCnclPress",
|
||||
"AslButtnOnOffPress",
|
||||
"LaSwtchPos_D_Stat",
|
||||
"CcAslButtnCnclResPress",
|
||||
"CcAslButtnDeny_B_Actl",
|
||||
"CcAslButtnIndxDecPress",
|
||||
"CcAslButtnIndxIncPress",
|
||||
"CcAslButtnOffCnclPress",
|
||||
"CcAslButtnOnOffCncl",
|
||||
"CcAslButtnOnPress",
|
||||
"CcAslButtnResDecPress",
|
||||
"CcAslButtnResIncPress",
|
||||
"CcAslButtnSetDecPress",
|
||||
"CcAslButtnSetIncPress",
|
||||
"CcAslButtnSetPress",
|
||||
"CcButtnOffPress",
|
||||
"CcButtnOnOffCnclPress",
|
||||
"CcButtnOnOffPress",
|
||||
"CcButtnOnPress",
|
||||
"HeadLghtHiFlash_D_Actl",
|
||||
"HeadLghtHiOn_B_StatAhb",
|
||||
"AhbStat_B_Dsply",
|
||||
"AccButtnGapTogglePress",
|
||||
"WiprFrontSwtch_D_Stat",
|
||||
"HeadLghtHiCtrl_D_RqAhb",
|
||||
]}
|
||||
|
||||
values.update({
|
||||
"CcAslButtnCnclPress": 1 if cancel else 0, # CC cancel button
|
||||
"CcAsllButtnResPress": 1 if resume else 0, # CC resume button
|
||||
"TjaButtnOnOffPress": 1 if tja_toggle else 0, # LCA/TJA toggle button
|
||||
})
|
||||
return packer.make_can_msg("Steering_Data_FD1", bus, values)
|
||||
98
opendbc_repo/opendbc/car/ford/interface.py
Normal file
98
opendbc_repo/opendbc/car/ford/interface.py
Normal file
@@ -0,0 +1,98 @@
|
||||
import numpy as np
|
||||
from opendbc.car import Bus, get_safety_config, structs
|
||||
from opendbc.car.carlog import carlog
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.ford.carcontroller import CarController
|
||||
from opendbc.car.ford.carstate import CarState
|
||||
from opendbc.car.ford.fordcan import CanBus
|
||||
from opendbc.car.ford.radar_interface import RadarInterface
|
||||
from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
|
||||
TransmissionType = structs.CarParams.TransmissionType
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
@staticmethod
|
||||
def get_pid_accel_limits(CP, current_speed, cruise_speed):
|
||||
# PCM doesn't allow acceleration near cruise_speed,
|
||||
# so limit limits of pid to prevent windup
|
||||
ACCEL_MAX_VALS = [CarControllerParams.ACCEL_MAX, 0.2]
|
||||
ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .4]
|
||||
return CarControllerParams.ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
ret.brand = "ford"
|
||||
|
||||
ret.radarUnavailable = Bus.radar not in DBC[candidate]
|
||||
ret.steerControlType = structs.CarParams.SteerControlType.angle
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.steerLimitTimer = 1.0
|
||||
ret.steerAtStandstill = True
|
||||
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [0.5]
|
||||
|
||||
if not ret.radarUnavailable and DBC[candidate][Bus.radar] == RADAR.DELPHI_MRR:
|
||||
# average of 33.3 Hz radar timestep / 4 scan modes = 60 ms
|
||||
# MRR_Header_Timestamps->CAN_DET_TIME_SINCE_MEAS reports 61.3 ms
|
||||
ret.radarDelay = 0.06
|
||||
|
||||
CAN = CanBus(fingerprint=fingerprint)
|
||||
cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
|
||||
if CAN.main >= 4:
|
||||
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
|
||||
ret.safetyConfigs = cfgs
|
||||
|
||||
ret.alphaLongitudinalAvailable = ret.radarUnavailable
|
||||
if alpha_long or not ret.radarUnavailable:
|
||||
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value
|
||||
ret.openpilotLongitudinalControl = True
|
||||
|
||||
if ret.flags & FordFlags.CANFD:
|
||||
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value
|
||||
|
||||
# TRON (SecOC) platforms are not supported
|
||||
# LateralMotionControl2, ACCDATA are 16 bytes on these platforms
|
||||
if len(fingerprint[CAN.camera]):
|
||||
if fingerprint[CAN.camera].get(0x3d6) != 8 or fingerprint[CAN.camera].get(0x186) != 8:
|
||||
carlog.error('dashcamOnly: SecOC is unsupported')
|
||||
ret.dashcamOnly = True
|
||||
else:
|
||||
# Lock out if the car does not have needed lateral and longitudinal control APIs.
|
||||
# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
|
||||
pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
|
||||
if pscm_config:
|
||||
if len(pscm_config.fwVersion) != 24:
|
||||
carlog.error('dashcamOnly: Invalid EPS FW version')
|
||||
ret.dashcamOnly = True
|
||||
else:
|
||||
config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist
|
||||
config_lca = pscm_config.fwVersion[8] # Lane Centering Assist
|
||||
if config_tja != 0xFF or config_lca != 0xFF:
|
||||
carlog.error('dashcamOnly: Car lacks required lateral control APIs')
|
||||
ret.dashcamOnly = True
|
||||
|
||||
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
|
||||
found_ecus = [fw.ecu for fw in car_fw]
|
||||
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.manual
|
||||
ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
|
||||
|
||||
# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
|
||||
# TODO: detect bsm in car_fw?
|
||||
ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
|
||||
|
||||
# LCA can steer down to zero
|
||||
ret.minSteerSpeed = 0.
|
||||
|
||||
ret.autoResumeSng = ret.minEnableSpeed == -1.
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
return ret
|
||||
274
opendbc_repo/opendbc/car/ford/radar_interface.py
Normal file
274
opendbc_repo/opendbc/car/ford/radar_interface.py
Normal file
@@ -0,0 +1,274 @@
|
||||
import numpy as np
|
||||
from typing import cast
|
||||
from collections import defaultdict
|
||||
from math import cos, sin
|
||||
from dataclasses import dataclass
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.ford.fordcan import CanBus
|
||||
from opendbc.car.ford.values import DBC, RADAR
|
||||
from opendbc.car.interfaces import RadarInterfaceBase
|
||||
|
||||
DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
|
||||
|
||||
DELPHI_MRR_RADAR_START_ADDR = 0x120
|
||||
DELPHI_MRR_RADAR_HEADER_ADDR = 0x174 # MRR_Header_SensorCoverage
|
||||
DELPHI_MRR_RADAR_MSG_COUNT = 64
|
||||
|
||||
DELPHI_MRR_RADAR_RANGE_COVERAGE = {0: 42, 1: 164, 2: 45, 3: 175} # scan index to detection range (m)
|
||||
DELPHI_MRR_MIN_LONG_RANGE_DIST = 30 # meters
|
||||
DELPHI_MRR_CLUSTER_THRESHOLD = 5 # meters, lateral distance and relative velocity are weighted
|
||||
|
||||
|
||||
@dataclass
|
||||
class Cluster:
|
||||
dRel: float = 0.0
|
||||
yRel: float = 0.0
|
||||
vRel: float = 0.0
|
||||
trackId: int = 0
|
||||
|
||||
|
||||
def cluster_points(pts_l: list[list[float]], pts2_l: list[list[float]], max_dist: float) -> list[int]:
|
||||
"""
|
||||
Clusters a collection of points based on another collection of points. This is useful for correlating clusters through time.
|
||||
Points in pts2 not close enough to any point in pts are assigned -1.
|
||||
Args:
|
||||
pts_l: List of points to base the new clusters on
|
||||
pts2_l: List of points to cluster using pts
|
||||
max_dist: Max distance from cluster center to candidate point
|
||||
|
||||
Returns:
|
||||
List of cluster indices for pts2 that correspond to pts
|
||||
"""
|
||||
|
||||
if not len(pts2_l):
|
||||
return []
|
||||
|
||||
if not len(pts_l):
|
||||
return [-1] * len(pts2_l)
|
||||
|
||||
max_dist_sq = max_dist ** 2
|
||||
pts = np.array(pts_l)
|
||||
pts2 = np.array(pts2_l)
|
||||
|
||||
# Compute squared norms
|
||||
pts_norm_sq = np.sum(pts ** 2, axis=1)
|
||||
pts2_norm_sq = np.sum(pts2 ** 2, axis=1)
|
||||
|
||||
# Compute squared Euclidean distances using the identity
|
||||
# dist_sq[i, j] = ||pts2[i]||^2 + ||pts[j]||^2 - 2 * pts2[i] . pts[j]
|
||||
dist_sq = pts2_norm_sq[:, np.newaxis] + pts_norm_sq[np.newaxis, :] - 2 * np.dot(pts2, pts.T)
|
||||
dist_sq = np.maximum(dist_sq, 0.0)
|
||||
|
||||
# Find the closest cluster for each point and assign its index
|
||||
closest_clusters = np.argmin(dist_sq, axis=1)
|
||||
closest_dist_sq = dist_sq[np.arange(len(pts2)), closest_clusters]
|
||||
cluster_idxs = np.where(closest_dist_sq < max_dist_sq, closest_clusters, -1)
|
||||
|
||||
return cast(list[int], cluster_idxs.tolist())
|
||||
|
||||
|
||||
def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
|
||||
msg_n = len(DELPHI_ESR_RADAR_MSGS)
|
||||
messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n, strict=True))
|
||||
|
||||
return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar)
|
||||
|
||||
|
||||
def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
|
||||
messages = [
|
||||
("MRR_Header_InformationDetections", 33),
|
||||
("MRR_Header_SensorCoverage", 33),
|
||||
]
|
||||
|
||||
for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
|
||||
msg = f"MRR_Detection_{i:03d}"
|
||||
messages += [(msg, 33)]
|
||||
|
||||
return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
|
||||
self.points: list[list[float]] = []
|
||||
self.clusters: list[Cluster] = []
|
||||
|
||||
self.updated_messages = set()
|
||||
self.track_id = 0
|
||||
self.radar = DBC[CP.carFingerprint].get(Bus.radar)
|
||||
self.scan_index_invalid_cnt = 0
|
||||
self.radar_unavailable_cnt = 0
|
||||
self.prev_headerScanIndex = 0
|
||||
if CP.radarUnavailable:
|
||||
self.rcp = None
|
||||
elif self.radar == RADAR.DELPHI_ESR:
|
||||
self.rcp = _create_delphi_esr_radar_can_parser(CP)
|
||||
self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
|
||||
self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
|
||||
elif self.radar == RADAR.DELPHI_MRR:
|
||||
self.rcp = _create_delphi_mrr_radar_can_parser(CP)
|
||||
self.trigger_msg = DELPHI_MRR_RADAR_HEADER_ADDR
|
||||
else:
|
||||
raise ValueError(f"Unsupported radar: {self.radar}")
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.rcp is None:
|
||||
return super().update(None)
|
||||
|
||||
vls = self.rcp.update(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
if self.trigger_msg not in self.updated_messages:
|
||||
return None
|
||||
self.updated_messages.clear()
|
||||
|
||||
ret = structs.RadarData()
|
||||
if not self.rcp.can_valid:
|
||||
ret.errors.canError = True
|
||||
|
||||
if self.radar == RADAR.DELPHI_ESR:
|
||||
self._update_delphi_esr()
|
||||
elif self.radar == RADAR.DELPHI_MRR:
|
||||
_update = self._update_delphi_mrr(ret)
|
||||
if not _update:
|
||||
return None
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
return ret
|
||||
|
||||
def _update_delphi_esr(self):
|
||||
for ii in sorted(self.updated_messages):
|
||||
cpt = self.rcp.vl[ii]
|
||||
|
||||
if cpt['X_Rel'] > 0.00001:
|
||||
self.valid_cnt[ii] = 0 # reset counter
|
||||
|
||||
if cpt['X_Rel'] > 0.00001:
|
||||
self.valid_cnt[ii] += 1
|
||||
else:
|
||||
self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
|
||||
#print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
|
||||
|
||||
# radar point only valid if there have been enough valid measurements
|
||||
if self.valid_cnt[ii] > 0:
|
||||
if ii not in self.pts:
|
||||
self.pts[ii] = structs.RadarData.RadarPoint()
|
||||
self.pts[ii].trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[ii].dRel = cpt['X_Rel'] # from front of car
|
||||
self.pts[ii].yRel = cpt['X_Rel'] * cpt['Angle'] * CV.DEG_TO_RAD # in car frame's y axis, left is positive
|
||||
self.pts[ii].vRel = cpt['V_Rel']
|
||||
self.pts[ii].vLead = self.pts[ii].vRel + self.v_ego
|
||||
self.pts[ii].aRel = float('nan')
|
||||
self.pts[ii].yvRel = 0# float('nan')
|
||||
self.pts[ii].measured = True
|
||||
else:
|
||||
if ii in self.pts:
|
||||
del self.pts[ii]
|
||||
|
||||
def _update_delphi_mrr(self, ret: structs.RadarData):
|
||||
headerScanIndex = int(self.rcp.vl["MRR_Header_InformationDetections"]['CAN_SCAN_INDEX']) & 0b11
|
||||
|
||||
# In reverse, the radar continually sends the last messages. Mark this as invalid
|
||||
if (self.prev_headerScanIndex + 1) % 4 != headerScanIndex:
|
||||
self.radar_unavailable_cnt += 1
|
||||
else:
|
||||
self.radar_unavailable_cnt = 0
|
||||
self.prev_headerScanIndex = headerScanIndex
|
||||
|
||||
if self.radar_unavailable_cnt >= 5:
|
||||
self.pts.clear()
|
||||
self.points.clear()
|
||||
self.clusters.clear()
|
||||
ret.errors.radarUnavailableTemporary = True
|
||||
return True
|
||||
|
||||
# Use points with Doppler coverage of +-60 m/s, reduces similar points
|
||||
if headerScanIndex not in (2, 3):
|
||||
return False
|
||||
|
||||
if DELPHI_MRR_RADAR_RANGE_COVERAGE[headerScanIndex] != int(self.rcp.vl["MRR_Header_SensorCoverage"]["CAN_RANGE_COVERAGE"]):
|
||||
self.scan_index_invalid_cnt += 1
|
||||
else:
|
||||
self.scan_index_invalid_cnt = 0
|
||||
|
||||
# Rarely MRR_Header_InformationDetections can fail to send a message. The scan index is skipped in this case
|
||||
if self.scan_index_invalid_cnt >= 5:
|
||||
ret.errors.wrongConfig = True
|
||||
|
||||
for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
|
||||
msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
|
||||
|
||||
# SCAN_INDEX rotates through 0..3 on each message for different measurement modes
|
||||
# Indexes 0 and 2 have a max range of ~40m, 1 and 3 are ~170m (MRR_Header_SensorCoverage->CAN_RANGE_COVERAGE)
|
||||
# Indexes 0 and 1 have a Doppler coverage of +-71 m/s, 2 and 3 have +-60 m/s
|
||||
scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
|
||||
|
||||
# Throw out old measurements. Very unlikely to happen, but is proper behavior
|
||||
if scanIndex != headerScanIndex:
|
||||
continue
|
||||
|
||||
valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"])
|
||||
|
||||
# Long range measurement mode is more sensitive and can detect the road surface
|
||||
dist = msg[f"CAN_DET_RANGE_{ii:02d}"] # m [0|255.984]
|
||||
if scanIndex in (1, 3) and dist < DELPHI_MRR_MIN_LONG_RANGE_DIST:
|
||||
valid = False
|
||||
|
||||
if valid:
|
||||
azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"] # rad [-3.1416|3.13964]
|
||||
distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"] # m/s [-128|127.984]
|
||||
dRel = cos(azimuth) * dist # m from front of car
|
||||
yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive
|
||||
|
||||
self.points.append([dRel, yRel * 2, distRate * 2])
|
||||
|
||||
# Cluster and publish using stored points once we've cycled through all 4 scan modes
|
||||
if headerScanIndex != 3:
|
||||
return False
|
||||
|
||||
# Cluster points from this cycle against the centroids from the previous cycle
|
||||
prev_keys = [[p.dRel, p.yRel * 2, p.vRel * 2] for p in self.clusters]
|
||||
labels = cluster_points(prev_keys, self.points, DELPHI_MRR_CLUSTER_THRESHOLD)
|
||||
|
||||
points_by_track_id = defaultdict(list)
|
||||
for idx, label in enumerate(labels):
|
||||
if label != -1:
|
||||
points_by_track_id[self.clusters[label].trackId].append(self.points[idx])
|
||||
else:
|
||||
points_by_track_id[self.track_id].append(self.points[idx])
|
||||
self.track_id += 1
|
||||
|
||||
self.clusters = []
|
||||
for idx, (track_id, pts) in enumerate(points_by_track_id.items()):
|
||||
dRel = [p[0] for p in pts]
|
||||
min_dRel = min(dRel)
|
||||
dRel = sum(dRel) / len(dRel)
|
||||
|
||||
yRel = [p[1] for p in pts]
|
||||
yRel = sum(yRel) / len(yRel) / 2
|
||||
|
||||
vRel = [p[2] for p in pts]
|
||||
vRel = sum(vRel) / len(vRel) / 2
|
||||
|
||||
# FIXME: creating capnp RadarPoint and accessing attributes are both expensive, so we store a dataclass and reuse the RadarPoint
|
||||
self.clusters.append(Cluster(dRel=dRel, yRel=yRel, vRel=vRel, trackId=track_id))
|
||||
|
||||
if idx not in self.pts:
|
||||
self.pts[idx] = structs.RadarData.RadarPoint(measured=True, aRel=float('nan'), yvRel=0)
|
||||
|
||||
self.pts[idx].dRel = min_dRel
|
||||
self.pts[idx].yRel = yRel
|
||||
self.pts[idx].vRel = vRel
|
||||
self.pts[idx].vLead = vRel + self.v_ego
|
||||
self.pts[idx].trackId = track_id
|
||||
|
||||
for idx in range(len(points_by_track_id), len(self.pts)):
|
||||
del self.pts[idx]
|
||||
|
||||
self.points = []
|
||||
|
||||
return True
|
||||
0
opendbc_repo/opendbc/car/ford/tests/__init__.py
Normal file
0
opendbc_repo/opendbc/car/ford/tests/__init__.py
Normal file
28
opendbc_repo/opendbc/car/ford/tests/print_platform_codes.py
Executable file
28
opendbc_repo/opendbc/car/ford/tests/print_platform_codes.py
Executable file
@@ -0,0 +1,28 @@
|
||||
#!/usr/bin/env python3
|
||||
from collections import defaultdict
|
||||
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.ford.values import get_platform_codes
|
||||
from opendbc.car.ford.fingerprints import FW_VERSIONS
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
if __name__ == "__main__":
|
||||
cars_for_code: defaultdict = defaultdict(lambda: defaultdict(set))
|
||||
|
||||
for car_model, ecus in FW_VERSIONS.items():
|
||||
print(car_model)
|
||||
for ecu in sorted(ecus):
|
||||
platform_codes = get_platform_codes(ecus[ecu])
|
||||
for code in platform_codes:
|
||||
cars_for_code[ecu][code].add(car_model)
|
||||
|
||||
print(f' (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
|
||||
print(f' Codes: {sorted(platform_codes)}')
|
||||
print()
|
||||
|
||||
print('\nCar models vs. platform codes:')
|
||||
for ecu, codes in cars_for_code.items():
|
||||
print(f' (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
|
||||
for code, cars in codes.items():
|
||||
print(f' {code!r}: {sorted(map(str, cars))}')
|
||||
142
opendbc_repo/opendbc/car/ford/tests/test_ford.py
Normal file
142
opendbc_repo/opendbc/car/ford/tests/test_ford.py
Normal file
@@ -0,0 +1,142 @@
|
||||
import random
|
||||
from collections.abc import Iterable
|
||||
|
||||
from hypothesis import settings, given, strategies as st
|
||||
from parameterized import parameterized
|
||||
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.fw_versions import build_fw_dict
|
||||
from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
|
||||
from opendbc.car.ford.fingerprints import FW_VERSIONS
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
|
||||
ECU_ADDRESSES = {
|
||||
Ecu.eps: 0x730, # Power Steering Control Module (PSCM)
|
||||
Ecu.abs: 0x760, # Anti-Lock Brake System (ABS)
|
||||
Ecu.fwdRadar: 0x764, # Cruise Control Module (CCM)
|
||||
Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA)
|
||||
Ecu.engine: 0x7E0, # Powertrain Control Module (PCM)
|
||||
Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM)
|
||||
Ecu.debug: 0x7D0, # Accessory Protocol Interface Module (APIM)
|
||||
}
|
||||
|
||||
|
||||
ECU_PART_NUMBER = {
|
||||
Ecu.eps: [
|
||||
b"14D003",
|
||||
],
|
||||
Ecu.abs: [
|
||||
b"2D053",
|
||||
],
|
||||
Ecu.fwdRadar: [
|
||||
b"14D049",
|
||||
],
|
||||
Ecu.fwdCamera: [
|
||||
b"14F397", # Ford Q3
|
||||
b"14H102", # Ford Q4
|
||||
],
|
||||
}
|
||||
|
||||
|
||||
class TestFordFW:
|
||||
def test_fw_query_config(self):
|
||||
for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus:
|
||||
assert ecu in ECU_ADDRESSES, "Unknown ECU"
|
||||
assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
|
||||
assert subaddr is None, "Unexpected ECU subaddress"
|
||||
|
||||
@parameterized.expand(FW_VERSIONS.items())
|
||||
def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[int, int, int | None], Iterable[bytes]]):
|
||||
for (ecu, addr, subaddr), fws in fw_versions.items():
|
||||
assert ecu in ECU_PART_NUMBER, "Unexpected ECU"
|
||||
assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
|
||||
assert subaddr is None, "Unexpected ECU subaddress"
|
||||
|
||||
for fw in fws:
|
||||
assert len(fw) == 24, "Expected ECU response to be 24 bytes"
|
||||
|
||||
match = FW_PATTERN.match(fw)
|
||||
assert match is not None, f"Unable to parse FW: {fw!r}"
|
||||
if match:
|
||||
part_number = match.group("part_number")
|
||||
assert part_number in ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}"
|
||||
|
||||
codes = get_platform_codes([fw])
|
||||
assert 1 == len(codes), f"Unable to parse FW: {fw!r}"
|
||||
|
||||
@settings(max_examples=100)
|
||||
@given(data=st.data())
|
||||
def test_platform_codes_fuzzy_fw(self, data):
|
||||
"""Ensure function doesn't raise an exception"""
|
||||
fw_strategy = st.lists(st.binary())
|
||||
fws = data.draw(fw_strategy)
|
||||
get_platform_codes(fws)
|
||||
|
||||
def test_platform_codes_spot_check(self):
|
||||
# Asserts basic platform code parsing behavior for a few cases
|
||||
results = get_platform_codes([
|
||||
b"JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
])
|
||||
assert results == {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")}
|
||||
|
||||
def test_fuzzy_match(self):
|
||||
for platform, fw_by_addr in FW_VERSIONS.items():
|
||||
# Ensure there's no overlaps in platform codes
|
||||
for _ in range(20):
|
||||
car_fw = []
|
||||
for ecu, fw_versions in fw_by_addr.items():
|
||||
ecu_name, addr, sub_addr = ecu
|
||||
fw = random.choice(fw_versions)
|
||||
car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
|
||||
subAddress=0 if sub_addr is None else sub_addr))
|
||||
|
||||
CP = CarParams(carFw=car_fw)
|
||||
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
|
||||
assert matches == {platform}
|
||||
|
||||
def test_match_fw_fuzzy(self):
|
||||
offline_fw = {
|
||||
(Ecu.eps, 0x730, None): [
|
||||
b"L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
],
|
||||
(Ecu.abs, 0x760, None): [
|
||||
b"L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
],
|
||||
(Ecu.fwdRadar, 0x764, None): [
|
||||
b"LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"LB5T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
],
|
||||
# We consider all model year hints for ECU, even with different platform codes
|
||||
(Ecu.fwdCamera, 0x706, None): [
|
||||
b"LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
b"NC5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
|
||||
],
|
||||
}
|
||||
expected_fingerprint = CAR.FORD_EXPLORER_MK6
|
||||
|
||||
# ensure that we fuzzy match on all non-exact FW with changed revisions
|
||||
live_fw = {
|
||||
(0x730, None): {b"L1MC-14D003-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
|
||||
(0x760, None): {b"L1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
|
||||
(0x764, None): {b"LB5T-14D049-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
|
||||
(0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
|
||||
}
|
||||
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
|
||||
assert candidates == {expected_fingerprint}
|
||||
|
||||
# model year hint in between the range should match
|
||||
live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
|
||||
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,})
|
||||
assert candidates == {expected_fingerprint}
|
||||
|
||||
# unseen model year hint should not match
|
||||
live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
|
||||
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
|
||||
assert len(candidates) == 0, "Should not match new model year hint"
|
||||
316
opendbc_repo/opendbc/car/ford/values.py
Normal file
316
opendbc_repo/opendbc/car/ford/values.py
Normal file
@@ -0,0 +1,316 @@
|
||||
import copy
|
||||
import re
|
||||
from dataclasses import dataclass, field, replace
|
||||
from enum import Enum, IntFlag
|
||||
|
||||
from opendbc.car import AngleSteeringLimits, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, \
|
||||
Device
|
||||
from opendbc.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
STEER_STEP = 5 # LateralMotionControl, 20Hz
|
||||
LKA_STEP = 3 # Lane_Assist_Data1, 33Hz
|
||||
ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz
|
||||
LKAS_UI_STEP = 100 # IPMA_Data, 1Hz
|
||||
ACC_UI_STEP = 20 # ACCDATA_3, 5Hz
|
||||
BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast
|
||||
|
||||
STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm
|
||||
|
||||
ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
|
||||
0.02, # Max curvature for steering command, m^-1
|
||||
# Curvature rate limits
|
||||
# Max curvature is limited by the EPS to an equivalent of ~2.0 m/s^2 at all speeds,
|
||||
# however max curvature rate linearly decreases as speed increases:
|
||||
# ~0.009 m^-1/sec at 7 m/s, ~0.002 m^-1/sec at 35 m/s
|
||||
# Limit to ~2 m/s^3 up, ~3.3 m/s^3 down at 75 mph and match EPS limit at low speed
|
||||
([5, 25], [0.00045, 0.0001]),
|
||||
([5, 25], [0.00045, 0.00015])
|
||||
)
|
||||
CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
|
||||
|
||||
ACCEL_MAX = 2.0 # m/s^2 max acceleration
|
||||
ACCEL_MIN = -3.5 # m/s^2 max deceleration
|
||||
MIN_GAS = -0.5
|
||||
INACTIVE_GAS = -5.0
|
||||
|
||||
def __init__(self, CP):
|
||||
pass
|
||||
|
||||
|
||||
class FordSafetyFlags(IntFlag):
|
||||
LONG_CONTROL = 1
|
||||
CANFD = 2
|
||||
|
||||
|
||||
class FordFlags(IntFlag):
|
||||
# Static flags
|
||||
CANFD = 1
|
||||
|
||||
|
||||
class RADAR:
|
||||
DELPHI_ESR = 'ford_fusion_2018_adas'
|
||||
DELPHI_MRR = 'FORD_CADS'
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
FOCUS = CarFootnote(
|
||||
"Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
|
||||
"North and South America/Southeast Asia.",
|
||||
Column.MODEL,
|
||||
)
|
||||
|
||||
|
||||
@dataclass
|
||||
class FordCarDocs(CarDocs):
|
||||
package: str = "Co-Pilot360 Assist+"
|
||||
hybrid: bool = False
|
||||
plug_in_hybrid: bool = False
|
||||
|
||||
def init_make(self, CP: CarParams):
|
||||
harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
|
||||
if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
|
||||
self.car_parts = CarParts([Device.threex_angled_mount, harness])
|
||||
else:
|
||||
self.car_parts = CarParts([Device.threex, harness])
|
||||
|
||||
if harness == CarHarness.ford_q4:
|
||||
self.setup_video = "https://www.youtube.com/watch?v=uUGkH6C_EQU"
|
||||
|
||||
if CP.carFingerprint in (CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_EXPEDITION_MK4):
|
||||
self.setup_video = "https://www.youtube.com/watch?v=MewJc9LYp9M"
|
||||
|
||||
@dataclass
|
||||
class FordPlatformConfig(PlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: {
|
||||
Bus.pt: 'ford_lincoln_base_pt',
|
||||
Bus.radar: RADAR.DELPHI_MRR,
|
||||
})
|
||||
|
||||
def init(self):
|
||||
for car_docs in list(self.car_docs):
|
||||
if car_docs.hybrid:
|
||||
name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}"
|
||||
self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
|
||||
if car_docs.plug_in_hybrid:
|
||||
name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}"
|
||||
self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
|
||||
|
||||
|
||||
@dataclass
|
||||
class FordCANFDPlatformConfig(FordPlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: {
|
||||
Bus.pt: 'ford_lincoln_base_pt',
|
||||
})
|
||||
|
||||
def init(self):
|
||||
super().init()
|
||||
self.flags |= FordFlags.CANFD
|
||||
|
||||
@dataclass
|
||||
class FordF150LightningPlatform(FordCANFDPlatformConfig):
|
||||
def init(self):
|
||||
super().init()
|
||||
|
||||
# Don't show in docs until this issue is resolved. See https://github.com/commaai/openpilot/issues/30302
|
||||
self.car_docs = []
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
|
||||
[FordCarDocs("Ford Bronco Sport 2021-24")],
|
||||
CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
|
||||
)
|
||||
FORD_ESCAPE_MK4 = FordPlatformConfig(
|
||||
[
|
||||
FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
|
||||
FordCarDocs("Ford Kuga 2020-23", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
|
||||
],
|
||||
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
|
||||
)
|
||||
FORD_ESCAPE_MK4_5 = FordCANFDPlatformConfig(
|
||||
[
|
||||
FordCarDocs("Ford Escape 2023-24", hybrid=True, plug_in_hybrid=True, setup_video="https://www.youtube.com/watch?v=M6uXf4b2SHM"),
|
||||
FordCarDocs("Ford Kuga Hybrid 2024", "All"),
|
||||
FordCarDocs("Ford Kuga Plug-in Hybrid 2024", "All"),
|
||||
],
|
||||
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
|
||||
)
|
||||
FORD_EXPLORER_MK6 = FordPlatformConfig(
|
||||
[
|
||||
FordCarDocs("Ford Explorer 2020-24", hybrid=True), # Hybrid: Limited and Platinum only
|
||||
FordCarDocs("Lincoln Aviator 2020-24", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only
|
||||
],
|
||||
CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
|
||||
)
|
||||
FORD_EXPEDITION_MK4 = FordCANFDPlatformConfig(
|
||||
[FordCarDocs("Ford Expedition 2022-24", "Co-Pilot360 Assist 2.0", hybrid=False)],
|
||||
CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
|
||||
)
|
||||
FORD_F_150_MK14 = FordCANFDPlatformConfig(
|
||||
[FordCarDocs("Ford F-150 2021-23", "Co-Pilot360 Assist 2.0", hybrid=True)],
|
||||
CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
|
||||
)
|
||||
FORD_F_150_LIGHTNING_MK1 = FordF150LightningPlatform(
|
||||
[FordCarDocs("Ford F-150 Lightning 2022-23", "Co-Pilot360 Assist 2.0")],
|
||||
CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
|
||||
)
|
||||
FORD_FOCUS_MK4 = FordPlatformConfig(
|
||||
[FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only
|
||||
CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
|
||||
)
|
||||
FORD_MAVERICK_MK1 = FordPlatformConfig(
|
||||
[
|
||||
FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
|
||||
FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
|
||||
],
|
||||
CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
|
||||
)
|
||||
FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
|
||||
[FordCarDocs("Ford Mustang Mach-E 2021-24", "All", setup_video="https://www.youtube.com/watch?v=AR4_eTF3b_A")],
|
||||
CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
|
||||
)
|
||||
FORD_RANGER_MK2 = FordCANFDPlatformConfig(
|
||||
[FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering", setup_video="https://www.youtube.com/watch?v=2oJlXCKYOy0")],
|
||||
CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
|
||||
)
|
||||
|
||||
|
||||
# FW response contains a combined software and part number
|
||||
# A-Z except no I, O or W
|
||||
# e.g. NZ6A-14C204-AAA
|
||||
# 1222-333333-444
|
||||
# 1 = Model year hint (approximates model year/generation)
|
||||
# 2 = Platform hint
|
||||
# 3 = Part number
|
||||
# 4 = Software version
|
||||
FW_ALPHABET = b'A-HJ-NP-VX-Z'
|
||||
FW_PATTERN = re.compile(b'^(?P<model_year_hint>[' + FW_ALPHABET + b'])' +
|
||||
b'(?P<platform_hint>[0-9' + FW_ALPHABET + b']{3})-' +
|
||||
b'(?P<part_number>[0-9' + FW_ALPHABET + b']{5,6})-' +
|
||||
b'(?P<software_revision>[' + FW_ALPHABET + b']{2,})\x00*$')
|
||||
|
||||
|
||||
def get_platform_codes(fw_versions: list[bytes] | set[bytes]) -> set[tuple[bytes, bytes]]:
|
||||
codes = set()
|
||||
for fw in fw_versions:
|
||||
match = FW_PATTERN.match(fw)
|
||||
if match is not None:
|
||||
codes.add((match.group('platform_hint'), match.group('model_year_hint')))
|
||||
|
||||
return codes
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, vin: str, offline_fw_versions: OfflineFwVersions) -> set[str]:
|
||||
candidates: set[str] = set()
|
||||
|
||||
for candidate, fws in offline_fw_versions.items():
|
||||
# Keep track of ECUs which pass all checks (platform hint, within model year hint range)
|
||||
valid_found_ecus = set()
|
||||
valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
|
||||
for ecu, expected_versions in fws.items():
|
||||
addr = ecu[1:]
|
||||
# Only check ECUs expected to have platform codes
|
||||
if ecu[0] not in PLATFORM_CODE_ECUS:
|
||||
continue
|
||||
|
||||
# Expected platform codes & model year hints
|
||||
codes = get_platform_codes(expected_versions)
|
||||
expected_platform_codes = {code for code, _ in codes}
|
||||
expected_model_year_hints = {model_year_hint for _, model_year_hint in codes}
|
||||
|
||||
# Found platform codes & model year hints
|
||||
codes = get_platform_codes(live_fw_versions.get(addr, set()))
|
||||
found_platform_codes = {code for code, _ in codes}
|
||||
found_model_year_hints = {model_year_hint for _, model_year_hint in codes}
|
||||
|
||||
# Check platform code matches for any found versions
|
||||
if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
|
||||
break
|
||||
|
||||
# Check any model year hint within range in the database. Note that some models have more than one
|
||||
# platform code per ECU which we don't consider as separate ranges
|
||||
if not any(min(expected_model_year_hints) <= found_model_year_hint <= max(expected_model_year_hints) for
|
||||
found_model_year_hint in found_model_year_hints):
|
||||
break
|
||||
|
||||
valid_found_ecus.add(addr)
|
||||
|
||||
# If all live ECUs pass all checks for candidate, add it as a match
|
||||
if valid_expected_ecus.issubset(valid_found_ecus):
|
||||
candidates.add(candidate)
|
||||
|
||||
return candidates
|
||||
|
||||
|
||||
# All of these ECUs must be present and are expected to have platform codes we can match
|
||||
PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
|
||||
|
||||
DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
|
||||
|
||||
ASBUILT_BLOCKS: list[tuple[int, list]] = [
|
||||
(1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
|
||||
(2, [Ecu.abs, Ecu.debug, Ecu.eps]),
|
||||
(3, [Ecu.abs, Ecu.debug, Ecu.eps]),
|
||||
(4, [Ecu.debug, Ecu.fwdCamera]),
|
||||
(5, [Ecu.debug]),
|
||||
(6, [Ecu.debug]),
|
||||
(7, [Ecu.debug]),
|
||||
(8, [Ecu.debug]),
|
||||
(9, [Ecu.debug]),
|
||||
(16, [Ecu.debug, Ecu.fwdCamera]),
|
||||
(18, [Ecu.fwdCamera]),
|
||||
(20, [Ecu.fwdCamera]),
|
||||
(21, [Ecu.fwdCamera]),
|
||||
]
|
||||
|
||||
|
||||
def ford_asbuilt_block_request(block_id: int):
|
||||
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
|
||||
|
||||
|
||||
def ford_asbuilt_block_response(block_id: int):
|
||||
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
|
||||
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
# CAN and CAN FD queries are combined.
|
||||
# FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
|
||||
logging=True,
|
||||
),
|
||||
Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
|
||||
bus=0,
|
||||
auxiliary=True,
|
||||
),
|
||||
*[Request(
|
||||
[StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
|
||||
[StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
|
||||
whitelist_ecus=ecus,
|
||||
bus=0,
|
||||
logging=True,
|
||||
) for block_id, ecus in ASBUILT_BLOCKS],
|
||||
],
|
||||
extra_ecus=[
|
||||
(Ecu.engine, 0x7e0, None), # Powertrain Control Module
|
||||
# Note: We are unlikely to get a response from behind the gateway
|
||||
(Ecu.shiftByWire, 0x732, None), # Gear Shift Module
|
||||
(Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module
|
||||
],
|
||||
# Custom fuzzy fingerprinting function using platform and model year hints
|
||||
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
|
||||
)
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
152
opendbc_repo/opendbc/car/fw_query_definitions.py
Normal file
152
opendbc_repo/opendbc/car/fw_query_definitions.py
Normal file
@@ -0,0 +1,152 @@
|
||||
import copy
|
||||
from dataclasses import dataclass, field
|
||||
import struct
|
||||
from collections.abc import Callable
|
||||
|
||||
from opendbc.car import uds
|
||||
from opendbc.car.structs import CarParams
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
AddrType = tuple[int, int | None]
|
||||
EcuAddrBusType = tuple[int, int | None, int]
|
||||
EcuAddrSubAddr = tuple[Ecu, int, int | None]
|
||||
|
||||
LiveFwVersions = dict[AddrType, set[bytes]]
|
||||
OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]]
|
||||
|
||||
# A global list of addresses we will only ever consider for VIN responses
|
||||
# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
|
||||
# TODO: move these to each brand's FW query config
|
||||
STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1]
|
||||
|
||||
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
|
||||
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
|
||||
|
||||
|
||||
def p16(val):
|
||||
return struct.pack("!H", val)
|
||||
|
||||
|
||||
class StdQueries:
|
||||
# FW queries
|
||||
TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
|
||||
TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
|
||||
|
||||
SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
|
||||
SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
|
||||
|
||||
DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
|
||||
uds.SESSION_TYPE.DEFAULT])
|
||||
DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
|
||||
uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
|
||||
|
||||
EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
|
||||
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
|
||||
EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
|
||||
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
|
||||
|
||||
MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
|
||||
SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
|
||||
|
||||
MANUFACTURER_ECU_HARDWARE_NUMBER_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)
|
||||
MANUFACTURER_ECU_HARDWARE_NUMBER_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)
|
||||
|
||||
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
||||
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
|
||||
|
||||
OBD_VERSION_REQUEST = b'\x09\x04'
|
||||
OBD_VERSION_RESPONSE = b'\x49\x04'
|
||||
|
||||
# VIN queries
|
||||
OBD_VIN_REQUEST = b'\x09\x02'
|
||||
OBD_VIN_RESPONSE = b'\x49\x02\x01'
|
||||
|
||||
UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
|
||||
UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
|
||||
|
||||
GM_VIN_REQUEST = b'\x1a\x90'
|
||||
GM_VIN_RESPONSE = b'\x5a\x90'
|
||||
|
||||
KWP_VIN_REQUEST = b'\x21\x81'
|
||||
KWP_VIN_RESPONSE = b'\x61\x81'
|
||||
|
||||
|
||||
@dataclass
|
||||
class Request:
|
||||
request: list[bytes]
|
||||
response: list[bytes]
|
||||
whitelist_ecus: list[Ecu] = field(default_factory=list)
|
||||
rx_offset: int = 0x8
|
||||
bus: int = 1
|
||||
# Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
|
||||
auxiliary: bool = False
|
||||
# FW responses from these queries will not be used for fingerprinting
|
||||
logging: bool = False
|
||||
# pandad toggles OBD multiplexing on/off as needed
|
||||
obd_multiplexing: bool = True
|
||||
|
||||
|
||||
@dataclass
|
||||
class FwQueryConfig:
|
||||
requests: list[Request]
|
||||
# TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
|
||||
# Overrides and removes from essential ecus for specific models and ecus (exact matching)
|
||||
non_essential_ecus: dict[Ecu, list[str]] = field(default_factory=dict)
|
||||
# Ecus added for data collection, not to be fingerprinted on
|
||||
extra_ecus: list[tuple[Ecu, int, int | None]] = field(default_factory=list)
|
||||
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
|
||||
# returns set of candidates. Only will match if one candidate is returned
|
||||
match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
|
||||
|
||||
def __post_init__(self):
|
||||
# Asserts that a request exists if extra ecus are used
|
||||
if len(self.extra_ecus):
|
||||
assert len(self.requests), "Must define a request with extra ecus"
|
||||
|
||||
# All extra ecus should be used in a request
|
||||
for ecu, _, _ in self.extra_ecus:
|
||||
assert (any(ecu in request.whitelist_ecus for request in self.requests) or
|
||||
any(not request.whitelist_ecus for request in self.requests)), f"Ecu.{ECU_NAME[ecu]} not in any request"
|
||||
|
||||
# These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing
|
||||
unnecessary_non_essential_ecus = set(self.non_essential_ecus) - set(ESSENTIAL_ECUS)
|
||||
assert unnecessary_non_essential_ecus == set(), ("Declaring non-essential ECUs non-essential is not required: " +
|
||||
f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}")
|
||||
|
||||
# Asserts equal length request and response lists
|
||||
for request_obj in self.requests:
|
||||
assert len(request_obj.request) == len(request_obj.response), ("Request and response lengths do not match: " +
|
||||
f"{request_obj.request} vs. {request_obj.response}")
|
||||
|
||||
# No request on the OBD port (bus 1, multiplexed) should be run on an aux panda
|
||||
assert not (request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing), ("OBD multiplexed request should not " +
|
||||
f"be marked auxiliary: {request_obj}")
|
||||
|
||||
# Add aux requests (second panda) for all requests that are marked as auxiliary
|
||||
for i in range(len(self.requests)):
|
||||
if self.requests[i].auxiliary:
|
||||
new_request = copy.deepcopy(self.requests[i])
|
||||
new_request.bus += 4
|
||||
self.requests.append(new_request)
|
||||
|
||||
def get_all_ecus(self, offline_fw_versions: OfflineFwVersions,
|
||||
include_extra_ecus: bool = True) -> set[EcuAddrSubAddr]:
|
||||
# Add ecus in database + extra ecus
|
||||
brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus}
|
||||
|
||||
if include_extra_ecus:
|
||||
brand_ecus |= set(self.extra_ecus)
|
||||
|
||||
return brand_ecus
|
||||
327
opendbc_repo/opendbc/car/fw_versions.py
Normal file
327
opendbc_repo/opendbc/car/fw_versions.py
Normal file
@@ -0,0 +1,327 @@
|
||||
from collections import defaultdict
|
||||
from collections.abc import Callable, Iterator
|
||||
from typing import Protocol, TypeVar
|
||||
|
||||
from tqdm import tqdm
|
||||
|
||||
from opendbc.car import uds
|
||||
from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
|
||||
from opendbc.car.carlog import carlog
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.ecu_addrs import get_ecu_addrs
|
||||
from opendbc.car.fingerprints import FW_VERSIONS
|
||||
from opendbc.car.fw_query_definitions import ESSENTIAL_ECUS, AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
|
||||
from opendbc.car.interfaces import get_interface_attr
|
||||
from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
|
||||
|
||||
FW_QUERY_CONFIGS: dict[str, FwQueryConfig] = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
|
||||
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
|
||||
|
||||
MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
|
||||
REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
|
||||
|
||||
T = TypeVar('T')
|
||||
ObdCallback = Callable[[bool], None]
|
||||
|
||||
|
||||
def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]:
|
||||
for i in range(0, len(l), n):
|
||||
yield l[i:i + n]
|
||||
|
||||
|
||||
def is_brand(brand: str, filter_brand: str | None) -> bool:
|
||||
"""Returns if brand matches filter_brand or no brand filter is specified"""
|
||||
return filter_brand is None or brand == filter_brand
|
||||
|
||||
|
||||
def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str = None) -> dict[AddrType, set[bytes]]:
|
||||
fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
|
||||
for fw in fw_versions:
|
||||
if is_brand(fw.brand, filter_brand) and not fw.logging:
|
||||
sub_addr = fw.subAddress if fw.subAddress != 0 else None
|
||||
fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
|
||||
return dict(fw_versions_dict)
|
||||
|
||||
|
||||
class MatchFwToCar(Protocol):
|
||||
def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True) -> set[str]:
|
||||
...
|
||||
|
||||
|
||||
def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, exclude: str = None) -> set[str]:
|
||||
"""Do a fuzzy FW match. This function will return a match, and the number of firmware version
|
||||
that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
|
||||
the match is rejected."""
|
||||
|
||||
# Build lookup table from (addr, sub_addr, fw) to list of candidate cars
|
||||
all_fw_versions = defaultdict(list)
|
||||
for candidate, fw_by_addr in FW_VERSIONS.items():
|
||||
if not is_brand(MODEL_TO_BRAND[candidate], match_brand):
|
||||
continue
|
||||
|
||||
if candidate == exclude:
|
||||
continue
|
||||
|
||||
for addr, fws in fw_by_addr.items():
|
||||
# These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
|
||||
# Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
|
||||
# impossible to get 3 matching versions, even if two models with shared parts are released at the same
|
||||
# time and only one is in our database.
|
||||
if addr[0] in FUZZY_EXCLUDE_ECUS:
|
||||
continue
|
||||
for f in fws:
|
||||
all_fw_versions[(addr[1], addr[2], f)].append(candidate)
|
||||
|
||||
matched_ecus = set()
|
||||
match: str | None = None
|
||||
for addr, versions in live_fw_versions.items():
|
||||
ecu_key = (addr[0], addr[1])
|
||||
for version in versions:
|
||||
# All cars that have this FW response on the specified address
|
||||
candidates = all_fw_versions[(*ecu_key, version)]
|
||||
|
||||
if len(candidates) == 1:
|
||||
matched_ecus.add(ecu_key)
|
||||
if match is None:
|
||||
match = candidates[0]
|
||||
# We uniquely matched two different cars. No fuzzy match possible
|
||||
elif match != candidates[0]:
|
||||
return set()
|
||||
|
||||
# Note that it is possible to match to a candidate without all its ECUs being present
|
||||
# if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
|
||||
if match and len(matched_ecus) >= 2:
|
||||
if log:
|
||||
carlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
|
||||
return {match}
|
||||
else:
|
||||
return set()
|
||||
|
||||
|
||||
def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, extra_fw_versions: dict = None) -> set[str]:
|
||||
"""Do an exact FW match. Returns all cars that match the given
|
||||
FW versions for a list of "essential" ECUs. If an ECU is not considered
|
||||
essential the FW version can be missing to get a fingerprint, but if it's present it
|
||||
needs to match the database."""
|
||||
if extra_fw_versions is None:
|
||||
extra_fw_versions = {}
|
||||
|
||||
invalid = set()
|
||||
candidates = {c: f for c, f in FW_VERSIONS.items() if
|
||||
is_brand(MODEL_TO_BRAND[c], match_brand)}
|
||||
|
||||
for candidate, fws in candidates.items():
|
||||
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
|
||||
for ecu, expected_versions in fws.items():
|
||||
expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, [])
|
||||
ecu_type = ecu[0]
|
||||
addr = ecu[1:]
|
||||
|
||||
found_versions = live_fw_versions.get(addr, set())
|
||||
if not len(found_versions):
|
||||
# Some models can sometimes miss an ecu, or show on two different addresses
|
||||
# FIXME: this logic can be improved to be more specific, should require one of the two addresses
|
||||
if candidate in config.non_essential_ecus.get(ecu_type, []):
|
||||
continue
|
||||
|
||||
# Ignore non essential ecus
|
||||
if ecu_type not in ESSENTIAL_ECUS:
|
||||
continue
|
||||
|
||||
# Virtual debug ecu doesn't need to match the database
|
||||
if ecu_type == Ecu.debug:
|
||||
continue
|
||||
|
||||
if not any(found_version in expected_versions for found_version in found_versions):
|
||||
invalid.add(candidate)
|
||||
break
|
||||
|
||||
return set(candidates.keys()) - invalid
|
||||
|
||||
|
||||
def match_fw_to_car(fw_versions: list[CarParams.CarFw], vin: str, allow_exact: bool = True,
|
||||
allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
|
||||
# Try exact matching first
|
||||
exact_matches: list[tuple[bool, MatchFwToCar]] = []
|
||||
if allow_exact:
|
||||
exact_matches = [(True, match_fw_to_car_exact)]
|
||||
if allow_fuzzy:
|
||||
exact_matches.append((False, match_fw_to_car_fuzzy))
|
||||
|
||||
for exact_match, match_func in exact_matches:
|
||||
# For each brand, attempt to fingerprint using all FW returned from its queries
|
||||
matches: set[str] = set()
|
||||
for brand in VERSIONS.keys():
|
||||
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
|
||||
matches |= match_func(fw_versions_dict, match_brand=brand, log=log)
|
||||
|
||||
# If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
|
||||
config = FW_QUERY_CONFIGS[brand]
|
||||
if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
|
||||
matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, vin, VERSIONS[brand])
|
||||
|
||||
if len(matches):
|
||||
return exact_match, matches
|
||||
|
||||
return True, set()
|
||||
|
||||
|
||||
def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
|
||||
# queries are split by OBD multiplexing mode
|
||||
queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
|
||||
parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
|
||||
responses: set[EcuAddrBusType] = set()
|
||||
|
||||
for brand, config, r in REQUESTS:
|
||||
# Skip query if no panda available
|
||||
if r.bus > num_pandas * 4 - 1:
|
||||
continue
|
||||
|
||||
for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]):
|
||||
# Only query ecus in whitelist if whitelist is not empty
|
||||
if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
|
||||
a = (addr, sub_addr, r.bus)
|
||||
# Build set of queries
|
||||
if sub_addr is None:
|
||||
if a not in parallel_queries[r.obd_multiplexing]:
|
||||
parallel_queries[r.obd_multiplexing].append(a)
|
||||
else: # subaddresses must be queried one by one
|
||||
if [a] not in queries[r.obd_multiplexing]:
|
||||
queries[r.obd_multiplexing].append([a])
|
||||
|
||||
# Build set of expected responses to filter
|
||||
response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
|
||||
responses.add((response_addr, sub_addr, r.bus))
|
||||
|
||||
for obd_multiplexing in queries:
|
||||
queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
|
||||
|
||||
ecu_responses = set()
|
||||
for obd_multiplexing in queries:
|
||||
set_obd_multiplexing(obd_multiplexing)
|
||||
for query in queries[obd_multiplexing]:
|
||||
ecu_responses.update(get_ecu_addrs(can_recv, can_send, set(query), responses, timeout=0.1))
|
||||
return ecu_responses
|
||||
|
||||
|
||||
def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, list[bool]]:
|
||||
"""Returns dictionary of brands and matches with ECUs in their FW versions"""
|
||||
|
||||
brand_rx_addrs = {brand: set() for brand in FW_QUERY_CONFIGS}
|
||||
brand_matches = {brand: [] for brand, _, _ in REQUESTS}
|
||||
|
||||
# Since we can't know what request an ecu responded to, add matches for all possible rx offsets
|
||||
for brand, config, r in REQUESTS:
|
||||
for ecu in config.get_all_ecus(VERSIONS[brand]):
|
||||
if len(r.whitelist_ecus) == 0 or ecu[0] in r.whitelist_ecus:
|
||||
brand_rx_addrs[brand].add((uds.get_rx_addr_for_tx_addr(ecu[1], r.rx_offset), ecu[2]))
|
||||
|
||||
for brand, addrs in brand_rx_addrs.items():
|
||||
for addr in addrs:
|
||||
# TODO: check bus from request as well
|
||||
brand_matches[brand].append(addr in [addr[:2] for addr in ecu_rx_addrs])
|
||||
|
||||
return brand_matches
|
||||
|
||||
|
||||
def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, vin: str,
|
||||
ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, progress: bool = False) -> list[CarParams.CarFw]:
|
||||
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
|
||||
|
||||
all_car_fw = []
|
||||
brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
|
||||
|
||||
# Sort brands by number of matching ECUs first, then percentage of matching ECUs in the database
|
||||
# This allows brands with only one ECU to be queried first (e.g. Tesla)
|
||||
for brand in sorted(brand_matches, key=lambda b: (brand_matches[b].count(True), brand_matches[b].count(True) / len(brand_matches[b])), reverse=True):
|
||||
# Skip this brand if there are no matching present ECUs
|
||||
if True not in brand_matches[brand]:
|
||||
continue
|
||||
|
||||
car_fw = get_fw_versions(can_recv, can_send, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, progress=progress)
|
||||
all_car_fw.extend(car_fw)
|
||||
|
||||
# If there is a match using this brand's FW alone, finish querying early
|
||||
_, matches = match_fw_to_car(car_fw, vin, log=False)
|
||||
if len(matches) == 1:
|
||||
break
|
||||
|
||||
return all_car_fw
|
||||
|
||||
|
||||
def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str = None,
|
||||
extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, progress: bool = False) -> list[CarParams.CarFw]:
|
||||
versions = VERSIONS.copy()
|
||||
|
||||
if query_brand is not None:
|
||||
versions = {query_brand: versions[query_brand]}
|
||||
|
||||
if extra is not None:
|
||||
versions.update(extra)
|
||||
|
||||
# Extract ECU addresses to query from fingerprints
|
||||
# ECUs using a subaddress need be queried one by one, the rest can be done in parallel
|
||||
addrs = []
|
||||
parallel_addrs = []
|
||||
ecu_types = {}
|
||||
|
||||
for brand, brand_versions in versions.items():
|
||||
config = FW_QUERY_CONFIGS[brand]
|
||||
for ecu_type, addr, sub_addr in config.get_all_ecus(brand_versions):
|
||||
a = (brand, addr, sub_addr)
|
||||
if a not in ecu_types:
|
||||
ecu_types[a] = ecu_type
|
||||
|
||||
if sub_addr is None:
|
||||
if a not in parallel_addrs:
|
||||
parallel_addrs.append(a)
|
||||
else:
|
||||
if [a] not in addrs:
|
||||
addrs.append([a])
|
||||
|
||||
addrs.insert(0, parallel_addrs)
|
||||
|
||||
# Get versions and build capnp list to put into CarParams
|
||||
car_fw = []
|
||||
requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)]
|
||||
for addr_group in tqdm(addrs, disable=not progress): # split by subaddr, if any
|
||||
for addr_chunk in chunks(addr_group):
|
||||
for brand, config, r in requests:
|
||||
# Skip query if no panda available
|
||||
if r.bus > num_pandas * 4 - 1:
|
||||
continue
|
||||
|
||||
# Toggle OBD multiplexing for each request
|
||||
if r.bus % 4 == 1:
|
||||
set_obd_multiplexing(r.obd_multiplexing)
|
||||
|
||||
try:
|
||||
query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
|
||||
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
|
||||
|
||||
if query_addrs:
|
||||
query = IsoTpParallelQuery(can_send, can_recv, r.bus, query_addrs, r.request, r.response, r.rx_offset)
|
||||
for (tx_addr, sub_addr), version in query.get_data(timeout).items():
|
||||
f = CarParams.CarFw()
|
||||
|
||||
f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
|
||||
f.fwVersion = version
|
||||
f.address = tx_addr
|
||||
f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
|
||||
f.request = r.request
|
||||
f.brand = brand
|
||||
f.bus = r.bus
|
||||
f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus
|
||||
f.obdMultiplexing = r.obd_multiplexing
|
||||
|
||||
if sub_addr is not None:
|
||||
f.subAddress = sub_addr
|
||||
|
||||
car_fw.append(f)
|
||||
except Exception:
|
||||
carlog.exception("FW query exception")
|
||||
|
||||
return car_fw
|
||||
0
opendbc_repo/opendbc/car/gm/__init__.py
Normal file
0
opendbc_repo/opendbc/car/gm/__init__.py
Normal file
332
opendbc_repo/opendbc/car/gm/carcontroller.py
Normal file
332
opendbc_repo/opendbc/car/gm/carcontroller.py
Normal file
@@ -0,0 +1,332 @@
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
|
||||
import numpy as np
|
||||
from opendbc.can.packer import CANPacker
|
||||
from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, structs, create_gas_interceptor_command
|
||||
from opendbc.car.gm import gmcan
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, AccState, CC_REGEN_PADDLE_CAR, CAR
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
|
||||
from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
|
||||
from openpilot.selfdrive.car.cruise import VCruiseCarrot
|
||||
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
NetworkLocation = structs.CarParams.NetworkLocation
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
|
||||
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
|
||||
CAMERA_CANCEL_DELAY_FRAMES = 10
|
||||
# Enforce a minimum interval between steering messages to avoid a fault
|
||||
MIN_STEER_MSG_INTERVAL_MS = 15
|
||||
|
||||
# constants for pitch compensation
|
||||
PITCH_DEADZONE = 0.01 # [radians] 0.01 ? 1% grade
|
||||
BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds
|
||||
BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch
|
||||
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_names, CP):
|
||||
super().__init__(dbc_names, CP)
|
||||
self.start_time = 0.
|
||||
self.apply_torque_last = 0
|
||||
self.apply_gas = 0
|
||||
self.apply_brake = 0
|
||||
self.apply_speed = 0 # kans: button spam
|
||||
self.frame = 0
|
||||
self.last_steer_frame = 0
|
||||
self.last_button_frame = 0
|
||||
self.cancel_counter = 0
|
||||
self.pedal_steady = 0.
|
||||
|
||||
self.lka_steering_cmd_counter = 0
|
||||
self.lka_icon_status_last = (False, False)
|
||||
|
||||
self.params = CarControllerParams(self.CP)
|
||||
self.params_ = Params() # kans: button spam
|
||||
|
||||
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint][Bus.pt])
|
||||
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint][Bus.radar])
|
||||
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint][Bus.chassis])
|
||||
|
||||
self.long_pitch = False
|
||||
self.use_ev_tables = False
|
||||
|
||||
self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz
|
||||
self.accel_g = 0.0
|
||||
# GM: AutoResume
|
||||
self.activateCruise_after_brake = False
|
||||
self.v_cruise_carrot = VCruiseCarrot(self.CP)
|
||||
|
||||
@staticmethod
|
||||
def calc_pedal_command(accel: float, long_active: bool, car_velocity) -> tuple[float, bool]:
|
||||
if not long_active: return 0., False
|
||||
press_regen_paddle = False
|
||||
|
||||
if accel < -0.3: #-0.15:
|
||||
press_regen_paddle = True
|
||||
pedal_gas = 0
|
||||
else:
|
||||
# pedaloffset = 0.24
|
||||
pedaloffset = np.interp(car_velocity, [0., 3, 6, 30], [0.08, 0.175, 0.240, 0.240])
|
||||
pedal_gas = np.clip((pedaloffset + accel * 0.6), 0.0, 1.0)
|
||||
|
||||
####for safety.
|
||||
pedal_gas_max = np.interp(car_velocity, [0.0, 5, 30], [0.21, 0.3175, 0.3525])
|
||||
pedal_gas = np.clip(pedal_gas, 0.0, pedal_gas_max)
|
||||
####for safety. end.
|
||||
|
||||
return pedal_gas, press_regen_paddle
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
|
||||
if self.frame % 50 == 0:
|
||||
params = Params()
|
||||
steerMax = params.get_int("CustomSteerMax")
|
||||
steerDeltaUp = params.get_int("CustomSteerDeltaUp")
|
||||
steerDeltaDown = params.get_int("CustomSteerDeltaDown")
|
||||
if steerMax > 0:
|
||||
self.params.STEER_MAX = steerMax
|
||||
if steerDeltaUp > 0:
|
||||
self.params.STEER_DELTA_UP = steerDeltaUp
|
||||
if steerDeltaDown > 0:
|
||||
self.params.STEER_DELTA_DOWN = steerDeltaDown
|
||||
self.long_pitch = Params().get_bool("LongPitch")
|
||||
self.use_ev_tables = Params().get_bool("EVTable")
|
||||
|
||||
actuators = CC.actuators
|
||||
accel = brake_accel = actuators.accel
|
||||
hud_control = CC.hudControl
|
||||
hud_alert = hud_control.visualAlert
|
||||
hud_v_cruise = hud_control.setSpeed
|
||||
if hud_v_cruise > 70:
|
||||
hud_v_cruise = 0
|
||||
|
||||
|
||||
# Send CAN commands.
|
||||
can_sends = []
|
||||
|
||||
# Steering (Active: 50Hz, inactive: 10Hz)
|
||||
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
# Also send at 50Hz:
|
||||
# - on startup, first few msgs are blocked
|
||||
# - until we're in sync with camera so counters align when relay closes, preventing a fault.
|
||||
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
|
||||
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
|
||||
if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
|
||||
steer_step = self.params.STEER_STEP
|
||||
|
||||
self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
|
||||
|
||||
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
|
||||
# received the ASCMLKASteeringCmd loopback confirmation too recently
|
||||
last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
|
||||
if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
|
||||
# Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
|
||||
if CS.loopback_lka_steering_cmd_ts_nanos == 0:
|
||||
self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
|
||||
|
||||
if CC.latActive:
|
||||
new_torque = int(round(actuators.torque * self.params.STEER_MAX))
|
||||
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
|
||||
else:
|
||||
apply_torque = 0
|
||||
|
||||
self.last_steer_frame = self.frame
|
||||
self.apply_torque_last = apply_torque
|
||||
idx = self.lka_steering_cmd_counter % 4
|
||||
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_torque, idx, CC.latActive))
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
|
||||
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT):
|
||||
button_counter = (CS.buttons_counter + 1) % 4
|
||||
# Auto Cruise
|
||||
if CS.out.activateCruise and not CS.out.cruiseState.enabled:
|
||||
self.activateCruise_after_brake = False # 오토크루즈가 되기 위해 브레이크 신호는 OFF여야 함.
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04: # 25Hz(40ms 버튼주기)
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, button_counter, CruiseButtons.DECEL_SET))
|
||||
|
||||
# GM: AutoResume
|
||||
elif actuators.longControlState == LongCtrlState.starting:
|
||||
if CS.out.cruiseState.enabled and not self.activateCruise_after_brake: #브레이크신호 한번만 보내기 위한 조건.
|
||||
idx = (self.frame // 4) % 4
|
||||
brake_force = -0.5 #롱컨캔슬을 위한 브레이크값(0.0 이하)
|
||||
apply_brake = self.brake_input(brake_force)
|
||||
# 브레이크신호 전송(롱컨 꺼짐)
|
||||
can_sends.append(gmcan.create_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx))
|
||||
Params().put_bool_nonblocking("ActivateCruiseAfterBrake", True) # cruise.py에 브레이크 ON신호 전달
|
||||
self.activateCruise_after_brake = True # 브레이크신호는 한번만 보내고 초기화
|
||||
else:
|
||||
auto_cruise_control = self.v_cruise_carrot.autoCruiseControl
|
||||
if (CS.out.activateCruise or auto_cruise_control > 0) and \
|
||||
not CS.out.cruiseState.enabled:
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
|
||||
|
||||
# Gas/regen, brakes, and UI commands - all at 25Hz
|
||||
if self.frame % 4 == 0:
|
||||
# GM: softHold
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping or CS.out.softHoldActive > 0
|
||||
|
||||
# Pitch compensated acceleration;
|
||||
# TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
|
||||
if self.long_pitch and len(CC.orientationNED) > 1:
|
||||
self.pitch.update(CC.orientationNED[1])
|
||||
self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
|
||||
accel += self.accel_g
|
||||
brake_accel = actuators.accel + self.accel_g * np.interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
|
||||
|
||||
at_full_stop = CC.longActive and CS.out.standstill
|
||||
near_stop = CC.longActive and (abs(CS.out.vEgo) < self.params.NEAR_STOP_BRAKE_PHASE)
|
||||
interceptor_gas_cmd = 0
|
||||
press_regen_paddle = False
|
||||
if not CC.longActive:
|
||||
# ASCM sends max regen when not enabled
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
self.apply_brake = 0
|
||||
elif near_stop and stopping and not CC.cruiseControl.resume:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
|
||||
press_regen_paddle = False
|
||||
else:
|
||||
# Normal operation
|
||||
if self.CP.carFingerprint in EV_CAR and self.use_ev_tables:
|
||||
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
|
||||
self.apply_gas = int(round(np.interp(accel if self.long_pitch else actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(np.interp(brake_accel if self.long_pitch else actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
else:
|
||||
self.apply_gas = int(round(np.interp(accel if self.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(np.interp(brake_accel if self.long_pitch else actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
# Don't allow any gas above inactive regen while stopping
|
||||
# FIXME: brakes aren't applied immediately when enabling at a stop
|
||||
if stopping:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
if self.CP.carFingerprint in CC_ONLY_CAR:
|
||||
# gas interceptor only used for full long control on cars without ACC
|
||||
interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
|
||||
|
||||
if self.CP.enableGasInterceptorDEPRECATED and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
|
||||
# "Tap" the accelerator pedal to re-engage ACC
|
||||
interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS
|
||||
self.apply_brake = 0
|
||||
press_regen_paddle = False
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
|
||||
idx = (self.frame // 4) % 4
|
||||
|
||||
if self.CP.flags & GMFlags.CC_LONG.value:
|
||||
if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed:
|
||||
# Using extend instead of append since the message is only sent intermittently
|
||||
can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators))
|
||||
if self.CP.enableGasInterceptorDEPRECATED:
|
||||
can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
|
||||
if self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and press_regen_paddle:
|
||||
can_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN))
|
||||
if self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
at_full_stop = CC.longActive and CS.out.standstill
|
||||
near_stop = CC.longActive and (abs(CS.out.vEgo) < self.params.NEAR_STOP_BRAKE_PHASE)
|
||||
friction_brake_bus = CanBus.CHASSIS
|
||||
# GM Camera exceptions
|
||||
# TODO: can we always check the longControlState?
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
at_full_stop = at_full_stop and stopping
|
||||
friction_brake_bus = CanBus.POWERTRAIN
|
||||
|
||||
|
||||
if self.CP.autoResumeSng:
|
||||
resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
|
||||
at_full_stop = at_full_stop and not resume
|
||||
|
||||
if CC.cruiseControl.resume and CS.pcm_acc_status == AccState.STANDSTILL:
|
||||
acc_engaged = False
|
||||
else:
|
||||
acc_engaged = CC.enabled
|
||||
|
||||
if actuators.longControlState in [LongCtrlState.stopping, LongCtrlState.starting]:
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.RES_ACCEL))
|
||||
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
|
||||
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop))
|
||||
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
|
||||
idx, CC.enabled, near_stop, at_full_stop, self.CP))
|
||||
|
||||
# Send dashboard UI commands (ACC status)
|
||||
send_fcw = hud_alert == VisualAlert.fcw
|
||||
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
|
||||
hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
|
||||
else:
|
||||
# to keep accel steady for logs when not sending gas
|
||||
accel += self.accel_g
|
||||
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (10hz)
|
||||
if not self.CP.radarUnavailable:
|
||||
tt = self.frame * DT_CTRL
|
||||
time_and_headlights_step = 10
|
||||
if self.frame % time_and_headlights_step == 0:
|
||||
idx = (self.frame // time_and_headlights_step) % 4
|
||||
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
||||
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
|
||||
|
||||
speed_and_accelerometer_step = 2
|
||||
if self.frame % speed_and_accelerometer_step == 0:
|
||||
idx = (self.frame // speed_and_accelerometer_step) % 4
|
||||
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
||||
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, abs(CS.out.vEgo), idx))
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
|
||||
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
||||
|
||||
# TODO: integrate this with the code block below?
|
||||
if (
|
||||
(self.CP.flags & GMFlags.PEDAL_LONG.value) # Always cancel stock CC when using pedal interceptor
|
||||
or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled) # Cancel stock CC if OP is not active
|
||||
) and CS.out.cruiseState.enabled:
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
|
||||
|
||||
else:
|
||||
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
|
||||
# A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
|
||||
self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
|
||||
|
||||
# Stock longitudinal, integrated at camera
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
|
||||
if self.frame % 10 == 0:
|
||||
can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
|
||||
|
||||
new_actuators = actuators.as_builder()
|
||||
new_actuators.accel = accel
|
||||
new_actuators.torque = self.apply_torque_last / self.params.STEER_MAX
|
||||
new_actuators.torqueOutputCan = self.apply_torque_last
|
||||
new_actuators.gas = self.apply_gas
|
||||
new_actuators.brake = self.apply_brake
|
||||
new_actuators.speed = self.apply_speed # kans: button spam
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
# GM: AutoResume
|
||||
def brake_input(self, brake_force):
|
||||
MAX_BRAKE = 400
|
||||
ZERO_GAS = 0.0
|
||||
|
||||
if brake_force > 0.0:
|
||||
raise ValueError("brake_force는 0.0이하라야 됨.")
|
||||
|
||||
scaled_brake = max(0, min(MAX_BRAKE, int(brake_force * -100))) # -를 +로 변환
|
||||
return -scaled_brake
|
||||
228
opendbc_repo/opendbc/car/gm/carstate.py
Normal file
228
opendbc_repo/opendbc/car/gm/carstate.py
Normal file
@@ -0,0 +1,228 @@
|
||||
import copy
|
||||
from opendbc.can import CANDefine, CANParser
|
||||
from cereal import car
|
||||
from openpilot.common.params import Params #kans
|
||||
import numpy as np
|
||||
from opendbc.car import Bus, create_button_events, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, CAR, DBC, CanBus, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
TransmissionType = structs.CarParams.TransmissionType
|
||||
NetworkLocation = structs.CarParams.NetworkLocation
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
|
||||
|
||||
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
|
||||
CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel,
|
||||
CruiseButtons.GAP_DIST: ButtonType.gapAdjustCruise}
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
|
||||
self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
|
||||
self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
|
||||
self.cluster_min_speed = CV.KPH_TO_MS / 2.
|
||||
|
||||
self.loopback_lka_steering_cmd_updated = False
|
||||
self.loopback_lka_steering_cmd_ts_nanos = 0
|
||||
self.pt_lka_steering_cmd_counter = 0
|
||||
self.cam_lka_steering_cmd_counter = 0
|
||||
self.is_metric = False
|
||||
|
||||
self.buttons_counter = 0
|
||||
self.single_pedal_mode = False
|
||||
self.pedal_steady = 0.
|
||||
self.cruise_buttons = 0
|
||||
# GAP_DIST
|
||||
self.distance_button = 0
|
||||
|
||||
# cruiseMain default(test from nd0706-vision)
|
||||
self.cruiseMain_on = True if Params().get_int("AutoEngage") == 2 else False
|
||||
|
||||
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
|
||||
if not self.CP.pcmCruise:
|
||||
for b in buttonEvents:
|
||||
# The ECM allows enabling on falling edge of set, but only rising edge of resume
|
||||
if (b.type == ButtonType.accelCruise and b.pressed) or \
|
||||
(b.type == ButtonType.decelCruise and not b.pressed):
|
||||
return True
|
||||
return False
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
pt_cp = can_parsers[Bus.pt]
|
||||
cam_cp = can_parsers[Bus.cam]
|
||||
loopback_cp = can_parsers[Bus.loopback]
|
||||
|
||||
ret = structs.CarState()
|
||||
|
||||
prev_cruise_buttons = self.cruise_buttons
|
||||
prev_distance_button = self.distance_button
|
||||
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
|
||||
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
|
||||
# GAP_DIST
|
||||
if self.cruise_buttons in [CruiseButtons.UNPRESS, CruiseButtons.INIT] and self.distance_button:
|
||||
self.cruise_buttons = CruiseButtons.GAP_DIST
|
||||
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
|
||||
# Variables used for avoiding LKAS faults
|
||||
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
|
||||
if self.loopback_lka_steering_cmd_updated:
|
||||
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
|
||||
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
|
||||
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
|
||||
# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
|
||||
left_whl_sign = -1 if pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2 else 1
|
||||
right_whl_sign = -1 if pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2 else 1
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
left_whl_sign * pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
|
||||
right_whl_sign * pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
|
||||
left_whl_sign * pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
|
||||
right_whl_sign * pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
|
||||
)
|
||||
ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
# sample rear wheel speeds, standstill=True if ECM allows engagement with brake
|
||||
ret.standstill = abs(ret.wheelSpeeds.rl) <= STANDSTILL_THRESHOLD and abs(ret.wheelSpeeds.rr) <= STANDSTILL_THRESHOLD
|
||||
|
||||
if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
|
||||
ret.gearShifter = self.parse_gear_shifter("T")
|
||||
else:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
|
||||
|
||||
if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
|
||||
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
|
||||
else:
|
||||
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
|
||||
else:
|
||||
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
|
||||
# that the brake is being intermittently pressed without user interaction.
|
||||
# To avoid a cruise fault we need to use a conservative brake position threshold
|
||||
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
|
||||
ret.brakePressed = ret.brake >= 10
|
||||
|
||||
# Regen braking is braking
|
||||
if self.CP.transmissionType == TransmissionType.direct:
|
||||
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
|
||||
self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1
|
||||
|
||||
if self.CP.enableGasInterceptorDEPRECATED:
|
||||
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
|
||||
threshold = 20 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
|
||||
ret.gasPressed = ret.gas > threshold
|
||||
else:
|
||||
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
|
||||
ret.gasPressed = ret.gas > 1e-5
|
||||
|
||||
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
|
||||
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
|
||||
ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
|
||||
ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
|
||||
|
||||
# 0 inactive, 1 active, 2 temporarily limited, 3 failed
|
||||
self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
|
||||
ret.steerFaultTemporary = self.lkas_status == 2
|
||||
ret.steerFaultPermanent = self.lkas_status == 3
|
||||
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
|
||||
|
||||
# 1 - latched
|
||||
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
|
||||
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
|
||||
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
|
||||
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
|
||||
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
|
||||
self.cruiseMain_on = ret.cruiseState.available
|
||||
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
|
||||
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
|
||||
pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
|
||||
|
||||
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
|
||||
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
|
||||
# kans: avoid to accFault
|
||||
if self.CP.carFingerprint not in CAR.CHEVROLET_VOLT:
|
||||
ret.cruiseState.standstill = False
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
|
||||
if self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
|
||||
ret.stockAeb = False
|
||||
# openpilot controls nonAdaptive when not pcmCruise
|
||||
if self.CP.pcmCruise and self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
|
||||
if self.CP.carFingerprint in CC_ONLY_CAR:
|
||||
ret.accFaulted = False
|
||||
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
|
||||
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
|
||||
prev_lkas_enabled = self.lkas_enabled
|
||||
self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
|
||||
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
|
||||
if self.CP.carFingerprint in (CAR.CHEVROLET_TRAX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAILBLAZER_CC):
|
||||
ret.vCluRatio = 0.96
|
||||
elif self.CP.flags & GMFlags.SPEED_RELATED_MSG.value:
|
||||
# kans: use cluster speed & vCluRatio(longitudialPlanner)
|
||||
self.is_metric = Params().get_bool("IsMetric")
|
||||
speed_conv = CV.MPH_TO_MS if self.is_metric else CV.KPH_TO_MS
|
||||
cluSpeed = pt_cp.vl["SPEED_RELATED"]["ClusterSpeed"]
|
||||
ret.vEgoCluster = cluSpeed * speed_conv
|
||||
vEgoClu, aEgoClu = self.update_clu_speed_kf(ret.vEgoCluster)
|
||||
if self.CP.carFingerprint in CAR.CHEVROLET_VOLT:
|
||||
ret.vCluRatio = 1.0 #(ret.vEgo / vEgoClu) if (vEgoClu > 3. and ret.vEgo > 3.) else 1.0
|
||||
else:
|
||||
ret.vCluRatio = 0.96
|
||||
|
||||
# Don't add event if transitioning from INIT, unless it's to an actual button
|
||||
if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
|
||||
ret.buttonEvents = [
|
||||
*create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
|
||||
unpressed_btn=CruiseButtons.UNPRESS),
|
||||
*create_button_events(self.distance_button, prev_distance_button,
|
||||
{1: ButtonType.gapAdjustCruise}),
|
||||
*create_button_events(self.lkas_enabled, prev_lkas_enabled,
|
||||
{1: ButtonType.lkas})
|
||||
]
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers(CP):
|
||||
pt_messages = []
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
pt_messages += [
|
||||
("ASCMLKASteeringCmd", float('nan')),
|
||||
]
|
||||
if CP.transmissionType == TransmissionType.direct:
|
||||
pt_messages += [
|
||||
("EBCMRegenPaddle", 50),
|
||||
("EVDriveMode", float('nan')),
|
||||
]
|
||||
loopback_messages = [
|
||||
("ASCMLKASteeringCmd", float('nan')),
|
||||
]
|
||||
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus.POWERTRAIN),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.CAMERA),
|
||||
Bus.loopback: CANParser(DBC[CP.carFingerprint][Bus.pt], loopback_messages, CanBus.LOOPBACK),
|
||||
}
|
||||
|
||||
216
opendbc_repo/opendbc/car/gm/fingerprints.py
Normal file
216
opendbc_repo/opendbc/car/gm/fingerprints.py
Normal file
@@ -0,0 +1,216 @@
|
||||
# ruff: noqa: E501
|
||||
from opendbc.car.gm.values import CAR
|
||||
|
||||
# Trailblazer also matches as a SILVERADO, TODO: split with fw versions
|
||||
# FIXME: There are Equinox users with different message lengths, specifically 304 and 320
|
||||
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.CADILLAC_CT6_ACC: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 4, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 7, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 4, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 8, 1924: 8, 1927: 8, 1928: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
CAR.HOLDEN_ASTRA: [{
|
||||
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT: [{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
|
||||
},
|
||||
{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
|
||||
},
|
||||
{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
|
||||
},
|
||||
# Volt Premier 2017 w/ flashed firmware, cam harness + pedal
|
||||
{
|
||||
189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
|
||||
},
|
||||
# jfkoz
|
||||
{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
|
||||
}],
|
||||
CAR.BUICK_LACROSSE: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT_CC: [
|
||||
# FIXME: Need a message to distinguish flashed from non-flashed
|
||||
# Volt Premier w/o acc 2016
|
||||
# {
|
||||
# 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
|
||||
# },
|
||||
# {
|
||||
# 201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
|
||||
# },
|
||||
# # Volt Premier w/o ACC 2018 + Pedal
|
||||
# {
|
||||
# 189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
|
||||
# }
|
||||
],
|
||||
CAR.BUICK_REGAL: [{
|
||||
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.CADILLAC_ATS: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.GMC_ACADIA: [{
|
||||
190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
|
||||
},
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.CADILLAC_ESCALADE: [{
|
||||
170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
CAR.CADILLAC_ESCALADE_ESV: [{
|
||||
309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
|
||||
}],
|
||||
CAR.CADILLAC_ESCALADE_ESV_2019: [{
|
||||
715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
|
||||
}],
|
||||
CAR.CHEVROLET_BOLT_EUV: [{
|
||||
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
}],
|
||||
CAR.CHEVROLET_BOLT_CC: [
|
||||
# Bolt Premier w/o ACC 2017
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
|
||||
},
|
||||
# Bolt Premier no ACC 2018 + Pedal
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8
|
||||
},
|
||||
# Bolt Premier no ACC 2019 + Pedal
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
|
||||
},
|
||||
# Bolt Premier no ACC 2020
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
|
||||
},
|
||||
# Bolt Premier no ACC 2020 2
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
|
||||
},
|
||||
# Bolt Premier no ACC 2020 w pedal
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
|
||||
},
|
||||
# Bolt EV Premier 2017
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
|
||||
},
|
||||
# Bolt EV Premier 2017 w Pedal
|
||||
{ # pylint: disable=duplicate-key
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 # pylint: disable=duplicate-key # noqa: F601
|
||||
},
|
||||
# Bolt EV Premier 2017 2 w Pedal
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
|
||||
},
|
||||
# Bolt EV Premier no ACC 2023
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1601: 8, 1616: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
|
||||
},
|
||||
# Bolt EV Premier no ACC 2021
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
|
||||
},
|
||||
# shermy99's Bolt EV Premier no ACC 2023
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513:6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1609: 8, 1613: 8, 1616: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1920: 8, 1922: 7, 1924: 8, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
|
||||
}],
|
||||
CAR.CHEVROLET_SILVERADO: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
}],
|
||||
CAR.CHEVROLET_EQUINOX: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
},
|
||||
{
|
||||
190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
|
||||
}],
|
||||
CAR.CHEVROLET_EQUINOX_CC: [
|
||||
# lem's 2020 Equinox, LKAS no ACC
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 444: 7, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1273: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1611: 8, 1618: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1930: 7
|
||||
}],
|
||||
# Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
|
||||
# TODO: split with FW versions
|
||||
# CAR.TRAILBLAZER: [
|
||||
# {
|
||||
# 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
|
||||
# }],
|
||||
CAR.CHEVROLET_SUBURBAN: [
|
||||
# Chevy Suburban Premier 2019 w Stock ACC no camera
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8
|
||||
},
|
||||
# Chevy Suburban Premier 2019 w Stock ACC (72 ver)
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1355: 8
|
||||
},
|
||||
# Chevy Suburban Premier 2019 w Stock ACC (70 ver)
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8
|
||||
}],
|
||||
CAR.CHEVROLET_SUBURBAN_CC: [
|
||||
# Slav's 2018 Suburban, LKAS no ACC
|
||||
{
|
||||
170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7
|
||||
}],
|
||||
CAR.GMC_YUKON_CC: [
|
||||
# greeninja's 2017 Yukon
|
||||
{
|
||||
193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 510: 8, 532: 6, 562: 8, 563: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8
|
||||
}],
|
||||
CAR.CADILLAC_CT6_CC: [
|
||||
# badgers4life's 2017 CT6
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 4, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 7, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 4, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 8, 1924: 8, 1927: 8, 1928: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
CAR.CHEVROLET_TRAILBLAZER_CC: [
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 4, 730: 4, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU_CC: [
|
||||
# Verylukyguy's Malibu
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 409: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 730: 4, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 6, 1189: 1, 1195: 3, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
|
||||
}],
|
||||
CAR.CADILLAC_XT5_CC: [
|
||||
# TRain's 2017 XT5
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
|
||||
}],
|
||||
CAR.CADILLAC_XT4: [
|
||||
# Cadillac XT4 w/ ACC 2023
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT_2019: [
|
||||
{
|
||||
170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
|
||||
}],
|
||||
CAR.CHEVROLET_TRAVERSE: [
|
||||
# Chevy Traverse w/ ACC 2023
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.BUICK_BABYENCLAVE: [
|
||||
# Buick Baby Enclave w/ ACC 2020-23
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
|
||||
}],
|
||||
CAR.CHEVROLET_TRAX: [
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
|
||||
}],
|
||||
CAR.GMC_YUKON: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1355: 8, 1611: 8
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
|
||||
}
|
||||
239
opendbc_repo/opendbc/car/gm/gmcan.py
Normal file
239
opendbc_repo/opendbc/car/gm/gmcan.py
Normal file
@@ -0,0 +1,239 @@
|
||||
from opendbc.car import DT_CTRL
|
||||
from opendbc.car.can_definitions import CanData
|
||||
from opendbc.car.gm.values import CAR, CruiseButtons, CanBus
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
|
||||
# GM: AutoResume: brake signal to CAN
|
||||
def create_brake_command(packer, bus, apply_brake, idx):
|
||||
mode = 0xA if apply_brake > 0 else 0x1
|
||||
brake = (0x1000 - apply_brake) & 0xFFF
|
||||
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xFFFF
|
||||
|
||||
values = {
|
||||
"RollingCounter": idx,
|
||||
"FrictionBrakeMode": mode,
|
||||
"FrictionBrakeChecksum": checksum,
|
||||
"FrictionBrakeCmd": -apply_brake
|
||||
}
|
||||
|
||||
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
|
||||
|
||||
def create_buttons(packer, bus, idx, button):
|
||||
values = {
|
||||
"ACCButtons": button,
|
||||
"RollingCounter": idx,
|
||||
"ACCAlwaysOne": 1,
|
||||
"DistanceButton": 0,
|
||||
}
|
||||
|
||||
checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
|
||||
checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
|
||||
checksum -= int(values["ACCButtons"] - 1) << 4 # not correct if value is 0
|
||||
checksum -= 2 * values["DistanceButton"]
|
||||
|
||||
values["SteeringButtonChecksum"] = checksum
|
||||
return packer.make_can_msg("ASCMSteeringButton", bus, values)
|
||||
|
||||
|
||||
def create_pscm_status(packer, bus, pscm_status):
|
||||
values = {s: pscm_status[s] for s in [
|
||||
"HandsOffSWDetectionMode",
|
||||
"HandsOffSWlDetectionStatus",
|
||||
"LKATorqueDeliveredStatus",
|
||||
"LKADriverAppldTrq",
|
||||
"LKATorqueDelivered",
|
||||
"LKATotalTorqueDelivered",
|
||||
"RollingCounter",
|
||||
"PSCMStatusChecksum",
|
||||
]}
|
||||
checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5
|
||||
values["HandsOffSWlDetectionStatus"] = 1
|
||||
values["PSCMStatusChecksum"] += checksum_mod
|
||||
return packer.make_can_msg("PSCMStatus", bus, values)
|
||||
|
||||
|
||||
def create_steering_control(packer, bus, apply_torque, idx, lkas_active):
|
||||
values = {
|
||||
"LKASteeringCmdActive": lkas_active,
|
||||
"LKASteeringCmd": apply_torque,
|
||||
"RollingCounter": idx,
|
||||
"LKASteeringCmdChecksum": 0x1000 - (lkas_active << 11) - (apply_torque & 0x7ff) - idx
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
|
||||
|
||||
|
||||
def create_adas_keepalive(bus):
|
||||
dat = b"\x00\x00\x00\x00\x00\x00\x00"
|
||||
return [CanData(0x409, dat, bus), CanData(0x40a, dat, bus)]
|
||||
|
||||
|
||||
def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
|
||||
values = {
|
||||
"GasRegenCmdActive": enabled,
|
||||
"RollingCounter": idx,
|
||||
"GasRegenCmd": throttle,
|
||||
"GasRegenFullStopActive": at_full_stop,
|
||||
"GasRegenAccType": 1,
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
|
||||
values["GasRegenChecksum"] = ((1 - enabled) << 24) | \
|
||||
(((0xff - dat[1]) & 0xff) << 16) | \
|
||||
(((0xff - dat[2]) & 0xff) << 8) | \
|
||||
((0x100 - dat[3] - idx) & 0xff)
|
||||
|
||||
return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
|
||||
|
||||
|
||||
def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
|
||||
mode = 0x1
|
||||
|
||||
# TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
|
||||
if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
|
||||
mode = 0x9
|
||||
|
||||
if apply_brake > 0:
|
||||
mode = 0xa
|
||||
if at_full_stop:
|
||||
mode = 0xd
|
||||
|
||||
# TODO: this is to have GM bringing the car to complete stop,
|
||||
# but currently it conflicts with OP controls, so turned off. Not set by all cars
|
||||
#elif near_stop:
|
||||
# mode = 0xb
|
||||
|
||||
apply_brake = max(0, min(0xFFF, apply_brake))
|
||||
brake = (0x1000 - apply_brake) & 0xfff
|
||||
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
|
||||
|
||||
values = {
|
||||
"RollingCounter": idx,
|
||||
"FrictionBrakeMode": mode,
|
||||
"FrictionBrakeChecksum": checksum,
|
||||
"FrictionBrakeCmd": (0x1000 - apply_brake) & 0xfff,
|
||||
}
|
||||
|
||||
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
|
||||
|
||||
|
||||
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
|
||||
target_speed = min(target_speed_kph, 255)
|
||||
|
||||
values = {
|
||||
"ACCAlwaysOne": 1,
|
||||
"ACCResumeButton": 0,
|
||||
"ACCSpeedSetpoint": target_speed,
|
||||
"ACCGapLevel": hud_control.leadDistanceBars * enabled, # 3 "far", 0 "inactive"
|
||||
"ACCCmdActive": enabled,
|
||||
"ACCAlwaysOne2": 1,
|
||||
"ACCLeadCar": hud_control.leadVisible,
|
||||
"FCWAlert": 0x3 if fcw else 0
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
|
||||
|
||||
|
||||
def create_adas_time_status(bus, tt, idx):
|
||||
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
|
||||
((tt & 0xf) << 4) + (idx << 2)]
|
||||
chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
|
||||
chksum = chksum & 0xfff
|
||||
dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
|
||||
return CanData(0xa1, bytes(dat), bus)
|
||||
|
||||
|
||||
def create_adas_steering_status(bus, idx):
|
||||
dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
|
||||
chksum = 0x60 + sum(dat)
|
||||
dat += [chksum >> 8, chksum & 0xff]
|
||||
return CanData(0x306, bytes(dat), bus)
|
||||
|
||||
|
||||
def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
|
||||
spd = int(speed_ms * 16) & 0xfff
|
||||
accel = 0 & 0xfff
|
||||
# 0 if in park/neutral, 0x10 if in reverse, 0x08 for D/L
|
||||
#stick = 0x08
|
||||
near_range_cutoff = 0x27
|
||||
near_range_mode = 1 if spd <= near_range_cutoff else 0
|
||||
far_range_mode = 1 - near_range_mode
|
||||
dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0]
|
||||
chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4]
|
||||
dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
|
||||
return CanData(0x308, bytes(dat), bus)
|
||||
|
||||
|
||||
def create_adas_headlights_status(packer, bus):
|
||||
values = {
|
||||
"Always42": 0x42,
|
||||
"Always4": 0x4,
|
||||
}
|
||||
return packer.make_can_msg("ASCMHeadlight", bus, values)
|
||||
|
||||
|
||||
def create_lka_icon_command(bus, active, critical, steer):
|
||||
if active and steer == 1:
|
||||
if critical:
|
||||
dat = b"\x50\xc0\x14"
|
||||
else:
|
||||
dat = b"\x50\x40\x18"
|
||||
elif active:
|
||||
if critical:
|
||||
dat = b"\x40\xc0\x14"
|
||||
else:
|
||||
dat = b"\x40\x40\x18"
|
||||
else:
|
||||
dat = b"\x00\x00\x00"
|
||||
return CanData(0x104c006c, dat, bus)
|
||||
|
||||
def create_regen_paddle_command(packer, bus):
|
||||
values = {
|
||||
"RegenPaddle": 0x20, #이 값은 패들의 강도일 가능성이 있음.
|
||||
}
|
||||
return packer.make_can_msg("EBCMRegenPaddle", bus, values)
|
||||
|
||||
def create_gm_cc_spam_command(packer, controller, CS, actuators):
|
||||
if controller.params_.get_bool("IsMetric"):
|
||||
_CV = CV.MS_TO_KPH
|
||||
RATE_UP_MAX = 0.04
|
||||
RATE_DOWN_MAX = 0.04
|
||||
else:
|
||||
_CV = CV.MS_TO_MPH
|
||||
RATE_UP_MAX = 0.2
|
||||
RATE_DOWN_MAX = 0.2
|
||||
|
||||
accel = actuators.accel * _CV # m/s/s to mph/s
|
||||
speedSetPoint = int(round(CS.out.cruiseState.speed * _CV))
|
||||
|
||||
cruiseBtn = CruiseButtons.INIT
|
||||
if speedSetPoint == CS.CP.minEnableSpeed and accel < -1:
|
||||
cruiseBtn = CruiseButtons.CANCEL
|
||||
controller.apply_speed = 0
|
||||
rate = 0.04
|
||||
elif accel < 0:
|
||||
cruiseBtn = CruiseButtons.DECEL_SET
|
||||
if speedSetPoint > (CS.out.vEgo * _CV) + 3.0: # If accel is changing directions, bring set speed to current speed as fast as possible
|
||||
rate = RATE_DOWN_MAX
|
||||
else:
|
||||
rate = max(-1 / accel, RATE_DOWN_MAX)
|
||||
controller.apply_speed = speedSetPoint - 1
|
||||
elif accel > 0:
|
||||
cruiseBtn = CruiseButtons.RES_ACCEL
|
||||
if speedSetPoint < (CS.out.vEgo * _CV) - 3.0:
|
||||
rate = RATE_UP_MAX
|
||||
else:
|
||||
rate = max(1 / accel, RATE_UP_MAX)
|
||||
controller.apply_speed = speedSetPoint + 1
|
||||
else:
|
||||
controller.apply_speed = speedSetPoint
|
||||
rate = float('inf')
|
||||
|
||||
# Check rlogs closely - our message shouldn't show up on the pt bus for us
|
||||
# Or bus 2, since we're forwarding... but I think it does
|
||||
if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
|
||||
controller.last_button_frame = controller.frame
|
||||
idx = (CS.buttons_counter + 1) % 4 # Need to predict the next idx for '22-23 EUV
|
||||
return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
|
||||
else:
|
||||
return []
|
||||
402
opendbc_repo/opendbc/car/gm/interface.py
Normal file
402
opendbc_repo/opendbc/car/gm/interface.py
Normal file
@@ -0,0 +1,402 @@
|
||||
#!/usr/bin/env python3
|
||||
import json
|
||||
import os
|
||||
from cereal import car
|
||||
from math import fabs, exp
|
||||
from openpilot.common.params import Params
|
||||
from opendbc.car import get_safety_config, get_friction, structs
|
||||
from opendbc.car.common.basedir import BASEDIR
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.gm.carcontroller import CarController
|
||||
from opendbc.car.gm.carstate import CarState
|
||||
from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG
|
||||
from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, CruiseButtons, GMSafetyFlags, ALT_ACCS
|
||||
from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
|
||||
|
||||
#ButtonType = structs.CarState.ButtonEvent.Type 이 두 줄도 사용되지 않습니다.
|
||||
#GearShifter = structs.CarState.GearShifter
|
||||
TransmissionType = structs.CarParams.TransmissionType
|
||||
NetworkLocation = structs.CarParams.NetworkLocation
|
||||
|
||||
CAM_MSG = 0x320 # AEBCmd
|
||||
# TODO: Is this always linked to camera presence?
|
||||
ACCELERATOR_POS_MSG = 0xbe
|
||||
|
||||
NON_LINEAR_TORQUE_PARAMS = {
|
||||
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
# CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
CAR.CHEVROLET_BOLT_CC: [1.8, 1.1, 0.3, -0.045],
|
||||
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
|
||||
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
|
||||
}
|
||||
|
||||
NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/neural_ff_weights.json')
|
||||
|
||||
PEDAL_MSG = 0x201
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
@staticmethod
|
||||
def get_pid_accel_limits(CP, current_speed, cruise_speed):
|
||||
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
|
||||
|
||||
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
|
||||
@staticmethod
|
||||
def get_steer_feedforward_volt(desired_angle, v_ego):
|
||||
desired_angle *= 0.02904609
|
||||
sigmoid = desired_angle / (1 + fabs(desired_angle))
|
||||
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
|
||||
|
||||
def get_steer_feedforward_function(self):
|
||||
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
|
||||
return self.get_steer_feedforward_volt
|
||||
else:
|
||||
return CarInterfaceBase.get_steer_feedforward_default
|
||||
|
||||
def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
|
||||
lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
|
||||
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
|
||||
|
||||
def sig(val):
|
||||
# https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
|
||||
if val >= 0:
|
||||
return 1 / (1 + exp(-val)) - 0.5
|
||||
else:
|
||||
z = exp(val)
|
||||
return z / (1 + z) - 0.5
|
||||
|
||||
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
|
||||
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
|
||||
# This has big effect on the stability about 0 (noise when going straight)
|
||||
# ToDo: To generalize to other GMs, explore tanh function as the nonlinear
|
||||
non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
|
||||
assert non_linear_torque_params, "The params are not defined"
|
||||
a, b, c, _ = non_linear_torque_params
|
||||
steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
|
||||
return float(steer_torque) + friction
|
||||
|
||||
def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning,
|
||||
lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
|
||||
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
|
||||
inputs = list(latcontrol_inputs)
|
||||
if gravity_adjusted:
|
||||
inputs[0] += inputs[1]
|
||||
return float(self.neural_ff_model.predict(inputs)) + friction
|
||||
|
||||
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
|
||||
with open(NEURAL_PARAMS_PATH) as f:
|
||||
neural_ff_cars = json.load(f).keys()
|
||||
if self.CP.carFingerprint in neural_ff_cars:
|
||||
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
|
||||
return self.torque_from_lateral_accel_neural
|
||||
elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
|
||||
return self.torque_from_lateral_accel_siglin
|
||||
else:
|
||||
return self.torque_from_lateral_accel_linear
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
ret.brand = "gm"
|
||||
if Params().get_bool("UseRedPanda"):
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput),get_safety_config(structs.CarParams.SafetyModel.gm)]
|
||||
else:
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
|
||||
ret.autoResumeSng = False
|
||||
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN] or 0x142 in fingerprint[CanBus.CAMERA]
|
||||
ret.startAccel = 1.0
|
||||
ret.radarTimeStep = 0.067
|
||||
ret.alternativeExperience = 0
|
||||
|
||||
useEVTables = Params().get_bool("EVTable")
|
||||
|
||||
if PEDAL_MSG in fingerprint[0]:
|
||||
ret.enableGasInterceptorDEPRECATED = True
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.GAS_INTERCEPTOR.value
|
||||
|
||||
if candidate in EV_CAR:
|
||||
ret.transmissionType = TransmissionType.direct
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
|
||||
ret.longitudinalTuning.kpBP = [0.]
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
|
||||
if candidate in (CAMERA_ACC_CAR | SDGM_CAR):
|
||||
ret.alphaLongitudinalAvailable = candidate not in SDGM_CAR
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.radarUnavailable = True # no radar
|
||||
ret.pcmCruise = True
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
|
||||
ret.minEnableSpeed = -1 * CV.KPH_TO_MS
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
|
||||
# Tuning for experimental long
|
||||
ret.longitudinalTuning.kiV = [1.7]
|
||||
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
|
||||
ret.vEgoStopping = 0.5
|
||||
ret.vEgoStarting = 0.4
|
||||
ret.stopAccel = -0.4
|
||||
ret.startingState = True
|
||||
ret.startAccel = 1.0
|
||||
|
||||
if alpha_long:
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value
|
||||
|
||||
if candidate in ALT_ACCS:
|
||||
ret.alphaLongitudinalAvailable = False
|
||||
ret.openpilotLongitudinalControl = False
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by PCM
|
||||
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.radarUnavailable = False # kans
|
||||
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
|
||||
# supports stop and go, but initial engage must (conservatively) be above 18mph
|
||||
ret.minEnableSpeed = -1 * CV.MPH_TO_MS
|
||||
ret.minSteerSpeed = (6.7 if useEVTables else 7) * CV.MPH_TO_MS
|
||||
|
||||
# Tuning
|
||||
ret.longitudinalTuning.kpV = [1.0]
|
||||
ret.longitudinalTuning.kiV = [0.3]
|
||||
|
||||
if ret.enableGasInterceptorDEPRECATED:
|
||||
# Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_ASCM_LONG.value
|
||||
|
||||
# These cars have been put into dashcam only due to both a lack of users and test coverage.
|
||||
# These cars likely still work fine. Once a user confirms each car works and a test route is
|
||||
# added to opendbc/car/tests/routes.py, we can remove it from this list.
|
||||
# ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
|
||||
# (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
|
||||
|
||||
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
|
||||
ret.steerActuatorDelay = 0.28 # Default delay, not measured yet
|
||||
|
||||
ret.steerLimitTimer = 0.4
|
||||
ret.longitudinalActuatorDelay = Params().get_float("LongActuatorDelay")*0.01 # 0.5 # large delay to initially start braking
|
||||
|
||||
if candidate == CAR.CHEVROLET_VOLT:
|
||||
ret.steerActuatorDelay = 0.45 if useEVTables else 0.3
|
||||
ret.longitudinalTuning.kpBP = [0.]
|
||||
ret.longitudinalTuning.kpV = [1.0]
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [.35]
|
||||
ret.longitudinalTuning.kf = 1.0
|
||||
ret.stoppingDecelRate = 0.2 # brake_travel/s while trying to stop
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.15
|
||||
ret.stopAccel = -0.5
|
||||
ret.startingState = True
|
||||
ret.startAccel = 1.9
|
||||
|
||||
# softer long tune for ev table
|
||||
if useEVTables:
|
||||
ret.longitudinalTuning.kpBP = [0.]
|
||||
ret.longitudinalTuning.kpV = [1.0]
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [.35]
|
||||
ret.longitudinalTuning.kf = 1.0
|
||||
ret.stoppingDecelRate = 1.0 # brake_travel/s while trying to stop
|
||||
ret.stopAccel = -0.5
|
||||
ret.startAccel = 0.6
|
||||
|
||||
useTorque = Params().get_bool("LateralTorqueCustom")
|
||||
if useTorque:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
else:
|
||||
ret.lateralTuning.pid.kpBP = [0., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 0.17]
|
||||
ret.lateralTuning.pid.kiBP = [0.]
|
||||
ret.lateralTuning.pid.kiV = [0.]
|
||||
ret.lateralTuning.pid.kf = 1.
|
||||
|
||||
elif candidate == CAR.CADILLAC_CT6_ACC:
|
||||
ret.steerActuatorDelay = 0.3
|
||||
ret.longitudinalTuning.kpBP = [0.]
|
||||
ret.longitudinalTuning.kpV = [1.0]
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [.3]
|
||||
ret.longitudinalTuning.kf = 1.0
|
||||
ret.stoppingDecelRate = 0.2 # brake_travel/s while trying to stop
|
||||
ret.stopAccel = -0.5
|
||||
ret.startingState = True
|
||||
ret.startAccel = 1.5
|
||||
|
||||
useTorque = Params().get_bool("LateralTorqueCustom")
|
||||
if useTorque:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
else:
|
||||
ret.lateralTuning.pid.kpBP = [0., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 0.17]
|
||||
ret.lateralTuning.pid.kiBP = [0.]
|
||||
ret.lateralTuning.pid.kiV = [0.]
|
||||
ret.lateralTuning.pid.kf = 1.
|
||||
|
||||
elif candidate == CAR.GMC_ACADIA:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.CHEVROLET_MALIBU, CAR.CHEVROLET_MALIBU_CC):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BUICK_LACROSSE:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_ESCALADE:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
|
||||
if candidate == CAR.CADILLAC_ESCALADE_ESV:
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
|
||||
ret.lateralTuning.pid.kf = 0.000045
|
||||
else:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
if ret.enableGasInterceptorDEPRECATED:
|
||||
# ACC Bolts use pedal for full longitudinal control, not just sng
|
||||
ret.flags |= GMFlags.PEDAL_LONG.value
|
||||
|
||||
elif candidate == CAR.CHEVROLET_SILVERADO:
|
||||
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
|
||||
# with foot on brake to allow engagement, but this platform only has that check in the camera.
|
||||
# TODO: check if this is split by EV/ICE with more platforms in the future
|
||||
if ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1.
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAILBLAZER_CC):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_CC):
|
||||
ret.steerActuatorDelay = 0.075
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.GMC_YUKON_CC:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT4:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
elif candidate == CAR.CHEVROLET_VOLT_2019:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT5_CC:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAVERSE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BUICK_BABYENCLAVE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_CT6_CC:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_MALIBU_CC:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAX:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
ret.stoppingDecelRate = 0.3
|
||||
ret.minEnableSpeed = -1.
|
||||
ret.stopAccel = -0.5
|
||||
ret.startingState = True
|
||||
ret.startAccel = 1.0
|
||||
elif candidate == CAR.CHEVROLET_TRAVERSE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.GMC_YUKON:
|
||||
ret.steerActuatorDelay = 0.5
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
ret.dashcamOnly = True # Needs steerRatio, tireStiffness, and lat accel factor tuning
|
||||
|
||||
if ret.enableGasInterceptorDEPRECATED:
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
|
||||
ret.minEnableSpeed = -1
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.autoResumeSng = True
|
||||
|
||||
if candidate in CC_ONLY_CAR:
|
||||
ret.flags |= GMFlags.PEDAL_LONG.value
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.PEDAL_LONG.value
|
||||
# Note: Low speed, stop and go not tested. Should be fairly smooth on highway
|
||||
ret.longitudinalTuning.kpBP = [0., 3., 6., 35.]
|
||||
ret.longitudinalTuning.kpV = [0.08, 0.175, 0.225, 0.33]
|
||||
ret.longitudinalTuning.kiBP = [0., 35.0]
|
||||
ret.longitudinalTuning.kiV = [0.07, 0.07]
|
||||
ret.longitudinalTuning.kf = 0.25
|
||||
ret.stoppingDecelRate = 0.8
|
||||
else: # Pedal used for SNG, ACC for longitudinal control otherwise
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value
|
||||
ret.startingState = True
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
|
||||
elif candidate in CC_ONLY_CAR:
|
||||
ret.flags |= GMFlags.CC_LONG.value
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.CC_LONG.value
|
||||
if alpha_long:
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.flags |= GMFlags.CC_LONG.value
|
||||
ret.radarUnavailable = True
|
||||
ret.alphaLongitudinalAvailable = True
|
||||
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
|
||||
ret.pcmCruise = True
|
||||
|
||||
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
|
||||
|
||||
ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.]
|
||||
ret.longitudinalTuning.kiV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed
|
||||
|
||||
if candidate in CC_ONLY_CAR:
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.NO_ACC.value
|
||||
|
||||
# Exception for flashed cars, or cars whose camera was removed
|
||||
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[
|
||||
CanBus.CAMERA] and not candidate in SDGM_CAR:
|
||||
ret.flags |= GMFlags.NO_CAMERA.value
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.NO_CAMERA.value
|
||||
|
||||
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
||||
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
|
||||
|
||||
if 608 in fingerprint[CanBus.POWERTRAIN]:
|
||||
ret.flags |= GMFlags.SPEED_RELATED_MSG.value
|
||||
|
||||
|
||||
return ret
|
||||
100
opendbc_repo/opendbc/car/gm/radar_interface.py
Executable file
100
opendbc_repo/opendbc/car/gm/radar_interface.py
Executable file
@@ -0,0 +1,100 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.gm.values import DBC, CanBus
|
||||
from opendbc.car.interfaces import RadarInterfaceBase
|
||||
|
||||
RADAR_HEADER_MSG = 1120
|
||||
SLOT_1_MSG = RADAR_HEADER_MSG + 1
|
||||
NUM_SLOTS = 20
|
||||
|
||||
# Actually it's 0x47f, but can parser only reports
|
||||
# messages that are present in DBC
|
||||
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
|
||||
|
||||
|
||||
def create_radar_can_parser(car_fingerprint):
|
||||
# C1A-ARS3-A by Continental
|
||||
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
|
||||
signals = list(zip(['FLRRNumValidTargets',
|
||||
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
|
||||
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
|
||||
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
|
||||
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
|
||||
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
|
||||
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
|
||||
[RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True))
|
||||
|
||||
messages = list({(s[1], 14) for s in signals})
|
||||
|
||||
return CANParser(DBC[car_fingerprint][Bus.radar], messages, CanBus.OBSTACLE)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
|
||||
self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
|
||||
|
||||
self.trigger_msg = LAST_RADAR_MSG
|
||||
self.updated_messages = set()
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.rcp is None:
|
||||
return super().update(None)
|
||||
|
||||
vls = self.rcp.update(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
if self.trigger_msg not in self.updated_messages:
|
||||
return None
|
||||
|
||||
ret = structs.RadarData()
|
||||
header = self.rcp.vl[RADAR_HEADER_MSG]
|
||||
fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
|
||||
header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
|
||||
header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
|
||||
if not self.rcp.can_valid:
|
||||
ret.errors.canError = True
|
||||
if fault:
|
||||
ret.errors.radarFault = True
|
||||
|
||||
currentTargets = set()
|
||||
num_targets = header['FLRRNumValidTargets']
|
||||
|
||||
# Not all radar messages describe targets,
|
||||
# no need to monitor all of the self.rcp.msgs_upd
|
||||
for ii in self.updated_messages:
|
||||
if ii == RADAR_HEADER_MSG:
|
||||
continue
|
||||
|
||||
if num_targets == 0:
|
||||
break
|
||||
|
||||
cpt = self.rcp.vl[ii]
|
||||
# Zero distance means it's an empty target slot
|
||||
if cpt['TrkRange'] > 0.0:
|
||||
targetId = cpt['TrkObjectID']
|
||||
currentTargets.add(targetId)
|
||||
if targetId not in self.pts:
|
||||
self.pts[targetId] = structs.RadarData.RadarPoint()
|
||||
self.pts[targetId].trackId = targetId
|
||||
distance = cpt['TrkRange']
|
||||
self.pts[targetId].dRel = distance # from front of car
|
||||
# From driver's pov, left is positive
|
||||
self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance
|
||||
self.pts[targetId].vRel = cpt['TrkRangeRate']
|
||||
self.pts[targetId].vLead = self.pts[targetId].vRel + self.v_ego
|
||||
self.pts[targetId].aRel = float('nan')
|
||||
self.pts[targetId].yvRel = 0# float('nan')
|
||||
self.pts[targetId].measured = True
|
||||
|
||||
for oldTarget in list(self.pts.keys()):
|
||||
if oldTarget not in currentTargets:
|
||||
del self.pts[oldTarget]
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
self.updated_messages.clear()
|
||||
return ret
|
||||
0
opendbc_repo/opendbc/car/gm/tests/__init__.py
Normal file
0
opendbc_repo/opendbc/car/gm/tests/__init__.py
Normal file
20
opendbc_repo/opendbc/car/gm/tests/test_gm.py
Normal file
20
opendbc_repo/opendbc/car/gm/tests/test_gm.py
Normal file
@@ -0,0 +1,20 @@
|
||||
from parameterized import parameterized
|
||||
|
||||
from opendbc.car.gm.fingerprints import FINGERPRINTS
|
||||
from opendbc.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
|
||||
|
||||
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
|
||||
|
||||
|
||||
class TestGMFingerprint:
|
||||
@parameterized.expand(FINGERPRINTS.items())
|
||||
def test_can_fingerprints(self, car_model, fingerprints):
|
||||
assert len(fingerprints) > 0
|
||||
|
||||
assert all(len(finger) for finger in fingerprints)
|
||||
|
||||
# The camera can sometimes be communicating on startup
|
||||
if car_model in CAMERA_ACC_CAR:
|
||||
for finger in fingerprints:
|
||||
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
|
||||
assert finger.get(required_addr) == 8, required_addr
|
||||
388
opendbc_repo/opendbc/car/gm/values.py
Normal file
388
opendbc_repo/opendbc/car/gm/values.py
Normal file
@@ -0,0 +1,388 @@
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum, IntFlag
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.system.hardware import PC
|
||||
import numpy as np
|
||||
from opendbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
|
||||
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
|
||||
STEER_STEP = 4 # Active control frames per command (~33hz)
|
||||
INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
|
||||
STEER_DELTA_UP = 5 # Delta rates require review due to observed EPS weakness
|
||||
STEER_DELTA_DOWN = 7
|
||||
STEER_DRIVER_ALLOWANCE = 65
|
||||
STEER_DRIVER_MULTIPLIER = 4
|
||||
STEER_DRIVER_FACTOR = 100
|
||||
NEAR_STOP_BRAKE_PHASE = 0.4
|
||||
SNG_INTERCEPTOR_GAS = 18. / 255.
|
||||
SNG_TIME = 30 # frames until the above is reached
|
||||
|
||||
# Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
|
||||
ADAS_KEEPALIVE_STEP = 100
|
||||
CAMERA_KEEPALIVE_STEP = 100
|
||||
|
||||
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
|
||||
# perform the closed loop control, and might need some
|
||||
# to apply some more braking if we're on a downhill slope.
|
||||
# Our controller should still keep the 2 second average above
|
||||
# -3.5 m/s^2 as per planner limits
|
||||
ACCEL_MAX = 2. # m/s^2
|
||||
ACCEL_MIN = -4. # m/s^2
|
||||
|
||||
def __init__(self, CP):
|
||||
# Gas/brake lookups
|
||||
self.ZERO_GAS = 0.0 # Coasting
|
||||
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
|
||||
|
||||
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR:
|
||||
self.MAX_GAS = 1346.0
|
||||
self.MAX_ACC_REGEN = -540.0
|
||||
self.INACTIVE_REGEN = -500.0
|
||||
# Camera ACC vehicles have no regen while enabled.
|
||||
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
|
||||
max_regen_acceleration = 0.
|
||||
|
||||
else:
|
||||
self.MAX_GAS = 1018.0 # Safety limit, not ACC max. Stock ACC >2042 from standstill.
|
||||
self.MAX_ACC_REGEN = -650.0 # Max ACC regen is slightly less than max paddle regen
|
||||
self.INACTIVE_REGEN = -650.0
|
||||
# ICE has much less engine braking force compared to regen in EVs,
|
||||
# lower threshold removes some braking deadzone
|
||||
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
|
||||
|
||||
self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
|
||||
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
|
||||
|
||||
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
|
||||
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
|
||||
|
||||
# determined by letting Volt regen to a stop in L gear from 89mph,
|
||||
# and by letting off gas and allowing car to creep, for determining
|
||||
# the positive threshold values at very low speed
|
||||
EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
|
||||
EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.905, -1.14, -1.16, -1.175] # [m/s^s]
|
||||
|
||||
def update_ev_gas_brake_threshold(self, v_ego):
|
||||
gas_brake_threshold = np.interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
|
||||
self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
|
||||
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
|
||||
|
||||
|
||||
class GMSafetyFlags(IntFlag):
|
||||
HW_CAM = 1
|
||||
HW_CAM_LONG = 2
|
||||
CC_LONG = 4
|
||||
NO_CAMERA = 8
|
||||
HW_ASCM_LONG = 16
|
||||
NO_ACC = 32
|
||||
PEDAL_LONG = 64 # TODO: This can be inferred
|
||||
GAS_INTERCEPTOR = 128
|
||||
EV = 256
|
||||
|
||||
@dataclass
|
||||
class GMCarDocs(CarDocs):
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
|
||||
def init_make(self, CP: CarParams):
|
||||
if CP.networkLocation == CarParams.NetworkLocation.fwdCamera:
|
||||
self.car_parts = CarParts.common([CarHarness.gm])
|
||||
else:
|
||||
self.car_parts = CarParts.common([CarHarness.obd_ii])
|
||||
|
||||
|
||||
@dataclass(frozen=True, kw_only=True)
|
||||
class GMCarSpecs(CarSpecs):
|
||||
tireStiffnessFactor: float = 0.444 # not optimized yet
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMPlatformConfig(PlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: {
|
||||
Bus.pt: 'gm_global_a_powertrain_volt',
|
||||
Bus.radar: 'gm_global_a_object',
|
||||
Bus.chassis: 'gm_global_a_chassis',
|
||||
})
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMASCMPlatformConfig(GMPlatformConfig):
|
||||
def init(self):
|
||||
# ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
|
||||
#self.car_docs = []
|
||||
pass
|
||||
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
HOLDEN_ASTRA = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Holden Astra 2017")],
|
||||
GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_VOLT = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.55, tireStiffnessFactor=0.469, minEnableSpeed=-1),
|
||||
)
|
||||
CADILLAC_ATS = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
|
||||
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
|
||||
)
|
||||
CHEVROLET_MALIBU = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu Premier 2017")],
|
||||
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
GMC_ACADIA = GMASCMPlatformConfig(
|
||||
[GMCarDocs("GMC Acadia 2018", video="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
|
||||
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
BUICK_LACROSSE = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
|
||||
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
BUICK_REGAL = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Buick Regal Essence 2018")],
|
||||
GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CADILLAC_ESCALADE = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
|
||||
GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
|
||||
)
|
||||
CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
|
||||
)
|
||||
CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
CADILLAC_ESCALADE_ESV.specs,
|
||||
)
|
||||
CHEVROLET_BOLT_EUV = GMPlatformConfig(
|
||||
[
|
||||
GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
|
||||
GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
|
||||
],
|
||||
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
CHEVROLET_SILVERADO = GMPlatformConfig(
|
||||
[
|
||||
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
|
||||
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video="https://youtu.be/5HbNoBLzRwE"),
|
||||
],
|
||||
GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
|
||||
)
|
||||
CHEVROLET_EQUINOX = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Equinox 2019-22")],
|
||||
GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_TRAILBLAZER = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
|
||||
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
CADILLAC_XT4 = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
|
||||
CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_VOLT_2019 = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2019", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
|
||||
)
|
||||
CHEVROLET_TRAVERSE = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
|
||||
CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
|
||||
)
|
||||
# Separate car def is required when there is no ASCM
|
||||
# (for now) unless there is a way to detect it when it has been unplugged...
|
||||
CHEVROLET_VOLT_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt LT 2017-18")],
|
||||
CHEVROLET_VOLT.specs,
|
||||
)
|
||||
CHEVROLET_BOLT_CC = GMPlatformConfig(
|
||||
[
|
||||
GMCarDocs("Chevrolet Bolt EUV 2022-23 - No-ACC"),
|
||||
GMCarDocs("Chevrolet Bolt EV 2017-23 - No-ACC"),
|
||||
],
|
||||
CHEVROLET_BOLT_EUV.specs,
|
||||
)
|
||||
CHEVROLET_EQUINOX_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Equinox NO ACC 2019-22")],
|
||||
CHEVROLET_EQUINOX.specs,
|
||||
)
|
||||
CHEVROLET_SUBURBAN = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Suburban Premier 2016-20")],
|
||||
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
|
||||
)
|
||||
CHEVROLET_SUBURBAN_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Suburban 2016-20")],
|
||||
CHEVROLET_SUBURBAN.specs,
|
||||
)
|
||||
GMC_YUKON_CC = GMPlatformConfig(
|
||||
[GMCarDocs("GMC Yukon No ACC")],
|
||||
CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
|
||||
)
|
||||
CADILLAC_CT6_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac CT6 No ACC")],
|
||||
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Trailblazer NO ACC 2021-22")],
|
||||
CHEVROLET_TRAILBLAZER.specs,
|
||||
)
|
||||
CHEVROLET_MALIBU_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu No ACC")],
|
||||
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
CADILLAC_XT5_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT5 No ACC")],
|
||||
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
|
||||
)
|
||||
BUICK_BABYENCLAVE = GMPlatformConfig(
|
||||
[GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")],
|
||||
CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
|
||||
)
|
||||
CHEVROLET_TRAX = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet TRAX 2024")],
|
||||
CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.1, centerToFrontRatio=0.7),
|
||||
)
|
||||
CADILLAC_CT6_ACC = GMPlatformConfig(
|
||||
[GMCarDocs("CT6-2019 Advanced ACC", "Adaptive Cruise Control (ACC)")],
|
||||
GMCarSpecs(mass=1736, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
|
||||
)
|
||||
GMC_YUKON = GMPlatformConfig(
|
||||
[GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
|
||||
)
|
||||
|
||||
|
||||
class CruiseButtons:
|
||||
INIT = 0
|
||||
UNPRESS = 1
|
||||
RES_ACCEL = 2
|
||||
DECEL_SET = 3
|
||||
MAIN = 5
|
||||
CANCEL = 6
|
||||
GAP_DIST = 7
|
||||
|
||||
class AccState:
|
||||
OFF = 0
|
||||
ACTIVE = 1
|
||||
STANDBY = 2
|
||||
FAULTED = 3
|
||||
STANDSTILL = 4
|
||||
|
||||
class CanBus:
|
||||
POWERTRAIN = 0
|
||||
OBSTACLE = 1
|
||||
CAMERA = 2
|
||||
CHASSIS = 2
|
||||
LOOPBACK = 128
|
||||
DROPPED = 192
|
||||
|
||||
@staticmethod
|
||||
def checkPanda():
|
||||
if Params().get_bool("UseRedPanda"):
|
||||
CanBus.POWERTRAIN = 0 + 4
|
||||
CanBus.OBSTACLE = 1 + 4
|
||||
CanBus.CAMERA = 2 + 4
|
||||
CanBus.CHASSIS = 2 + 4
|
||||
CanBus.LOOPBACK = 128 + 4
|
||||
CanBus.DROPPED = 192 + 4
|
||||
print("Using External Panda")
|
||||
else:
|
||||
CanBus.POWERTRAIN = 0
|
||||
CanBus.OBSTACLE = 1
|
||||
CanBus.CAMERA = 2
|
||||
CanBus.CHASSIS = 2 + 4
|
||||
CanBus.LOOPBACK = 128
|
||||
CanBus.DROPPED = 192
|
||||
print("Using Internal Panda")
|
||||
|
||||
if not PC:
|
||||
CanBus.checkPanda()
|
||||
|
||||
class GMFlags(IntFlag):
|
||||
PEDAL_LONG = 1
|
||||
CC_LONG = 2
|
||||
NO_CAMERA = 4
|
||||
NO_ACCELERATOR_POS_MSG = 8
|
||||
SPEED_RELATED_MSG = 16
|
||||
|
||||
|
||||
# In a Data Module, an identifier is a string used to recognize an object,
|
||||
# either by itself or together with the identifiers of parent objects.
|
||||
# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
|
||||
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0' # likely does not contain anything useful
|
||||
GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
|
||||
GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
|
||||
GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
|
||||
|
||||
# Part number of XML data file that is used to configure ECU
|
||||
GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c'
|
||||
GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b' # used to know if XML file is compatible with the ECU software/hardware
|
||||
|
||||
# This DID is for identifying the part number that reflects the mix of hardware,
|
||||
# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
|
||||
# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
|
||||
GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
|
||||
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb'
|
||||
GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
|
||||
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc'
|
||||
GM_FW_RESPONSE = b'\x5a'
|
||||
|
||||
GM_FW_REQUESTS = [
|
||||
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST,
|
||||
GM_SOFTWARE_MODULE_1_REQUEST,
|
||||
GM_SOFTWARE_MODULE_2_REQUEST,
|
||||
GM_SOFTWARE_MODULE_3_REQUEST,
|
||||
GM_XML_DATA_FILE_PART_NUMBER,
|
||||
GM_XML_CONFIG_COMPAT_ID,
|
||||
GM_END_MODEL_PART_NUMBER_REQUEST,
|
||||
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
|
||||
GM_BASE_MODEL_PART_NUMBER_REQUEST,
|
||||
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
|
||||
]
|
||||
|
||||
GM_RX_OFFSET = 0x400
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[request for req in GM_FW_REQUESTS for request in [
|
||||
Request(
|
||||
[StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
|
||||
[StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
|
||||
rx_offset=GM_RX_OFFSET,
|
||||
bus=0,
|
||||
logging=True,
|
||||
),
|
||||
]],
|
||||
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
|
||||
)
|
||||
|
||||
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
|
||||
CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
|
||||
CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC}
|
||||
# We're integrated at the Safety Data Gateway Module on these cars
|
||||
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
|
||||
CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})
|
||||
# CAMERA_ACC_CAR.update(CC_ONLY_CAR)
|
||||
# Alt ASCMActiveCruiseControlStatus
|
||||
ALT_ACCS = {CAR.GMC_YUKON}
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
if __name__ == "__main__":
|
||||
cars = []
|
||||
for platform in CAR:
|
||||
for doc in platform.config.car_docs:
|
||||
cars.append(doc.name)
|
||||
cars.sort()
|
||||
for c in cars:
|
||||
print(c)
|
||||
0
opendbc_repo/opendbc/car/honda/__init__.py
Normal file
0
opendbc_repo/opendbc/car/honda/__init__.py
Normal file
266
opendbc_repo/opendbc/car/honda/carcontroller.py
Normal file
266
opendbc_repo/opendbc/car/honda/carcontroller.py
Normal file
@@ -0,0 +1,266 @@
|
||||
import numpy as np
|
||||
from collections import namedtuple
|
||||
|
||||
from opendbc.can import CANPacker
|
||||
from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
|
||||
from opendbc.car.honda import hondacan
|
||||
from opendbc.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
|
||||
from opendbc.car.interfaces import CarControllerBase
|
||||
|
||||
from openpilot.common.params import Params
|
||||
|
||||
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
|
||||
|
||||
def compute_gb_honda_bosch(accel, speed):
|
||||
# TODO returns 0s, is unused
|
||||
return 0.0, 0.0
|
||||
|
||||
|
||||
def compute_gb_honda_nidec(accel, speed):
|
||||
creep_brake = 0.0
|
||||
creep_speed = 2.3
|
||||
creep_brake_value = 0.15
|
||||
if speed < creep_speed:
|
||||
creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
|
||||
gb = float(accel) / 4.8 - creep_brake
|
||||
return np.clip(gb, 0.0, 1.0), np.clip(-gb, 0.0, 1.0)
|
||||
|
||||
|
||||
def compute_gas_brake(accel, speed, fingerprint):
|
||||
if fingerprint in HONDA_BOSCH:
|
||||
return compute_gb_honda_bosch(accel, speed)
|
||||
else:
|
||||
return compute_gb_honda_nidec(accel, speed)
|
||||
|
||||
|
||||
# TODO not clear this does anything useful
|
||||
def actuator_hysteresis(brake, braking, brake_steady, v_ego, car_fingerprint):
|
||||
# hyst params
|
||||
brake_hyst_on = 0.02 # to activate brakes exceed this value
|
||||
brake_hyst_off = 0.005 # to deactivate brakes below this value
|
||||
brake_hyst_gap = 0.01 # don't change brake command for small oscillations within this value
|
||||
|
||||
# *** hysteresis logic to avoid brake blinking. go above 0.1 to trigger
|
||||
if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
|
||||
brake = 0.
|
||||
braking = brake > 0.
|
||||
|
||||
# for small brake oscillations within brake_hyst_gap, don't change the brake command
|
||||
if brake == 0.:
|
||||
brake_steady = 0.
|
||||
elif brake > brake_steady + brake_hyst_gap:
|
||||
brake_steady = brake - brake_hyst_gap
|
||||
elif brake < brake_steady - brake_hyst_gap:
|
||||
brake_steady = brake + brake_hyst_gap
|
||||
brake = brake_steady
|
||||
|
||||
return brake, braking, brake_steady
|
||||
|
||||
|
||||
def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts, ts):
|
||||
pump_on = False
|
||||
|
||||
# reset pump timer if:
|
||||
# - there is an increment in brake request
|
||||
# - we are applying steady state brakes and we haven't been running the pump
|
||||
# for more than 20s (to prevent pressure bleeding)
|
||||
if apply_brake > apply_brake_last or (ts - last_pump_ts > 20. and apply_brake > 0):
|
||||
last_pump_ts = ts
|
||||
|
||||
# once the pump is on, run it for at least 0.2s
|
||||
if ts - last_pump_ts < 0.2 and apply_brake > 0:
|
||||
pump_on = True
|
||||
|
||||
return pump_on, last_pump_ts
|
||||
|
||||
|
||||
def process_hud_alert(hud_alert):
|
||||
# initialize to no alert
|
||||
fcw_display = 0
|
||||
steer_required = 0
|
||||
acc_alert = 0
|
||||
|
||||
# priority is: FCW, steer required, all others
|
||||
if hud_alert == VisualAlert.fcw:
|
||||
fcw_display = VISUAL_HUD[hud_alert.raw]
|
||||
elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
|
||||
steer_required = VISUAL_HUD[hud_alert.raw]
|
||||
else:
|
||||
acc_alert = VISUAL_HUD[hud_alert.raw]
|
||||
|
||||
return fcw_display, steer_required, acc_alert
|
||||
|
||||
|
||||
HUDData = namedtuple("HUDData",
|
||||
["pcm_accel", "v_cruise", "lead_visible",
|
||||
"lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars"])
|
||||
|
||||
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_names, CP):
|
||||
super().__init__(dbc_names, CP)
|
||||
self.packer = CANPacker(dbc_names[Bus.pt])
|
||||
self.params = CarControllerParams(CP)
|
||||
self.CAN = hondacan.CanBus(CP)
|
||||
|
||||
self.braking = False
|
||||
self.brake_steady = 0.
|
||||
self.brake_last = 0.
|
||||
self.apply_brake_last = 0
|
||||
self.last_pump_ts = 0.
|
||||
self.stopping_counter = 0
|
||||
|
||||
self.accel = 0.0
|
||||
self.speed = 0.0
|
||||
self.gas = 0.0
|
||||
self.brake = 0.0
|
||||
self.last_torque = 0.0
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
|
||||
if self.frame % 50 == 0:
|
||||
params = Params()
|
||||
steerMax = params.get_int("CustomSteerMax")
|
||||
steerDeltaUp = params.get_int("CustomSteerDeltaUp")
|
||||
steerDeltaDown = params.get_int("CustomSteerDeltaDown")
|
||||
if steerMax > 0:
|
||||
self.params.STEER_MAX = steerMax
|
||||
self.params.STEER_LOOKUP_BP = [0, steerMax]
|
||||
self.params.STEER_LOOKUP_V = [0, steerMax]
|
||||
if steerDeltaUp > 0:
|
||||
self.params.STEER_DELTA_UP = steerDeltaUp
|
||||
if steerDeltaDown > 0:
|
||||
self.params.STEER_DELTA_DOWN = steerDeltaDown
|
||||
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
|
||||
hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
|
||||
pcm_cancel_cmd = CC.cruiseControl.cancel
|
||||
|
||||
if CC.longActive:
|
||||
accel = actuators.accel
|
||||
gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, self.CP.carFingerprint)
|
||||
else:
|
||||
accel = 0.0
|
||||
gas, brake = 0.0, 0.0
|
||||
|
||||
# *** rate limit steer ***
|
||||
limited_torque = rate_limit(actuators.torque, self.last_torque, -self.params.STEER_DELTA_DOWN * DT_CTRL,
|
||||
self.params.STEER_DELTA_UP * DT_CTRL)
|
||||
self.last_torque = limited_torque
|
||||
|
||||
# *** apply brake hysteresis ***
|
||||
pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady,
|
||||
CS.out.vEgo, self.CP.carFingerprint)
|
||||
|
||||
# *** rate limit after the enable check ***
|
||||
self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
|
||||
|
||||
# vehicle hud display, wait for one update from 10Hz 0x304 msg
|
||||
fcw_display, steer_required, acc_alert = process_hud_alert(hud_control.visualAlert)
|
||||
|
||||
# **** process the car messages ****
|
||||
|
||||
# steer torque is converted back to CAN reference (positive when steering right)
|
||||
apply_torque = int(np.interp(-limited_torque * self.params.STEER_MAX,
|
||||
self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
|
||||
|
||||
# Send CAN commands
|
||||
can_sends = []
|
||||
|
||||
# tester present - w/ no response (keeps radar disabled)
|
||||
if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
|
||||
if self.frame % 10 == 0:
|
||||
can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True))
|
||||
|
||||
# Send steering command.
|
||||
can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive))
|
||||
|
||||
# wind brake from air resistance decel at high speed
|
||||
wind_brake = np.interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
|
||||
# all of this is only relevant for HONDA NIDEC
|
||||
max_accel = np.interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V)
|
||||
# TODO this 1.44 is just to maintain previous behavior
|
||||
pcm_speed_BP = [-wind_brake,
|
||||
-wind_brake * (3 / 4),
|
||||
0.0,
|
||||
0.5]
|
||||
# The Honda ODYSSEY seems to have different PCM_ACCEL
|
||||
# msgs, is it other cars too?
|
||||
if not CC.longActive:
|
||||
pcm_speed = 0.0
|
||||
pcm_accel = int(0.0)
|
||||
elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
|
||||
pcm_speed_V = [0.0,
|
||||
np.clip(CS.out.vEgo - 3.0, 0.0, 100.0),
|
||||
np.clip(CS.out.vEgo + 0.0, 0.0, 100.0),
|
||||
np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
|
||||
pcm_speed = float(np.interp(gas - brake, pcm_speed_BP, pcm_speed_V))
|
||||
pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX)
|
||||
else:
|
||||
pcm_speed_V = [0.0,
|
||||
np.clip(CS.out.vEgo - 2.0, 0.0, 100.0),
|
||||
np.clip(CS.out.vEgo + 2.0, 0.0, 100.0),
|
||||
np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
|
||||
pcm_speed = float(np.interp(gas - brake, pcm_speed_BP, pcm_speed_V))
|
||||
pcm_accel = int(np.clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX)
|
||||
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message
|
||||
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN))
|
||||
# If using stock ACC, spam cancel command to kill gas when OP disengages.
|
||||
if pcm_cancel_cmd:
|
||||
can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
|
||||
elif CC.cruiseControl.resume:
|
||||
can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
|
||||
|
||||
else:
|
||||
# Send gas and brake commands.
|
||||
if self.frame % 2 == 0:
|
||||
ts = self.frame * DT_CTRL
|
||||
|
||||
if self.CP.carFingerprint in HONDA_BOSCH:
|
||||
self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
|
||||
self.gas = float(np.interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
|
||||
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
|
||||
can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
|
||||
self.stopping_counter, self.CP.carFingerprint))
|
||||
else:
|
||||
apply_brake = np.clip(self.brake_last - wind_brake, 0.0, 1.0)
|
||||
apply_brake = int(np.clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
|
||||
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
|
||||
|
||||
pcm_override = True
|
||||
can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
|
||||
pcm_override, pcm_cancel_cmd, fcw_display,
|
||||
self.CP.carFingerprint, CS.stock_brake))
|
||||
self.apply_brake_last = apply_brake
|
||||
self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
|
||||
|
||||
# Send dashboard UI commands.
|
||||
# On Nidec, this controls longitudinal positive acceleration
|
||||
if self.frame % 10 == 0:
|
||||
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
|
||||
hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
|
||||
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))
|
||||
|
||||
if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
|
||||
self.speed = pcm_speed
|
||||
self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
|
||||
|
||||
new_actuators = actuators.as_builder()
|
||||
new_actuators.speed = self.speed
|
||||
new_actuators.accel = self.accel
|
||||
new_actuators.gas = self.gas
|
||||
new_actuators.brake = self.brake
|
||||
new_actuators.torque = self.last_torque
|
||||
new_actuators.torqueOutputCan = apply_torque
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
231
opendbc_repo/opendbc/car/honda/carstate.py
Normal file
231
opendbc_repo/opendbc/car/honda/carstate.py
Normal file
@@ -0,0 +1,231 @@
|
||||
import numpy as np
|
||||
from collections import defaultdict
|
||||
|
||||
from opendbc.can import CANDefine, CANParser
|
||||
from opendbc.car import Bus, create_button_events, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.honda.hondacan import CanBus, get_cruise_speed_conversion
|
||||
from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
|
||||
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
|
||||
HondaFlags, CruiseButtons, CruiseSettings, GearShifter
|
||||
from opendbc.car.interfaces import CarStateBase
|
||||
|
||||
TransmissionType = structs.CarParams.TransmissionType
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
|
||||
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
|
||||
CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
|
||||
SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.lkas}
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
|
||||
self.gearbox_msg = "GEARBOX"
|
||||
if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
|
||||
self.gearbox_msg = "GEARBOX_15T"
|
||||
elif CP.carFingerprint == CAR.HONDA_CIVIC_2022 and CP.transmissionType == TransmissionType.cvt:
|
||||
self.gearbox_msg = "GEARBOX_ALT"
|
||||
elif CP.transmissionType == TransmissionType.manual:
|
||||
self.gearbox_msg = "GEARBOX_ALT_2"
|
||||
|
||||
self.main_on_sig_msg = "SCM_FEEDBACK"
|
||||
if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
|
||||
self.main_on_sig_msg = "SCM_BUTTONS"
|
||||
|
||||
if CP.transmissionType != TransmissionType.manual:
|
||||
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
|
||||
self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
|
||||
|
||||
self.brake_switch_prev = False
|
||||
self.brake_switch_active = False
|
||||
self.cruise_setting = 0
|
||||
self.v_cruise_pcm_prev = 0
|
||||
|
||||
# When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
|
||||
# However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
|
||||
self.dash_speed_seen = False
|
||||
|
||||
def update(self, can_parsers) -> structs.CarState:
|
||||
cp = can_parsers[Bus.pt]
|
||||
cp_cam = can_parsers[Bus.cam]
|
||||
if self.CP.enableBsm:
|
||||
cp_body = can_parsers[Bus.body]
|
||||
|
||||
ret = structs.CarState()
|
||||
|
||||
# car params
|
||||
v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping
|
||||
v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero
|
||||
|
||||
# update prevs, update must run once per loop
|
||||
prev_cruise_buttons = self.cruise_buttons
|
||||
prev_cruise_setting = self.cruise_setting
|
||||
self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
|
||||
self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
|
||||
|
||||
# used for car hud message
|
||||
self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
|
||||
|
||||
# ******************* parse out can *******************
|
||||
# STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
|
||||
# panda checks if the signal is non-zero
|
||||
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
|
||||
# TODO: find a common signal across all cars
|
||||
if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
|
||||
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
|
||||
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
|
||||
elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
|
||||
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
|
||||
else:
|
||||
ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
|
||||
cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
|
||||
ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
|
||||
|
||||
steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
|
||||
ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
|
||||
# LOW_SPEED_LOCKOUT is not worth a warning
|
||||
# NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
|
||||
ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
|
||||
|
||||
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
|
||||
ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
|
||||
else:
|
||||
# On some cars, these two signals are always 1, this flag is masking a bug in release
|
||||
# FIXME: find and set the ACC faulted signals on more platforms
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"])
|
||||
|
||||
# Log non-critical stock ACC/LKAS faults if Nidec (camera)
|
||||
if self.CP.carFingerprint not in HONDA_BOSCH:
|
||||
ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"])
|
||||
|
||||
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
|
||||
|
||||
ret.wheelSpeeds = self.get_wheel_speeds(
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
|
||||
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
|
||||
)
|
||||
v_wheel = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.0
|
||||
|
||||
# blend in transmission speed at low speed, since it has more low speed accuracy
|
||||
v_weight = float(np.interp(v_wheel, v_weight_bp, v_weight_v))
|
||||
ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
|
||||
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
|
||||
|
||||
self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
|
||||
if self.dash_speed_seen:
|
||||
conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
|
||||
ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
|
||||
|
||||
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
|
||||
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
|
||||
|
||||
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
|
||||
250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
|
||||
ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
|
||||
|
||||
# TODO: set for all cars
|
||||
if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
|
||||
ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
|
||||
|
||||
if self.CP.transmissionType == TransmissionType.manual:
|
||||
ret.clutchPressed = cp.vl["GEARBOX_ALT_2"]["GEAR_MT"] == 0
|
||||
if cp.vl["GEARBOX_ALT_2"]["GEAR_MT"] == 14:
|
||||
ret.gearShifter = GearShifter.reverse
|
||||
else:
|
||||
ret.gearShifter = GearShifter.drive
|
||||
else:
|
||||
gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
|
||||
|
||||
ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
|
||||
ret.gasPressed = ret.gas > 1e-5
|
||||
|
||||
ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
|
||||
ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
|
||||
|
||||
if self.CP.carFingerprint in HONDA_BOSCH:
|
||||
# The PCM always manages its own cruise control state, but doesn't publish it
|
||||
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
|
||||
ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
|
||||
|
||||
if not self.CP.openpilotLongitudinalControl:
|
||||
# ACC_HUD is on camera bus on radarless cars
|
||||
acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
|
||||
ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
|
||||
ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
|
||||
|
||||
conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
|
||||
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
|
||||
ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
|
||||
self.v_cruise_pcm_prev = ret.cruiseState.speed
|
||||
else:
|
||||
ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
|
||||
|
||||
if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
|
||||
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
|
||||
else:
|
||||
# brake switch has shown some single time step noise, so only considered when
|
||||
# switch is on for at least 2 consecutive CAN samples
|
||||
# brake switch rises earlier than brake pressed but is never 1 when in park
|
||||
brake_switch_vals = cp.vl_all["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
|
||||
if len(brake_switch_vals):
|
||||
brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
|
||||
if len(brake_switch_vals) > 1:
|
||||
self.brake_switch_prev = brake_switch_vals[-2] != 0
|
||||
self.brake_switch_active = brake_switch and self.brake_switch_prev
|
||||
self.brake_switch_prev = brake_switch
|
||||
ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
|
||||
|
||||
ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
|
||||
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
|
||||
ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
|
||||
|
||||
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
|
||||
if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
|
||||
if ret.brake > 0.1:
|
||||
ret.brakePressed = True
|
||||
|
||||
if self.CP.carFingerprint in HONDA_BOSCH:
|
||||
# TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
|
||||
if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
|
||||
ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
|
||||
else:
|
||||
ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
|
||||
|
||||
self.acc_hud = False
|
||||
self.lkas_hud = False
|
||||
if self.CP.carFingerprint not in HONDA_BOSCH:
|
||||
ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
|
||||
self.acc_hud = cp_cam.vl["ACC_HUD"]
|
||||
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
|
||||
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
|
||||
self.lkas_hud = cp_cam.vl["LKAS_HUD"]
|
||||
|
||||
if self.CP.enableBsm:
|
||||
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
|
||||
# more info here: https://github.com/commaai/openpilot/pull/1867
|
||||
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
|
||||
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
|
||||
|
||||
ret.buttonEvents = [
|
||||
*create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT),
|
||||
*create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
|
||||
]
|
||||
|
||||
return ret
|
||||
|
||||
def get_can_parsers(self, CP):
|
||||
parsers = {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
|
||||
}
|
||||
if CP.enableBsm:
|
||||
parsers[Bus.body] = CANParser(DBC[CP.carFingerprint][Bus.body], [], CanBus(CP).radar)
|
||||
|
||||
return parsers
|
||||
929
opendbc_repo/opendbc/car/honda/fingerprints.py
Normal file
929
opendbc_repo/opendbc/car/honda/fingerprints.py
Normal file
@@ -0,0 +1,929 @@
|
||||
from opendbc.car.structs import CarParams
|
||||
from opendbc.car.honda.values import CAR
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
# Modified FW can be identified by the second dash being replaced by a comma
|
||||
# For example: `b'39990-TVA,A150\x00\x00'`
|
||||
#
|
||||
# TODO: vsa is "essential" for fpv2 but doesn't appear on some CAR.FREED models
|
||||
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.HONDA_ACCORD: {
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-TVC-A910\x00\x00',
|
||||
b'54008-TWA-A910\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-6A7-A220\x00\x00',
|
||||
b'28101-6A7-A230\x00\x00',
|
||||
b'28101-6A7-A320\x00\x00',
|
||||
b'28101-6A7-A330\x00\x00',
|
||||
b'28101-6A7-A410\x00\x00',
|
||||
b'28101-6A7-A510\x00\x00',
|
||||
b'28101-6A7-A610\x00\x00',
|
||||
b'28101-6A7-A710\x00\x00',
|
||||
b'28101-6A9-H140\x00\x00',
|
||||
b'28101-6A9-H420\x00\x00',
|
||||
b'28102-6B8-A560\x00\x00',
|
||||
b'28102-6B8-A570\x00\x00',
|
||||
b'28102-6B8-A700\x00\x00',
|
||||
b'28102-6B8-A800\x00\x00',
|
||||
b'28102-6B8-C560\x00\x00',
|
||||
b'28102-6B8-C570\x00\x00',
|
||||
b'28102-6B8-M520\x00\x00',
|
||||
b'28102-6B8-R700\x00\x00',
|
||||
],
|
||||
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
|
||||
b'46114-TVA-A050\x00\x00',
|
||||
b'46114-TVA-A060\x00\x00',
|
||||
b'46114-TVA-A080\x00\x00',
|
||||
b'46114-TVA-A120\x00\x00',
|
||||
b'46114-TVA-A320\x00\x00',
|
||||
b'46114-TVA-A410\x00\x00',
|
||||
b'46114-TVE-H550\x00\x00',
|
||||
b'46114-TVE-H560\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TVA-B040\x00\x00',
|
||||
b'57114-TVA-B050\x00\x00',
|
||||
b'57114-TVA-B060\x00\x00',
|
||||
b'57114-TVA-B530\x00\x00',
|
||||
b'57114-TVA-C040\x00\x00',
|
||||
b'57114-TVA-C050\x00\x00',
|
||||
b'57114-TVA-C060\x00\x00',
|
||||
b'57114-TVA-C530\x00\x00',
|
||||
b'57114-TVA-E520\x00\x00',
|
||||
b'57114-TVE-H250\x00\x00',
|
||||
b'57114-TWA-A040\x00\x00',
|
||||
b'57114-TWA-A050\x00\x00',
|
||||
b'57114-TWA-A530\x00\x00',
|
||||
b'57114-TWA-B520\x00\x00',
|
||||
b'57114-TWA-C510\x00\x00',
|
||||
b'57114-TWB-H030\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TBX-H120\x00\x00',
|
||||
b'39990-TVA,A150\x00\x00',
|
||||
b'39990-TVA-A140\x00\x00',
|
||||
b'39990-TVA-A150\x00\x00',
|
||||
b'39990-TVA-A160\x00\x00',
|
||||
b'39990-TVA-A340\x00\x00',
|
||||
b'39990-TVA-X030\x00\x00',
|
||||
b'39990-TVA-X040\x00\x00',
|
||||
b'39990-TVE-H130\x00\x00',
|
||||
b'39990-TWB-H120\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TBX-H230\x00\x00',
|
||||
b'77959-TVA-A460\x00\x00',
|
||||
b'77959-TVA-F330\x00\x00',
|
||||
b'77959-TVA-H230\x00\x00',
|
||||
b'77959-TVA-L420\x00\x00',
|
||||
b'77959-TVA-X330\x00\x00',
|
||||
b'77959-TWA-A440\x00\x00',
|
||||
b'77959-TWA-L420\x00\x00',
|
||||
b'77959-TWB-H220\x00\x00',
|
||||
],
|
||||
(Ecu.hud, 0x18da61f1, None): [
|
||||
b'78209-TVA-A010\x00\x00',
|
||||
b'78209-TVA-A110\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TBX-H140\x00\x00',
|
||||
b'36802-TVA-A150\x00\x00',
|
||||
b'36802-TVA-A160\x00\x00',
|
||||
b'36802-TVA-A170\x00\x00',
|
||||
b'36802-TVA-A180\x00\x00',
|
||||
b'36802-TVA-A330\x00\x00',
|
||||
b'36802-TVC-A330\x00\x00',
|
||||
b'36802-TVE-H070\x00\x00',
|
||||
b'36802-TWA-A070\x00\x00',
|
||||
b'36802-TWA-A080\x00\x00',
|
||||
b'36802-TWA-A210\x00\x00',
|
||||
b'36802-TWA-A330\x00\x00',
|
||||
b'36802-TWB-H060\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TBX-H130\x00\x00',
|
||||
b'36161-TVA-A060\x00\x00',
|
||||
b'36161-TVA-A330\x00\x00',
|
||||
b'36161-TVC-A330\x00\x00',
|
||||
b'36161-TVE-H050\x00\x00',
|
||||
b'36161-TWA-A070\x00\x00',
|
||||
b'36161-TWA-A330\x00\x00',
|
||||
b'36161-TWB-H040\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TVA-A010\x00\x00',
|
||||
b'38897-TVA-A020\x00\x00',
|
||||
b'38897-TVA-A230\x00\x00',
|
||||
b'38897-TVA-A240\x00\x00',
|
||||
b'38897-TWA-A120\x00\x00',
|
||||
b'38897-TWD-J020\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CIVIC: {
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-5CG-A040\x00\x00',
|
||||
b'28101-5CG-A050\x00\x00',
|
||||
b'28101-5CG-A070\x00\x00',
|
||||
b'28101-5CG-A080\x00\x00',
|
||||
b'28101-5CG-A320\x00\x00',
|
||||
b'28101-5CG-A810\x00\x00',
|
||||
b'28101-5CG-A820\x00\x00',
|
||||
b'28101-5DJ-A040\x00\x00',
|
||||
b'28101-5DJ-A060\x00\x00',
|
||||
b'28101-5DJ-A510\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TBA-A540\x00\x00',
|
||||
b'57114-TBA-A550\x00\x00',
|
||||
b'57114-TBA-A560\x00\x00',
|
||||
b'57114-TBA-A570\x00\x00',
|
||||
b'57114-TEA-Q220\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TBA,A030\x00\x00',
|
||||
b'39990-TBA-A030\x00\x00',
|
||||
b'39990-TBG-A030\x00\x00',
|
||||
b'39990-TEA-T020\x00\x00',
|
||||
b'39990-TEG-A010\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TBA-A030\x00\x00',
|
||||
b'77959-TBA-A040\x00\x00',
|
||||
b'77959-TBG-A020\x00\x00',
|
||||
b'77959-TBG-A030\x00\x00',
|
||||
b'77959-TEA-Q820\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-TBA-A020\x00\x00',
|
||||
b'36161-TBA-A030\x00\x00',
|
||||
b'36161-TBA-A040\x00\x00',
|
||||
b'36161-TBC-A020\x00\x00',
|
||||
b'36161-TBC-A030\x00\x00',
|
||||
b'36161-TED-Q320\x00\x00',
|
||||
b'36161-TEG-A010\x00\x00',
|
||||
b'36161-TEG-A020\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TBA-A010\x00\x00',
|
||||
b'38897-TBA-A020\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CIVIC_BOSCH: {
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-5CG-A920\x00\x00',
|
||||
b'28101-5CG-AB10\x00\x00',
|
||||
b'28101-5CG-C110\x00\x00',
|
||||
b'28101-5CG-C220\x00\x00',
|
||||
b'28101-5CG-C320\x00\x00',
|
||||
b'28101-5CG-G020\x00\x00',
|
||||
b'28101-5CG-L020\x00\x00',
|
||||
b'28101-5CK-A130\x00\x00',
|
||||
b'28101-5CK-A140\x00\x00',
|
||||
b'28101-5CK-A150\x00\x00',
|
||||
b'28101-5CK-C130\x00\x00',
|
||||
b'28101-5CK-C140\x00\x00',
|
||||
b'28101-5CK-C150\x00\x00',
|
||||
b'28101-5CK-G210\x00\x00',
|
||||
b'28101-5CK-J710\x00\x00',
|
||||
b'28101-5CK-Q610\x00\x00',
|
||||
b'28101-5DJ-A610\x00\x00',
|
||||
b'28101-5DJ-A710\x00\x00',
|
||||
b'28101-5DV-E330\x00\x00',
|
||||
b'28101-5DV-E610\x00\x00',
|
||||
b'28101-5DV-E820\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TBG-A330\x00\x00',
|
||||
b'57114-TBG-A340\x00\x00',
|
||||
b'57114-TBG-A350\x00\x00',
|
||||
b'57114-TGG-A340\x00\x00',
|
||||
b'57114-TGG-C320\x00\x00',
|
||||
b'57114-TGG-G320\x00\x00',
|
||||
b'57114-TGG-L320\x00\x00',
|
||||
b'57114-TGG-L330\x00\x00',
|
||||
b'57114-TGH-L130\x00\x00',
|
||||
b'57114-TGK-T320\x00\x00',
|
||||
b'57114-TGL-G330\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TBA-C020\x00\x00',
|
||||
b'39990-TBA-C120\x00\x00',
|
||||
b'39990-TEA-T820\x00\x00',
|
||||
b'39990-TEZ-T020\x00\x00',
|
||||
b'39990-TGG,A020\x00\x00',
|
||||
b'39990-TGG,A120\x00\x00',
|
||||
b'39990-TGG-A020\x00\x00',
|
||||
b'39990-TGG-A120\x00\x00',
|
||||
b'39990-TGG-J510\x00\x00',
|
||||
b'39990-TGH-J530\x00\x00',
|
||||
b'39990-TGL-E130\x00\x00',
|
||||
b'39990-TGN-E120\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TBA-A060\x00\x00',
|
||||
b'77959-TBG-A050\x00\x00',
|
||||
b'77959-TEA-G020\x00\x00',
|
||||
b'77959-TGG-A020\x00\x00',
|
||||
b'77959-TGG-A030\x00\x00',
|
||||
b'77959-TGG-E010\x00\x00',
|
||||
b'77959-TGG-G010\x00\x00',
|
||||
b'77959-TGG-G110\x00\x00',
|
||||
b'77959-TGG-J320\x00\x00',
|
||||
b'77959-TGG-Z820\x00\x00',
|
||||
b'77959-TGH-J110\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TBA-A150\x00\x00',
|
||||
b'36802-TBA-A160\x00\x00',
|
||||
b'36802-TFJ-G060\x00\x00',
|
||||
b'36802-TGG-A050\x00\x00',
|
||||
b'36802-TGG-A060\x00\x00',
|
||||
b'36802-TGG-A070\x00\x00',
|
||||
b'36802-TGG-A130\x00\x00',
|
||||
b'36802-TGG-G040\x00\x00',
|
||||
b'36802-TGG-G130\x00\x00',
|
||||
b'36802-TGH-A140\x00\x00',
|
||||
b'36802-TGK-Q120\x00\x00',
|
||||
b'36802-TGL-G040\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TBA-A130\x00\x00',
|
||||
b'36161-TBA-A140\x00\x00',
|
||||
b'36161-TFJ-G070\x00\x00',
|
||||
b'36161-TGG-A060\x00\x00',
|
||||
b'36161-TGG-A080\x00\x00',
|
||||
b'36161-TGG-A120\x00\x00',
|
||||
b'36161-TGG-G050\x00\x00',
|
||||
b'36161-TGG-G070\x00\x00',
|
||||
b'36161-TGG-G130\x00\x00',
|
||||
b'36161-TGG-G140\x00\x00',
|
||||
b'36161-TGH-A140\x00\x00',
|
||||
b'36161-TGK-Q120\x00\x00',
|
||||
b'36161-TGL-G050\x00\x00',
|
||||
b'36161-TGL-G070\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TBA-A020\x00\x00',
|
||||
b'38897-TBA-A110\x00\x00',
|
||||
b'38897-TGH-A010\x00\x00',
|
||||
],
|
||||
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
|
||||
b'39494-TGL-G030\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CIVIC_BOSCH_DIESEL: {
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-59Y-G220\x00\x00',
|
||||
b'28101-59Y-G620\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TGN-E320\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TFK-G020\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TFK-G210\x00\x00',
|
||||
b'77959-TGN-G220\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TFK-G130\x00\x00',
|
||||
b'36802-TGN-G130\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-TGN-E010\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TFK-G130\x00\x00',
|
||||
b'36161-TGN-G130\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TBA-A020\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CRV: {
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-T1W-A230\x00\x00',
|
||||
b'57114-T1W-A240\x00\x00',
|
||||
b'57114-TFF-A940\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-T0A-A230\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T1W-A830\x00\x00',
|
||||
b'36161-T1W-C830\x00\x00',
|
||||
b'36161-T1X-A830\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CRV_5G: {
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-5RG-A020\x00\x00',
|
||||
b'28101-5RG-A030\x00\x00',
|
||||
b'28101-5RG-A040\x00\x00',
|
||||
b'28101-5RG-A120\x00\x00',
|
||||
b'28101-5RG-A220\x00\x00',
|
||||
b'28101-5RH-A020\x00\x00',
|
||||
b'28101-5RH-A030\x00\x00',
|
||||
b'28101-5RH-A040\x00\x00',
|
||||
b'28101-5RH-A120\x00\x00',
|
||||
b'28101-5RH-A220\x00\x00',
|
||||
b'28101-5RL-Q010\x00\x00',
|
||||
b'28101-5RM-F010\x00\x00',
|
||||
b'28101-5RM-K010\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TLA-A040\x00\x00',
|
||||
b'57114-TLA-A050\x00\x00',
|
||||
b'57114-TLA-A060\x00\x00',
|
||||
b'57114-TLB-A830\x00\x00',
|
||||
b'57114-TMC-Z040\x00\x00',
|
||||
b'57114-TMC-Z050\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TLA,A040\x00\x00',
|
||||
b'39990-TLA-A040\x00\x00',
|
||||
b'39990-TLA-A110\x00\x00',
|
||||
b'39990-TLA-A220\x00\x00',
|
||||
b'39990-TME-T030\x00\x00',
|
||||
b'39990-TME-T120\x00\x00',
|
||||
b'39990-TMT-T010\x00\x00',
|
||||
],
|
||||
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
|
||||
b'46114-TLA-A040\x00\x00',
|
||||
b'46114-TLA-A050\x00\x00',
|
||||
b'46114-TLA-A930\x00\x00',
|
||||
b'46114-TMC-U020\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TLA-A010\x00\x00',
|
||||
b'38897-TLA-A110\x00\x00',
|
||||
b'38897-TNY-G010\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TLA-A040\x00\x00',
|
||||
b'36802-TLA-A050\x00\x00',
|
||||
b'36802-TLA-A060\x00\x00',
|
||||
b'36802-TLA-A070\x00\x00',
|
||||
b'36802-TMC-Q040\x00\x00',
|
||||
b'36802-TMC-Q070\x00\x00',
|
||||
b'36802-TNY-A030\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TLA-A060\x00\x00',
|
||||
b'36161-TLA-A070\x00\x00',
|
||||
b'36161-TLA-A080\x00\x00',
|
||||
b'36161-TMC-Q020\x00\x00',
|
||||
b'36161-TMC-Q030\x00\x00',
|
||||
b'36161-TMC-Q040\x00\x00',
|
||||
b'36161-TNY-A020\x00\x00',
|
||||
b'36161-TNY-A030\x00\x00',
|
||||
b'36161-TNY-A040\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TLA-A240\x00\x00',
|
||||
b'77959-TLA-A250\x00\x00',
|
||||
b'77959-TLA-A320\x00\x00',
|
||||
b'77959-TLA-A410\x00\x00',
|
||||
b'77959-TLA-A420\x00\x00',
|
||||
b'77959-TLA-Q040\x00\x00',
|
||||
b'77959-TLA-Z040\x00\x00',
|
||||
b'77959-TMM-F040\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CRV_EU: {
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-T1V-G920\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T1V-G520\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-T1V-G010\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-5LH-E120\x00\x00',
|
||||
b'28103-5LH-E100\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-T1G-G940\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CRV_HYBRID: {
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TMB-H030\x00\x00',
|
||||
b'57114-TPA-G020\x00\x00',
|
||||
b'57114-TPG-A020\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TMA-H020\x00\x00',
|
||||
b'39990-TPA-G030\x00\x00',
|
||||
b'39990-TPG-A020\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TMA-H110\x00\x00',
|
||||
b'38897-TPG-A110\x00\x00',
|
||||
b'38897-TPG-A210\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-TMB-H510\x00\x00',
|
||||
b'54008-TMB-H610\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TMB-H040\x00\x00',
|
||||
b'36161-TPA-E050\x00\x00',
|
||||
b'36161-TPA-E070\x00\x00',
|
||||
b'36161-TPG-A030\x00\x00',
|
||||
b'36161-TPG-A040\x00\x00',
|
||||
b'36161-TPG-A050\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TMB-H040\x00\x00',
|
||||
b'36802-TPA-E040\x00\x00',
|
||||
b'36802-TPG-A020\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TLA-C320\x00\x00',
|
||||
b'77959-TLA-C410\x00\x00',
|
||||
b'77959-TLA-C420\x00\x00',
|
||||
b'77959-TLA-G220\x00\x00',
|
||||
b'77959-TLA-H240\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_FIT: {
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-T5R-L020\x00\x00',
|
||||
b'57114-T5R-L220\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-T5R-C020\x00\x00',
|
||||
b'39990-T5R-C030\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-T5A-J010\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T5R-A040\x00\x00',
|
||||
b'36161-T5R-A240\x00\x00',
|
||||
b'36161-T5R-A520\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-T5R-A230\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_FREED: {
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TDK-J010\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TDK-J050\x00\x00',
|
||||
b'39990-TDK-N020\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TDK-J120\x00\x00',
|
||||
b'57114-TDK-J330\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-TDK-J070\x00\x00',
|
||||
b'36161-TDK-J080\x00\x00',
|
||||
b'36161-TDK-J530\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_ODYSSEY: {
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-THR-A010\x00\x00',
|
||||
b'38897-THR-A020\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-THR-A020\x00\x00',
|
||||
b'39990-THR-A030\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-THR-A010\x00\x00',
|
||||
b'77959-THR-A110\x00\x00',
|
||||
b'77959-THR-X010\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-THR-A020\x00\x00',
|
||||
b'36161-THR-A030\x00\x00',
|
||||
b'36161-THR-A110\x00\x00',
|
||||
b'36161-THR-A720\x00\x00',
|
||||
b'36161-THR-A730\x00\x00',
|
||||
b'36161-THR-A810\x00\x00',
|
||||
b'36161-THR-A910\x00\x00',
|
||||
b'36161-THR-C010\x00\x00',
|
||||
b'36161-THR-D110\x00\x00',
|
||||
b'36161-THR-K020\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-5NZ-A110\x00\x00',
|
||||
b'28101-5NZ-A310\x00\x00',
|
||||
b'28101-5NZ-C310\x00\x00',
|
||||
b'28102-5MX-A001\x00\x00',
|
||||
b'28102-5MX-A600\x00\x00',
|
||||
b'28102-5MX-A610\x00\x00',
|
||||
b'28102-5MX-A700\x00\x00',
|
||||
b'28102-5MX-A710\x00\x00',
|
||||
b'28102-5MX-A900\x00\x00',
|
||||
b'28102-5MX-A910\x00\x00',
|
||||
b'28102-5MX-C001\x00\x00',
|
||||
b'28102-5MX-C610\x00\x00',
|
||||
b'28102-5MX-C910\x00\x00',
|
||||
b'28102-5MX-D001\x00\x00',
|
||||
b'28102-5MX-D710\x00\x00',
|
||||
b'28102-5MX-K610\x00\x00',
|
||||
b'28103-5NZ-A100\x00\x00',
|
||||
b'28103-5NZ-A300\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-THR-A040\x00\x00',
|
||||
b'57114-THR-A110\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-THR-A020\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_ODYSSEY_CHN: {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-T6D-H220\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-T6A-J010\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T6A-P040\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-T6A-P110\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_PILOT: {
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-TG7-A520\x00\x00',
|
||||
b'54008-TG7-A530\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-5EY-A040\x00\x00',
|
||||
b'28101-5EY-A050\x00\x00',
|
||||
b'28101-5EY-A100\x00\x00',
|
||||
b'28101-5EY-A330\x00\x00',
|
||||
b'28101-5EY-A430\x00\x00',
|
||||
b'28101-5EY-A500\x00\x00',
|
||||
b'28101-5EZ-A050\x00\x00',
|
||||
b'28101-5EZ-A060\x00\x00',
|
||||
b'28101-5EZ-A100\x00\x00',
|
||||
b'28101-5EZ-A210\x00\x00',
|
||||
b'28101-5EZ-A330\x00\x00',
|
||||
b'28101-5EZ-A430\x00\x00',
|
||||
b'28101-5EZ-A500\x00\x00',
|
||||
b'28101-5EZ-A600\x00\x00',
|
||||
b'28101-5EZ-A700\x00\x00',
|
||||
b'28103-5EY-A110\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TG7-A030\x00\x00',
|
||||
b'38897-TG7-A040\x00\x00',
|
||||
b'38897-TG7-A110\x00\x00',
|
||||
b'38897-TG7-A210\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TG7-A030\x00\x00',
|
||||
b'39990-TG7-A040\x00\x00',
|
||||
b'39990-TG7-A060\x00\x00',
|
||||
b'39990-TG7-A070\x00\x00',
|
||||
b'39990-TGS-A230\x00\x00',
|
||||
b'39990-TGS-A320\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-TG7-A310\x00\x00',
|
||||
b'36161-TG7-A520\x00\x00',
|
||||
b'36161-TG7-A630\x00\x00',
|
||||
b'36161-TG7-A720\x00\x00',
|
||||
b'36161-TG7-A820\x00\x00',
|
||||
b'36161-TG7-A930\x00\x00',
|
||||
b'36161-TG7-C520\x00\x00',
|
||||
b'36161-TG7-D520\x00\x00',
|
||||
b'36161-TG7-D630\x00\x00',
|
||||
b'36161-TG7-Y630\x00\x00',
|
||||
b'36161-TG8-A410\x00\x00',
|
||||
b'36161-TG8-A520\x00\x00',
|
||||
b'36161-TG8-A630\x00\x00',
|
||||
b'36161-TG8-A720\x00\x00',
|
||||
b'36161-TG8-A830\x00\x00',
|
||||
b'36161-TGS-A030\x00\x00',
|
||||
b'36161-TGS-A130\x00\x00',
|
||||
b'36161-TGS-A220\x00\x00',
|
||||
b'36161-TGS-A320\x00\x00',
|
||||
b'36161-TGT-A030\x00\x00',
|
||||
b'36161-TGT-A130\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TG7-A020\x00\x00',
|
||||
b'77959-TG7-A110\x00\x00',
|
||||
b'77959-TG7-A210\x00\x00',
|
||||
b'77959-TG7-Y210\x00\x00',
|
||||
b'77959-TGS-A010\x00\x00',
|
||||
b'77959-TGS-A110\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TG7-A130\x00\x00',
|
||||
b'57114-TG7-A140\x00\x00',
|
||||
b'57114-TG7-A230\x00\x00',
|
||||
b'57114-TG7-A240\x00\x00',
|
||||
b'57114-TG7-A630\x00\x00',
|
||||
b'57114-TG7-A730\x00\x00',
|
||||
b'57114-TG8-A140\x00\x00',
|
||||
b'57114-TG8-A230\x00\x00',
|
||||
b'57114-TG8-A240\x00\x00',
|
||||
b'57114-TG8-A630\x00\x00',
|
||||
b'57114-TG8-A730\x00\x00',
|
||||
b'57114-TGS-A530\x00\x00',
|
||||
b'57114-TGT-A530\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.ACURA_RDX: {
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TX4-A220\x00\x00',
|
||||
b'57114-TX5-A220\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-TX4-A030\x00\x00',
|
||||
b'36161-TX5-A030\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TX4-B010\x00\x00',
|
||||
b'77959-TX4-C010\x00\x00',
|
||||
b'77959-TX4-C020\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.ACURA_RDX_3G: {
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TJB-A030\x00\x00',
|
||||
b'57114-TJB-A040\x00\x00',
|
||||
b'57114-TJB-A120\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TJB-A040\x00\x00',
|
||||
b'36802-TJB-A050\x00\x00',
|
||||
b'36802-TJB-A540\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TJB-A040\x00\x00',
|
||||
b'36161-TJB-A530\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-TJB-A520\x00\x00',
|
||||
b'54008-TJB-A530\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28102-5YK-A610\x00\x00',
|
||||
b'28102-5YK-A620\x00\x00',
|
||||
b'28102-5YK-A630\x00\x00',
|
||||
b'28102-5YK-A700\x00\x00',
|
||||
b'28102-5YK-A711\x00\x00',
|
||||
b'28102-5YK-A800\x00\x00',
|
||||
b'28102-5YL-A620\x00\x00',
|
||||
b'28102-5YL-A700\x00\x00',
|
||||
b'28102-5YL-A711\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TJB-A040\x00\x00',
|
||||
b'77959-TJB-A120\x00\x00',
|
||||
b'77959-TJB-A210\x00\x00',
|
||||
],
|
||||
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
|
||||
b'46114-TJB-A040\x00\x00',
|
||||
b'46114-TJB-A050\x00\x00',
|
||||
b'46114-TJB-A060\x00\x00',
|
||||
b'46114-TJB-A120\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TJB-A040\x00\x00',
|
||||
b'38897-TJB-A110\x00\x00',
|
||||
b'38897-TJB-A120\x00\x00',
|
||||
b'38897-TJB-A220\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TJB-A030\x00\x00',
|
||||
b'39990-TJB-A040\x00\x00',
|
||||
b'39990-TJB-A070\x00\x00',
|
||||
b'39990-TJB-A130\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_RIDGELINE: {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-T6Z-A020\x00\x00',
|
||||
b'39990-T6Z-A030\x00\x00',
|
||||
b'39990-T6Z-A050\x00\x00',
|
||||
b'39990-T6Z-A110\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T6Z-A020\x00\x00',
|
||||
b'36161-T6Z-A310\x00\x00',
|
||||
b'36161-T6Z-A420\x00\x00',
|
||||
b'36161-T6Z-A520\x00\x00',
|
||||
b'36161-T6Z-A620\x00\x00',
|
||||
b'36161-T6Z-A720\x00\x00',
|
||||
b'36161-TJZ-A120\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-T6Z-A010\x00\x00',
|
||||
b'38897-T6Z-A110\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-T6Z-A020\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-T6Z-A120\x00\x00',
|
||||
b'57114-T6Z-A130\x00\x00',
|
||||
b'57114-T6Z-A520\x00\x00',
|
||||
b'57114-T6Z-A610\x00\x00',
|
||||
b'57114-TJZ-A520\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_INSIGHT: {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TXM-A040\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TXM-A070\x00\x00',
|
||||
b'36802-TXM-A080\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TXM-A050\x00\x00',
|
||||
b'36161-TXM-A060\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TXM-A230\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TXM-A030\x00\x00',
|
||||
b'57114-TXM-A040\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-TWA-A910\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TXM-A020\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_HRV: {
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-T7A-A010\x00\x00',
|
||||
b'38897-T7A-A110\x00\x00',
|
||||
],
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-THX-A020\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T7A-A040\x00\x00',
|
||||
b'36161-T7A-A140\x00\x00',
|
||||
b'36161-T7A-A240\x00\x00',
|
||||
b'36161-T7A-C440\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-T7A-A230\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_HRV_3G: {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-3M0-G110\x00\x00',
|
||||
b'39990-3W0-A030\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-3M0-M110\x00\x00',
|
||||
b'38897-3W1-A010\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-3M0-K840\x00\x00',
|
||||
b'77959-3V0-A820\x00\x00',
|
||||
b'77959-3V0-A910\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'8S102-3M6-P030\x00\x00',
|
||||
b'8S102-3W0-A060\x00\x00',
|
||||
b'8S102-3W0-AB10\x00\x00',
|
||||
b'8S102-3W0-AB20\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-3M6-M010\x00\x00',
|
||||
b'57114-3W0-A040\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-6EH-A010\x00\x00',
|
||||
b'28101-6EH-A110\x00\x00',
|
||||
b'28101-6JC-M310\x00\x00',
|
||||
],
|
||||
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
|
||||
b'46114-3W0-A020\x00\x00',
|
||||
b'46114-3W0-A050\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.ACURA_ILX: {
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TX6-A010\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-TV9-A140\x00\x00',
|
||||
b'36161-TX6-A030\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TX6-A230\x00\x00',
|
||||
b'77959-TX6-C210\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_E: {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-TYF-N030\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-TYF-E140\x00\x00',
|
||||
],
|
||||
(Ecu.shiftByWire, 0x18da0bf1, None): [
|
||||
b'54008-TYF-E010\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-TYF-G430\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36802-TYF-E030\x00\x00',
|
||||
],
|
||||
(Ecu.fwdCamera, 0x18dab5f1, None): [
|
||||
b'36161-TYF-E020\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-TYF-E030\x00\x00',
|
||||
],
|
||||
},
|
||||
CAR.HONDA_CIVIC_2022: {
|
||||
(Ecu.eps, 0x18da30f1, None): [
|
||||
b'39990-T24-T120\x00\x00',
|
||||
b'39990-T38-A040\x00\x00',
|
||||
b'39990-T39-A130\x00\x00',
|
||||
b'39990-T43-J020\x00\x00',
|
||||
b'39990-T60-J030\x00\x00',
|
||||
b'39990-T56-A040\x00\x00',
|
||||
b'39990-T50-J030\x00\x00',
|
||||
],
|
||||
(Ecu.gateway, 0x18daeff1, None): [
|
||||
b'38897-T20-A020\x00\x00',
|
||||
b'38897-T20-A210\x00\x00',
|
||||
b'38897-T20-A310\x00\x00',
|
||||
b'38897-T20-A510\x00\x00',
|
||||
b'38897-T21-A010\x00\x00',
|
||||
b'38897-T22-A110\x00\x00',
|
||||
b'38897-T24-Z120\x00\x00',
|
||||
b'38897-T60-A110\x00\x00',
|
||||
b'38897-T61-A320\x00\x00',
|
||||
b'38897-T50-E310\x00\x00',
|
||||
],
|
||||
(Ecu.srs, 0x18da53f1, None): [
|
||||
b'77959-T20-A970\x00\x00',
|
||||
b'77959-T20-A980\x00\x00',
|
||||
b'77959-T20-M820\x00\x00',
|
||||
b'77959-T39-A910\x00\x00',
|
||||
b'77959-T47-A940\x00\x00',
|
||||
b'77959-T47-A950\x00\x00',
|
||||
b'77959-T60-A920\x00\x00',
|
||||
b'77959-T61-A920\x00\x00',
|
||||
b'77959-T50-G930\x00\x00',
|
||||
b'77959-T65-A920\x00\x00',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x18dab0f1, None): [
|
||||
b'36161-T20-A060\x00\x00',
|
||||
b'36161-T20-A070\x00\x00',
|
||||
b'36161-T20-A080\x00\x00',
|
||||
b'36161-T24-T070\x00\x00',
|
||||
b'36161-T38-A060\x00\x00',
|
||||
b'36161-T47-A050\x00\x00',
|
||||
b'36161-T47-A070\x00\x00',
|
||||
b'8S102-T20-AA10\x00\x00',
|
||||
b'8S102-T47-AA10\x00\x00',
|
||||
b'8S102-T60-AA10\x00\x00',
|
||||
b'8S102-T56-A060\x00\x00',
|
||||
b'8S102-T50-EA10\x00\x00',
|
||||
b'8S102-T64-A040\x00\x00',
|
||||
],
|
||||
(Ecu.vsa, 0x18da28f1, None): [
|
||||
b'57114-T20-AB40\x00\x00',
|
||||
b'57114-T24-TB30\x00\x00',
|
||||
b'57114-T38-AA20\x00\x00',
|
||||
b'57114-T43-JB30\x00\x00',
|
||||
b'57114-T60-AA20\x00\x00',
|
||||
b'57114-T61-AJ30\x00\x00',
|
||||
b'57114-T50-JC20\x00\x00',
|
||||
],
|
||||
(Ecu.transmission, 0x18da1ef1, None): [
|
||||
b'28101-65D-A020\x00\x00',
|
||||
b'28101-65D-A120\x00\x00',
|
||||
b'28101-65H-A020\x00\x00',
|
||||
b'28101-65H-A120\x00\x00',
|
||||
b'28101-65J-N010\x00\x00',
|
||||
],
|
||||
},
|
||||
}
|
||||
229
opendbc_repo/opendbc/car/honda/hondacan.py
Normal file
229
opendbc_repo/opendbc/car/honda/hondacan.py
Normal file
@@ -0,0 +1,229 @@
|
||||
from opendbc.car import CanBusBase
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
|
||||
|
||||
# CAN bus layout with relay
|
||||
# 0 = ACC-CAN - radar side
|
||||
# 1 = F-CAN B - powertrain
|
||||
# 2 = ACC-CAN - camera side
|
||||
# 3 = F-CAN A - OBDII port
|
||||
|
||||
|
||||
class CanBus(CanBusBase):
|
||||
def __init__(self, CP=None, fingerprint=None) -> None:
|
||||
# use fingerprint if specified
|
||||
super().__init__(CP if fingerprint is None else None, fingerprint)
|
||||
|
||||
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
|
||||
self._pt, self._radar = self.offset + 1, self.offset
|
||||
# normally steering commands are sent to radar, which forwards them to powertrain bus
|
||||
# when radar is disabled, steering commands are sent directly to powertrain bus
|
||||
self._lkas = self._pt if CP.openpilotLongitudinalControl else self._radar
|
||||
else:
|
||||
self._pt, self._radar, self._lkas = self.offset, self.offset + 1, self.offset
|
||||
|
||||
@property
|
||||
def pt(self) -> int:
|
||||
return self._pt
|
||||
|
||||
@property
|
||||
def radar(self) -> int:
|
||||
return self._radar
|
||||
|
||||
@property
|
||||
def camera(self) -> int:
|
||||
return self.offset + 2
|
||||
|
||||
@property
|
||||
def lkas(self) -> int:
|
||||
return self._lkas
|
||||
|
||||
# B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
|
||||
@property
|
||||
def body(self) -> int:
|
||||
return self.offset
|
||||
|
||||
|
||||
def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
|
||||
# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
|
||||
return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
|
||||
|
||||
|
||||
def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
|
||||
# TODO: do we loose pressure if we keep pump off for long?
|
||||
brakelights = apply_brake > 0
|
||||
brake_rq = apply_brake > 0
|
||||
pcm_fault_cmd = False
|
||||
|
||||
values = {
|
||||
"COMPUTER_BRAKE": apply_brake,
|
||||
"BRAKE_PUMP_REQUEST": pump_on,
|
||||
"CRUISE_OVERRIDE": pcm_override,
|
||||
"CRUISE_FAULT_CMD": pcm_fault_cmd,
|
||||
"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
|
||||
"COMPUTER_BRAKE_REQUEST": brake_rq,
|
||||
"SET_ME_1": 1,
|
||||
"BRAKE_LIGHTS": brakelights,
|
||||
"CHIME": stock_brake["CHIME"] if fcw else 0, # send the chime for stock fcw
|
||||
"FCW": fcw << 1, # TODO: Why are there two bits for fcw?
|
||||
"AEB_REQ_1": 0,
|
||||
"AEB_REQ_2": 0,
|
||||
"AEB_STATUS": 0,
|
||||
}
|
||||
return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
|
||||
|
||||
|
||||
def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint):
|
||||
commands = []
|
||||
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
|
||||
|
||||
control_on = 5 if enabled else 0
|
||||
gas_command = gas if active and accel > min_gas_accel else -30000
|
||||
accel_command = accel if active else 0
|
||||
braking = 1 if active and accel < min_gas_accel else 0
|
||||
standstill = 1 if active and stopping_counter > 0 else 0
|
||||
standstill_release = 1 if active and stopping_counter == 0 else 0
|
||||
|
||||
# common ACC_CONTROL values
|
||||
acc_control_values = {
|
||||
'ACCEL_COMMAND': accel_command,
|
||||
'STANDSTILL': standstill,
|
||||
}
|
||||
|
||||
if car_fingerprint in HONDA_BOSCH_RADARLESS:
|
||||
acc_control_values.update({
|
||||
"CONTROL_ON": enabled,
|
||||
"IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz)
|
||||
})
|
||||
else:
|
||||
acc_control_values.update({
|
||||
# setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
|
||||
"CONTROL_ON": control_on,
|
||||
"GAS_COMMAND": gas_command, # used for gas
|
||||
"BRAKE_LIGHTS": braking,
|
||||
"BRAKE_REQUEST": braking,
|
||||
"STANDSTILL_RELEASE": standstill_release,
|
||||
})
|
||||
acc_control_on_values = {
|
||||
"SET_TO_3": 0x03,
|
||||
"CONTROL_ON": enabled,
|
||||
"SET_TO_FF": 0xff,
|
||||
"SET_TO_75": 0x75,
|
||||
"SET_TO_30": 0x30,
|
||||
}
|
||||
commands.append(packer.make_can_msg("ACC_CONTROL_ON", CAN.pt, acc_control_on_values))
|
||||
|
||||
commands.append(packer.make_can_msg("ACC_CONTROL", CAN.pt, acc_control_values))
|
||||
return commands
|
||||
|
||||
|
||||
def create_steering_control(packer, CAN, apply_torque, lkas_active):
|
||||
values = {
|
||||
"STEER_TORQUE": apply_torque if lkas_active else 0,
|
||||
"STEER_TORQUE_REQUEST": lkas_active,
|
||||
}
|
||||
return packer.make_can_msg("STEERING_CONTROL", CAN.lkas, values)
|
||||
|
||||
|
||||
def create_bosch_supplemental_1(packer, CAN):
|
||||
# non-active params
|
||||
values = {
|
||||
"SET_ME_X04": 0x04,
|
||||
"SET_ME_X80": 0x80,
|
||||
"SET_ME_X10": 0x10,
|
||||
}
|
||||
return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", CAN.lkas, values)
|
||||
|
||||
|
||||
def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
|
||||
commands = []
|
||||
radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl
|
||||
|
||||
if CP.openpilotLongitudinalControl:
|
||||
acc_hud_values = {
|
||||
'CRUISE_SPEED': hud.v_cruise,
|
||||
'ENABLE_MINI_CAR': 1 if enabled else 0,
|
||||
# only moves the lead car without ACC_ON
|
||||
'HUD_DISTANCE': hud.lead_distance_bars, # wraps to 0 at 4 bars
|
||||
'IMPERIAL_UNIT': int(not is_metric),
|
||||
'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
|
||||
'SET_ME_X01_2': 1,
|
||||
}
|
||||
|
||||
if CP.carFingerprint in HONDA_BOSCH:
|
||||
acc_hud_values['ACC_ON'] = int(enabled)
|
||||
acc_hud_values['FCM_OFF'] = 1
|
||||
acc_hud_values['FCM_OFF_2'] = 1
|
||||
else:
|
||||
# Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
|
||||
acc_hud_values['ACC_ON'] = int(enabled)
|
||||
acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
|
||||
acc_hud_values['PCM_GAS'] = hud.pcm_accel
|
||||
acc_hud_values['SET_ME_X01'] = 1
|
||||
acc_hud_values['FCM_OFF'] = acc_hud['FCM_OFF']
|
||||
acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
|
||||
acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
|
||||
acc_hud_values['ICONS'] = acc_hud['ICONS']
|
||||
commands.append(packer.make_can_msg("ACC_HUD", CAN.pt, acc_hud_values))
|
||||
|
||||
lkas_hud_values = {
|
||||
'SET_ME_X41': 0x41,
|
||||
'STEERING_REQUIRED': hud.steer_required,
|
||||
'SOLID_LANES': hud.lanes_visible,
|
||||
'BEEP': 0,
|
||||
}
|
||||
|
||||
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
|
||||
lkas_hud_values['LANE_LINES'] = 3
|
||||
lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
|
||||
# car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
|
||||
lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
|
||||
|
||||
if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
|
||||
lkas_hud_values['SET_ME_X48'] = 0x48
|
||||
|
||||
if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
|
||||
commands.append(packer.make_can_msg('LKAS_HUD_A', CAN.lkas, lkas_hud_values))
|
||||
commands.append(packer.make_can_msg('LKAS_HUD_B', CAN.lkas, lkas_hud_values))
|
||||
else:
|
||||
commands.append(packer.make_can_msg('LKAS_HUD', CAN.lkas, lkas_hud_values))
|
||||
|
||||
if radar_disabled:
|
||||
radar_hud_values = {
|
||||
'CMBS_OFF': 0x01,
|
||||
'SET_TO_1': 0x01,
|
||||
}
|
||||
commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
|
||||
|
||||
if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
|
||||
commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
|
||||
|
||||
return commands
|
||||
|
||||
|
||||
def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
|
||||
values = {
|
||||
'CRUISE_BUTTONS': button_val,
|
||||
'CRUISE_SETTING': 0,
|
||||
}
|
||||
# send buttons to camera on radarless cars
|
||||
bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
|
||||
return packer.make_can_msg("SCM_BUTTONS", bus, values)
|
||||
|
||||
|
||||
def honda_checksum(address: int, sig, d: bytearray) -> int:
|
||||
s = 0
|
||||
extended = address > 0x7FF
|
||||
addr = address
|
||||
while addr:
|
||||
s += addr & 0xF
|
||||
addr >>= 4
|
||||
for i in range(len(d)):
|
||||
x = d[i]
|
||||
if i == len(d) - 1:
|
||||
x >>= 4
|
||||
s += (x & 0xF) + (x >> 4)
|
||||
s = 8 - s
|
||||
if extended:
|
||||
s += 3
|
||||
return s & 0xF
|
||||
228
opendbc_repo/opendbc/car/honda/interface.py
Executable file
228
opendbc_repo/opendbc/car/honda/interface.py
Executable file
@@ -0,0 +1,228 @@
|
||||
#!/usr/bin/env python3
|
||||
import numpy as np
|
||||
from opendbc.car import get_safety_config, structs
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.disable_ecu import disable_ecu
|
||||
from opendbc.car.honda.hondacan import CanBus
|
||||
from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
|
||||
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags
|
||||
from opendbc.car.honda.carcontroller import CarController
|
||||
from opendbc.car.honda.carstate import CarState
|
||||
from opendbc.car.honda.radar_interface import RadarInterface
|
||||
from opendbc.car.interfaces import CarInterfaceBase
|
||||
|
||||
TransmissionType = structs.CarParams.TransmissionType
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
@staticmethod
|
||||
def get_pid_accel_limits(CP, current_speed, cruise_speed):
|
||||
if CP.carFingerprint in HONDA_BOSCH:
|
||||
return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
|
||||
else:
|
||||
# NIDECs don't allow acceleration near cruise_speed,
|
||||
# so limit limits of pid to prevent windup
|
||||
ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
|
||||
ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
|
||||
return CarControllerParams.NIDEC_ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
ret.brand = "honda"
|
||||
|
||||
CAN = CanBus(ret, fingerprint)
|
||||
|
||||
if candidate in HONDA_BOSCH:
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
|
||||
ret.radarUnavailable = True
|
||||
# Disable the radar and let openpilot control longitudinal
|
||||
# WARNING: THIS DISABLES AEB!
|
||||
# If Bosch radarless, this blocks ACC messages from the camera
|
||||
ret.alphaLongitudinalAvailable = True
|
||||
ret.openpilotLongitudinalControl = alpha_long
|
||||
ret.pcmCruise = not ret.openpilotLongitudinalControl
|
||||
else:
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
|
||||
ret.openpilotLongitudinalControl = True
|
||||
|
||||
ret.pcmCruise = True
|
||||
|
||||
if candidate == CAR.HONDA_CRV_5G:
|
||||
ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
|
||||
|
||||
# Detect Bosch cars with new HUD msgs
|
||||
if any(0x33DA in f for f in fingerprint.values()):
|
||||
ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
|
||||
|
||||
# Accord ICE 1.5T CVT has different gearbox message
|
||||
if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
|
||||
ret.transmissionType = TransmissionType.cvt
|
||||
# Civic Type R is missing 0x191 and 0x1A3
|
||||
elif candidate == CAR.HONDA_CIVIC_2022 and all(msg not in fingerprint[CAN.pt] for msg in (0x191, 0x1A3)):
|
||||
ret.transmissionType = TransmissionType.manual
|
||||
# New Civics dont have 0x191, but do have 0x1A3
|
||||
elif candidate == CAR.HONDA_CIVIC_2022 and 0x1A3 in fingerprint[CAN.pt]:
|
||||
ret.transmissionType = TransmissionType.cvt
|
||||
|
||||
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
|
||||
# which improves controls quality as it removes the steering column torsion from feedback.
|
||||
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
|
||||
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
|
||||
|
||||
if candidate in HONDA_BOSCH:
|
||||
ret.longitudinalActuatorDelay = 0.5 # s
|
||||
if candidate in HONDA_BOSCH_RADARLESS:
|
||||
ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
|
||||
else:
|
||||
# default longitudinal tuning for all hondas
|
||||
ret.longitudinalTuning.kiBP = [0., 5., 35.]
|
||||
ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
|
||||
|
||||
eps_modified = False
|
||||
for fw in car_fw:
|
||||
if fw.ecu == "eps" and b"," in fw.fwVersion:
|
||||
eps_modified = True
|
||||
|
||||
if candidate == CAR.HONDA_CIVIC:
|
||||
if eps_modified:
|
||||
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
|
||||
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
|
||||
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
|
||||
# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
|
||||
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
|
||||
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
|
||||
else:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
|
||||
|
||||
elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
|
||||
|
||||
elif candidate == CAR.HONDA_ACCORD:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
|
||||
if eps_modified:
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
|
||||
else:
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
|
||||
|
||||
elif candidate == CAR.ACURA_ILX:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
|
||||
|
||||
elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
|
||||
ret.wheelSpeedFactor = 1.025
|
||||
|
||||
elif candidate == CAR.HONDA_CRV_5G:
|
||||
if eps_modified:
|
||||
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
|
||||
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
|
||||
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
|
||||
else:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
|
||||
ret.wheelSpeedFactor = 1.025
|
||||
|
||||
elif candidate == CAR.HONDA_CRV_HYBRID:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
|
||||
ret.wheelSpeedFactor = 1.025
|
||||
|
||||
elif candidate == CAR.HONDA_FIT:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
|
||||
|
||||
elif candidate == CAR.HONDA_FREED:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
|
||||
|
||||
elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
|
||||
if candidate == CAR.HONDA_HRV:
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
|
||||
ret.wheelSpeedFactor = 1.025
|
||||
else:
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
|
||||
|
||||
elif candidate == CAR.ACURA_RDX:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
|
||||
|
||||
elif candidate == CAR.ACURA_RDX_3G:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
|
||||
|
||||
elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
|
||||
if candidate == CAR.HONDA_ODYSSEY_CHN:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
|
||||
else:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
|
||||
elif candidate == CAR.HONDA_PILOT:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
|
||||
|
||||
elif candidate == CAR.HONDA_RIDGELINE:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
|
||||
|
||||
elif candidate == CAR.HONDA_INSIGHT:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
|
||||
|
||||
elif candidate == CAR.HONDA_E:
|
||||
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
|
||||
|
||||
else:
|
||||
raise ValueError(f"unsupported car {candidate}")
|
||||
|
||||
# These cars use alternate user brake msg (0x1BE)
|
||||
# TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
|
||||
if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G):
|
||||
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
|
||||
|
||||
if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
|
||||
ret.safetyConfigs[0].safetyParam |= HondaSafetyFlags.ALT_BRAKE.value
|
||||
|
||||
# These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
|
||||
if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
|
||||
ret.safetyConfigs[0].safetyParam |= HondaSafetyFlags.NIDEC_ALT.value
|
||||
|
||||
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
|
||||
ret.safetyConfigs[0].safetyParam |= HondaSafetyFlags.BOSCH_LONG.value
|
||||
|
||||
if candidate in HONDA_BOSCH_RADARLESS:
|
||||
ret.safetyConfigs[0].safetyParam |= HondaSafetyFlags.RADARLESS.value
|
||||
|
||||
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
||||
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
|
||||
# conflict with PCM acc
|
||||
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
|
||||
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
|
||||
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.steerLimitTimer = 0.8
|
||||
ret.radarDelay = 0.1
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def init(CP, can_recv, can_send):
|
||||
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
|
||||
disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
|
||||
80
opendbc_repo/opendbc/car/honda/radar_interface.py
Executable file
80
opendbc_repo/opendbc/car/honda/radar_interface.py
Executable file
@@ -0,0 +1,80 @@
|
||||
#!/usr/bin/env python3
|
||||
from opendbc.can import CANParser
|
||||
from opendbc.car import Bus, structs
|
||||
from opendbc.car.interfaces import RadarInterfaceBase
|
||||
from opendbc.car.honda.values import DBC
|
||||
|
||||
|
||||
def _create_nidec_can_parser(car_fingerprint):
|
||||
radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
|
||||
messages = [(m, 20) for m in radar_messages]
|
||||
return CANParser(DBC[car_fingerprint][Bus.radar], messages, 1)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
self.track_id = 0
|
||||
self.radar_fault = False
|
||||
self.radar_wrong_config = False
|
||||
self.radar_off_can = CP.radarUnavailable
|
||||
|
||||
# Nidec
|
||||
if self.radar_off_can:
|
||||
self.rcp = None
|
||||
else:
|
||||
self.rcp = _create_nidec_can_parser(CP.carFingerprint)
|
||||
self.trigger_msg = 0x445
|
||||
self.updated_messages = set()
|
||||
|
||||
def update(self, can_strings):
|
||||
# in Bosch radar and we are only steering for now, so sleep 0.05s to keep
|
||||
# radard at 20Hz and return no points
|
||||
if self.radar_off_can:
|
||||
return super().update(None)
|
||||
|
||||
vls = self.rcp.update(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
if self.trigger_msg not in self.updated_messages:
|
||||
return None
|
||||
|
||||
rr = self._update(self.updated_messages)
|
||||
self.updated_messages.clear()
|
||||
return rr
|
||||
|
||||
def _update(self, updated_messages):
|
||||
ret = structs.RadarData()
|
||||
|
||||
for ii in sorted(updated_messages):
|
||||
cpt = self.rcp.vl[ii]
|
||||
if ii == 0x400:
|
||||
# check for radar faults
|
||||
self.radar_fault = cpt['RADAR_STATE'] != 0x79
|
||||
self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
|
||||
elif cpt['LONG_DIST'] < 255:
|
||||
if ii not in self.pts or cpt['NEW_TRACK']:
|
||||
self.pts[ii] = structs.RadarData.RadarPoint()
|
||||
self.pts[ii].trackId = self.track_id
|
||||
self.track_id += 1
|
||||
self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car
|
||||
self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
||||
self.pts[ii].vRel = cpt['REL_SPEED']
|
||||
self.pts[ii].vLead = self.pts[ii].vRel + self.v_ego
|
||||
self.pts[ii].aRel = float('nan')
|
||||
self.pts[ii].yvRel = 0# float('nan')
|
||||
self.pts[ii].measured = True
|
||||
else:
|
||||
if ii in self.pts:
|
||||
del self.pts[ii]
|
||||
|
||||
if not self.rcp.can_valid:
|
||||
ret.errors.canError = True
|
||||
if self.radar_fault:
|
||||
ret.errors.radarFault = True
|
||||
if self.radar_wrong_config:
|
||||
ret.errors.wrongConfig = True
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
|
||||
return ret
|
||||
0
opendbc_repo/opendbc/car/honda/tests/__init__.py
Normal file
0
opendbc_repo/opendbc/car/honda/tests/__init__.py
Normal file
14
opendbc_repo/opendbc/car/honda/tests/test_honda.py
Normal file
14
opendbc_repo/opendbc/car/honda/tests/test_honda.py
Normal file
@@ -0,0 +1,14 @@
|
||||
import re
|
||||
|
||||
from opendbc.car.honda.fingerprints import FW_VERSIONS
|
||||
|
||||
HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
|
||||
|
||||
|
||||
class TestHondaFingerprint:
|
||||
def test_fw_version_format(self):
|
||||
# Asserts all FW versions follow an expected format
|
||||
for fw_by_ecu in FW_VERSIONS.values():
|
||||
for fws in fw_by_ecu.values():
|
||||
for fw in fws:
|
||||
assert re.match(HONDA_FW_VERSION_RE, fw) is not None, fw
|
||||
347
opendbc_repo/opendbc/car/honda/values.py
Normal file
347
opendbc_repo/opendbc/car/honda/values.py
Normal file
@@ -0,0 +1,347 @@
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum, IntFlag
|
||||
|
||||
from opendbc.car import Bus, CarSpecs, PlatformConfig, Platforms, structs, uds
|
||||
from opendbc.car.common.conversions import Conversions as CV
|
||||
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
|
||||
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
|
||||
|
||||
Ecu = structs.CarParams.Ecu
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
GearShifter = structs.CarState.GearShifter
|
||||
|
||||
class CarControllerParams:
|
||||
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
|
||||
# perform the closed loop control, and might need some
|
||||
# to apply some more braking if we're on a downhill slope.
|
||||
# Our controller should still keep the 2 second average above
|
||||
# -3.5 m/s^2 as per planner limits
|
||||
NIDEC_ACCEL_MIN = -4.0 # m/s^2
|
||||
NIDEC_ACCEL_MAX = 1.6 # m/s^2, lower than 2.0 m/s^2 for tuning reasons
|
||||
|
||||
NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
|
||||
NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
|
||||
|
||||
NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
|
||||
NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
|
||||
|
||||
NIDEC_GAS_MAX = 198 # 0xc6
|
||||
NIDEC_BRAKE_MAX = 1024 // 4
|
||||
|
||||
BOSCH_ACCEL_MIN = -3.5 # m/s^2
|
||||
BOSCH_ACCEL_MAX = 2.0 # m/s^2
|
||||
|
||||
BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0] # 2m/s^2
|
||||
BOSCH_GAS_LOOKUP_V = [0, 1600]
|
||||
|
||||
STEER_STEP = 1 # 100 Hz
|
||||
STEER_DELTA_UP = 3 # min/max in 0.33s for all Honda
|
||||
STEER_DELTA_DOWN = 3
|
||||
|
||||
def __init__(self, CP):
|
||||
self.STEER_MAX = CP.lateralParams.torqueBP[-1]
|
||||
# mirror of list (assuming first item is zero) for interp of signed request values
|
||||
assert(CP.lateralParams.torqueBP[0] == 0)
|
||||
assert(CP.lateralParams.torqueBP[0] == 0)
|
||||
self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
|
||||
self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
|
||||
|
||||
|
||||
class HondaSafetyFlags(IntFlag):
|
||||
ALT_BRAKE = 1
|
||||
BOSCH_LONG = 2
|
||||
NIDEC_ALT = 4
|
||||
RADARLESS = 8
|
||||
|
||||
|
||||
class HondaFlags(IntFlag):
|
||||
# Detected flags
|
||||
# Bosch models with alternate set of LKAS_HUD messages
|
||||
BOSCH_EXT_HUD = 1
|
||||
BOSCH_ALT_BRAKE = 2
|
||||
|
||||
# Static flags
|
||||
BOSCH = 4
|
||||
BOSCH_RADARLESS = 8
|
||||
|
||||
NIDEC = 16
|
||||
NIDEC_ALT_PCM_ACCEL = 32
|
||||
NIDEC_ALT_SCM_MESSAGES = 64
|
||||
|
||||
|
||||
# Car button codes
|
||||
class CruiseButtons:
|
||||
RES_ACCEL = 4
|
||||
DECEL_SET = 3
|
||||
CANCEL = 2
|
||||
MAIN = 1
|
||||
|
||||
|
||||
class CruiseSettings:
|
||||
DISTANCE = 3
|
||||
LKAS = 1
|
||||
|
||||
|
||||
# See dbc files for info on values
|
||||
VISUAL_HUD = {
|
||||
VisualAlert.none: 0,
|
||||
VisualAlert.fcw: 1,
|
||||
VisualAlert.steerRequired: 1,
|
||||
VisualAlert.ldw: 1,
|
||||
VisualAlert.brakePressed: 10,
|
||||
VisualAlert.wrongGear: 6,
|
||||
VisualAlert.seatbeltUnbuckled: 5,
|
||||
VisualAlert.speedTooHigh: 8
|
||||
}
|
||||
|
||||
|
||||
@dataclass
|
||||
class HondaCarDocs(CarDocs):
|
||||
package: str = "Honda Sensing"
|
||||
|
||||
def init_make(self, CP: structs.CarParams):
|
||||
if CP.flags & HondaFlags.BOSCH:
|
||||
self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
|
||||
else:
|
||||
self.car_parts = CarParts.common([CarHarness.nidec])
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
CIVIC_DIESEL = CarFootnote(
|
||||
"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
|
||||
Column.FSR_STEERING)
|
||||
|
||||
|
||||
class HondaBoschPlatformConfig(PlatformConfig):
|
||||
def init(self):
|
||||
self.flags |= HondaFlags.BOSCH
|
||||
|
||||
|
||||
class HondaNidecPlatformConfig(PlatformConfig):
|
||||
def init(self):
|
||||
self.flags |= HondaFlags.NIDEC
|
||||
|
||||
|
||||
def radar_dbc_dict(pt_dict):
|
||||
return {Bus.pt: pt_dict, Bus.radar: 'acura_ilx_2016_nidec'}
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
# Bosch Cars
|
||||
HONDA_ACCORD = HondaBoschPlatformConfig(
|
||||
[
|
||||
HondaCarDocs("Honda Accord 2018-22", "All", video="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
|
||||
HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
|
||||
HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
|
||||
],
|
||||
# steerRatio: 11.82 is spec end-to-end
|
||||
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
|
||||
{Bus.pt: 'honda_accord_2018_can_generated'},
|
||||
)
|
||||
HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
|
||||
[
|
||||
HondaCarDocs("Honda Civic 2019-21", "All", video="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
|
||||
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
|
||||
HondaCarDocs("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
],
|
||||
CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
|
||||
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
|
||||
)
|
||||
HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
|
||||
[], # don't show in docs
|
||||
HONDA_CIVIC_BOSCH.specs,
|
||||
{Bus.pt: 'honda_accord_2018_can_generated'},
|
||||
)
|
||||
HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
|
||||
[
|
||||
HondaCarDocs("Honda Civic 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
|
||||
HondaCarDocs("Honda Civic Hatchback Hybrid 2023 (Europe only)", "All"),
|
||||
# TODO: Confirm 2024
|
||||
HondaCarDocs("Honda Civic Hatchback Hybrid 2025", "All"),
|
||||
],
|
||||
HONDA_CIVIC_BOSCH.specs,
|
||||
{Bus.pt: 'honda_civic_ex_2022_can_generated'},
|
||||
flags=HondaFlags.BOSCH_RADARLESS,
|
||||
)
|
||||
HONDA_CRV_5G = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
# steerRatio: 12.3 is spec end-to-end
|
||||
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
|
||||
{Bus.pt: 'honda_crv_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated'},
|
||||
flags=HondaFlags.BOSCH_ALT_BRAKE,
|
||||
)
|
||||
HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Honda CR-V Hybrid 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
# mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
|
||||
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
|
||||
{Bus.pt: 'honda_accord_2018_can_generated'},
|
||||
)
|
||||
HONDA_HRV_3G = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Honda HR-V 2023", "All")],
|
||||
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
|
||||
{Bus.pt: 'honda_civic_ex_2022_can_generated'},
|
||||
flags=HondaFlags.BOSCH_RADARLESS,
|
||||
)
|
||||
ACURA_RDX_3G = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec
|
||||
{Bus.pt: 'acura_rdx_2020_can_generated'},
|
||||
flags=HondaFlags.BOSCH_ALT_BRAKE,
|
||||
)
|
||||
HONDA_INSIGHT = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
|
||||
{Bus.pt: 'honda_insight_ex_2019_can_generated'},
|
||||
)
|
||||
HONDA_E = HondaBoschPlatformConfig(
|
||||
[HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
|
||||
{Bus.pt: 'acura_rdx_2020_can_generated'},
|
||||
)
|
||||
|
||||
# Nidec Cars
|
||||
ACURA_ILX = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end
|
||||
radar_dbc_dict('acura_ilx_2016_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_CRV = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec
|
||||
radar_dbc_dict('honda_crv_touring_2016_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_CRV_EU = HondaNidecPlatformConfig(
|
||||
[], # Euro version of CRV Touring, don't show in docs
|
||||
HONDA_CRV.specs,
|
||||
radar_dbc_dict('honda_crv_executive_2016_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_FIT = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
|
||||
radar_dbc_dict('honda_fit_ex_2018_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_FREED = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT
|
||||
radar_dbc_dict('honda_fit_ex_2018_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_HRV = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
HONDA_HRV_3G.specs,
|
||||
radar_dbc_dict('honda_fit_ex_2018_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_ODYSSEY = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Odyssey 2018-20")],
|
||||
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
|
||||
radar_dbc_dict('honda_odyssey_exl_2018_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
|
||||
)
|
||||
HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig(
|
||||
[], # Chinese version of Odyssey, don't show in docs
|
||||
HONDA_ODYSSEY.specs,
|
||||
radar_dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
ACURA_RDX = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec
|
||||
radar_dbc_dict('acura_rdx_2018_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_PILOT = HondaNidecPlatformConfig(
|
||||
[
|
||||
HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
HondaCarDocs("Honda Passport 2019-25", "All", min_steer_speed=12. * CV.MPH_TO_MS),
|
||||
],
|
||||
CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444), # as spec
|
||||
radar_dbc_dict('acura_ilx_2016_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_RIDGELINE = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Ridgeline 2017-25", min_steer_speed=12. * CV.MPH_TO_MS)],
|
||||
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
|
||||
radar_dbc_dict('acura_ilx_2016_can_generated'),
|
||||
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
|
||||
)
|
||||
HONDA_CIVIC = HondaNidecPlatformConfig(
|
||||
[HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video="https://youtu.be/-IkImTe1NYE")],
|
||||
CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
|
||||
radar_dbc_dict('honda_civic_touring_2016_can_generated'),
|
||||
)
|
||||
|
||||
|
||||
HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(0xF112)
|
||||
HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(0xF112)
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
# Currently used to fingerprint
|
||||
Request(
|
||||
[StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.UDS_VERSION_RESPONSE],
|
||||
bus=1,
|
||||
),
|
||||
|
||||
# Data collection requests:
|
||||
# Log manufacturer-specific identifier for current ECUs
|
||||
Request(
|
||||
[HONDA_ALT_VERSION_REQUEST],
|
||||
[HONDA_ALT_VERSION_RESPONSE],
|
||||
bus=1,
|
||||
logging=True,
|
||||
),
|
||||
# Nidec PT bus
|
||||
Request(
|
||||
[StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.UDS_VERSION_RESPONSE],
|
||||
bus=0,
|
||||
),
|
||||
# Bosch PT bus
|
||||
Request(
|
||||
[StdQueries.UDS_VERSION_REQUEST],
|
||||
[StdQueries.UDS_VERSION_RESPONSE],
|
||||
bus=1,
|
||||
obd_multiplexing=False,
|
||||
),
|
||||
],
|
||||
# We lose these ECUs without the comma power on these cars.
|
||||
# Note that we still attempt to match with them when they are present
|
||||
# This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
|
||||
non_essential_ecus={
|
||||
Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
|
||||
Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
|
||||
CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
|
||||
},
|
||||
extra_ecus=[
|
||||
(Ecu.combinationMeter, 0x18da60f1, None),
|
||||
(Ecu.programmedFuelInjection, 0x18da10f1, None),
|
||||
# The only other ECU on PT bus accessible by camera on radarless Civic
|
||||
# This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
|
||||
# Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
|
||||
# TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
|
||||
# (Ecu.unknown, 0x18DAB3F1, None),
|
||||
],
|
||||
)
|
||||
|
||||
STEER_THRESHOLD = {
|
||||
# default is 1200, overrides go here
|
||||
CAR.ACURA_RDX: 400,
|
||||
CAR.HONDA_CRV_EU: 400,
|
||||
}
|
||||
|
||||
HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
|
||||
HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
|
||||
HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
|
||||
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
|
||||
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user