diff --git a/.gitignore b/.gitignore
index 406c23bac..7c7fbbcfa 100644
--- a/.gitignore
+++ b/.gitignore
@@ -54,7 +54,6 @@ selfdrive/modeld/_dmonitoringmodeld
/src/
one
-/body/
openpilot
notebooks
xx
diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 68cfe0b03..40681e985 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -1,5 +1,11 @@
dragonpilot [latest] - EON/C2 Release
========================
+* NEW: Synced to openpilot master 2022.08.15 commits.
+ * New driving model.
+* NEW: Added back honda eps mod toggle.
+
+dragonpilot 2022.08.17 - EON/C2 Release
+========================
* NEW: Synced to openpilot master 2022.08.07 commits.
* NEW: Added back auto shutdown toggle.
* NEW: Added back On-Road Dashcam toggle. (You should not replace this with your dashcam!!!)
diff --git a/RELEASES.md b/RELEASES.md
index e69d7461b..bcd6aa7aa 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,7 @@
Version 0.8.16 (2022-XX-XX)
========================
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
* Subaru Outback 2020-22 support
diff --git a/cereal/.gitignore b/cereal/.gitignore
new file mode 100644
index 000000000..14cd02eff
--- /dev/null
+++ b/cereal/.gitignore
@@ -0,0 +1,21 @@
+gen
+node_modules
+package-lock.json
+*.tmp
+*.pyc
+__pycache__
+.*.swp
+.*.swo
+*.os
+*.o
+*.a
+
+test_runner
+
+libmessaging.*
+libmessaging_shared.*
+services.h
+.sconsign.dblite
+libcereal_shared.*
+.mypy_cache/
+catch2/
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 85cefbb69..73b2f12f6 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -587,7 +587,7 @@ struct CarParams {
stellantis @25;
faw @26;
body @27;
- hyundaiHDA2 @28;
+ hyundaiCanfd @28;
}
enum SteerControlType {
diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so
index c9c97f18e..b5d8baadc 100755
Binary files a/cereal/libcereal_shared.so and b/cereal/libcereal_shared.so differ
diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so
index 9b292d6a9..906328725 100755
Binary files a/cereal/visionipc/visionipc_pyx.so and b/cereal/visionipc/visionipc_pyx.so differ
diff --git a/common/dp_conf.py b/common/dp_conf.py
index 7311ae4e6..bf6d16f1d 100644
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -129,7 +129,7 @@ confs = [
# # hyundai
# {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# # honda
- # {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+ {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
# # volkswagen
# # {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
diff --git a/common/params_pyx.so b/common/params_pyx.so
index 7d76f25dd..f74dd9a24 100755
Binary files a/common/params_pyx.so and b/common/params_pyx.so differ
diff --git a/common/version.h b/common/version.h
index e0cc35f43..a5d4837b6 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "2022.08.17"
+#define COMMA_VERSION "2022.08.19"
diff --git a/docs/CARS.md b/docs/CARS.md
index 522ad9976..ff539f052 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
- [](##) - Limited ability to make tighter turns.
-# 199 Supported Cars
+# 201 Supported Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
|---|---|---|:---:|:---:|:---:|:---:|
@@ -33,6 +33,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
|Audi|RS3 2018|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
|Audi|S3 2015-17|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[](##)|[](##)|[](##)|[](##)|
+|Chevrolet|Bolt EUV 2022-23|Premier/Premier Redline Trim|[](##)|[](##)|[](##)|[](##)|
|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
@@ -61,7 +62,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
|Honda|HR-V 2019-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|Honda|Insight 2019-22|All|[](##)|[](##)|[](##)|[](##)|
|Honda|Inspire 2018|All|[](##)|[](##)|[](##)|[](##)|
-|Honda|Odyssey 2018-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
+|Honda|Odyssey 2018-20|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|Honda|Passport 2019-21|All|[](##)|[](##)|[](##)|[](##)|
|Honda|Pilot 2016-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
|Honda|Ridgeline 2017-22|Honda Sensing|[](##)|[](##)|[](##)|[](##)|
@@ -69,6 +70,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[](##)|[](##)|[](##)|[](##)|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
+|Hyundai|Ioniq 5 2022|Highway Driving Assist II|[](##)|[](##)|[](##)|[](##)|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
@@ -93,7 +95,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
-|Kia|EV6 2022|All|[](##)|[](##)|[](##)|[](##)|
+|Kia|EV6 2022|Highway Driving Assist II|[](##)|[](##)|[](##)|[](##)|
|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[](##)|[](##)|[](##)|[](##)|
|Kia|Forte 2019-21|All|[](##)|[](##)|[](##)|[](##)|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|[](##)|[](##)|[](##)|[](##)|
@@ -121,7 +123,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
|Lexus|NX Hybrid 2018-19|All|[](##)[3](#footnotes)|[](##)|[](##)|[](##)|
|Lexus|NX Hybrid 2020-21|All|[](##)|[](##)|[](##)|[](##)|
|Lexus|RC 2017-20|All|[](##)|[](##)|[](##)|[](##)|
-|Lexus|RX 2016-18|All|[](##)[3](#footnotes)|[](##)|[](##)|[](##)|
+|Lexus|RX 2016-19|All|[](##)[3](#footnotes)|[](##)|[](##)|[](##)|
|Lexus|RX 2020-22|All|[](##)|[](##)|[](##)|[](##)|
|Lexus|RX Hybrid 2016-19|All|[](##)[3](#footnotes)|[](##)|[](##)|[](##)|
|Lexus|RX Hybrid 2020-21|All|[](##)|[](##)|[](##)|[](##)|
@@ -145,7 +147,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
|Subaru|XV 2018-19|EyeSight Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|Subaru|XV 2020-21|EyeSight Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|Škoda|Kamiq 2021[5](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
-|Škoda|Karoq 2019-21|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
+|Škoda|Karoq 2019-21[7](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|Škoda|Kodiaq 2018-19|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|Škoda|Octavia 2015, 2018-19|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|Škoda|Octavia RS 2016|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
@@ -190,7 +192,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
|Toyota|RAV4 Hybrid 2017-18|All|[](##)[3](#footnotes)|[](##)|[](##)|[](##)|
|Toyota|RAV4 Hybrid 2019-21|All|[](##)|[](##)|[](##)|[](##)|
|Toyota|RAV4 Hybrid 2022|All|[](##)|[](##)|[](##)|[](##)|
-|Toyota|Sienna 2018-20|All|[](##)[3](#footnotes)|[](##)|[](##)|[](##)|
+|Toyota|Sienna 2018-20|All|[](##)[3](#footnotes)|[](##)|[](##)|[](##)|
|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|[](##)|[](##)|[](##)|[](##)|
@@ -229,8 +231,8 @@ A supported vehicle is one that just works when you install a comma device. Ever
3When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
4openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
5Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-6Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.
-7Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.
+6Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+7Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.)
8Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
## Community Maintained Cars
diff --git a/opendbc/cadillac_ct6_powertrain.dbc b/opendbc/cadillac_ct6_powertrain.dbc
index 9cbcc5fd3..2d0bb1217 100644
--- a/opendbc/cadillac_ct6_powertrain.dbc
+++ b/opendbc/cadillac_ct6_powertrain.dbc
@@ -182,7 +182,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO
+ SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so
index 03f1951eb..6c0d56d4b 100755
Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ
diff --git a/opendbc/generator/gm/gm_global_a_powertrain.dbc b/opendbc/generator/gm/gm_global_a_powertrain.dbc
index 33cb8b070..85bdc438f 100644
--- a/opendbc/generator/gm/gm_global_a_powertrain.dbc
+++ b/opendbc/generator/gm/gm_global_a_powertrain.dbc
@@ -138,6 +138,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
+ SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
@@ -211,7 +213,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO
+ SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
diff --git a/opendbc/gm_global_a_powertrain_generated.dbc b/opendbc/gm_global_a_powertrain_generated.dbc
index 839fe742f..7aea559f8 100644
--- a/opendbc/gm_global_a_powertrain_generated.dbc
+++ b/opendbc/gm_global_a_powertrain_generated.dbc
@@ -158,6 +158,8 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
+ SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
+ SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
@@ -231,7 +233,7 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
- SG_ ACCSpeedSetpoint : 19|12@0+ (1,0) [0|0] "km/h" NEO
+ SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index 06582823b..eaa20f843 100755
Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ
diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 2765b8d98..c9e72fc3d 100644
Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ
diff --git a/panda/board/obj/panda.bin.sspoof.signed b/panda/board/obj/panda.bin.sspoof.signed
index 8425f842d..bf3474f28 100644
Binary files a/panda/board/obj/panda.bin.sspoof.signed and b/panda/board/obj/panda.bin.sspoof.signed differ
diff --git a/panda/board/obj/panda.bin.testing.signed b/panda/board/obj/panda.bin.testing.signed
index 9df478d0b..9cf87b5af 100644
Binary files a/panda/board/obj/panda.bin.testing.signed and b/panda/board/obj/panda.bin.testing.signed differ
diff --git a/panda/board/obj/panda.bin.testing.sspoof.signed b/panda/board/obj/panda.bin.testing.sspoof.signed
index a09eb3d94..df80d47d0 100644
Binary files a/panda/board/obj/panda.bin.testing.sspoof.signed and b/panda/board/obj/panda.bin.testing.sspoof.signed differ
diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index f6b8bee23..4e6ed2417 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -150,7 +150,7 @@ class Panda:
SAFETY_STELLANTIS = 25
SAFETY_FAW = 26
SAFETY_BODY = 27
- SAFETY_HYUNDAI_HDA2 = 28
+ SAFETY_HYUNDAI_CANFD = 28
SERIAL_DEBUG = 0
SERIAL_ESP = 1
@@ -200,10 +200,15 @@ class Panda:
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
+ FLAG_VOLKSWAGEN_LONG_CONTROL = 1
+
FLAG_CHRYSLER_RAM_DT = 1
+ FLAG_CHRYSLER_RAM_HD = 2
FLAG_SUBARU_GEN2 = 1
+ FLAG_GM_HW_CAM = 1
+
def __init__(self, serial: Optional[str] = None, claim: bool = True):
self._serial = serial
self._handle = None
@@ -335,9 +340,10 @@ class Panda:
except Exception:
pass
- def flash(self, fn=DEFAULT_FW_FN, code=None, reconnect=True):
- if self._mcu_type == MCU_TYPE_H7 and fn == DEFAULT_FW_FN:
- fn = DEFAULT_H7_FW_FN
+ def flash(self, fn=None, code=None, reconnect=True):
+ if not fn:
+ fn = DEFAULT_H7_FW_FN if self._mcu_type == MCU_TYPE_H7 else DEFAULT_FW_FN
+ assert os.path.isfile(fn)
print("flash: main version is " + self.get_version())
if not self.bootstub:
self.reset(enter_bootstub=True)
@@ -358,18 +364,16 @@ class Panda:
self.reconnect()
def recover(self, timeout: Optional[int] = None, reset: bool = True) -> bool:
+ dfu_serial = PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type)
+
if reset:
self.reset(enter_bootstub=True)
self.reset(enter_bootloader=True)
- t_start = time.time()
- while len(PandaDFU.list()) == 0:
- print("waiting for DFU...")
- time.sleep(0.1)
- if timeout is not None and (time.time() - t_start) > timeout:
- return False
+ if not self.wait_for_dfu(dfu_serial, timeout=timeout):
+ return False
- dfu = PandaDFU(PandaDFU.st_serial_to_dfu_serial(self._serial, self._mcu_type))
+ dfu = PandaDFU(dfu_serial)
dfu.recover()
# reflash after recover
@@ -377,6 +381,16 @@ class Panda:
self.flash()
return True
+ @staticmethod
+ def wait_for_dfu(dfu_serial: str, timeout: Optional[int] = None) -> bool:
+ t_start = time.monotonic()
+ while dfu_serial not in PandaDFU.list():
+ print("waiting for DFU...")
+ time.sleep(0.1)
+ if timeout is not None and (time.monotonic() - t_start) > timeout:
+ return False
+ return True
+
@staticmethod
def list():
context = usb1.USBContext()
diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so
index 3683f2adf..208d5ea24 100755
Binary files a/rednose/helpers/ekf_sym_pyx.so and b/rednose/helpers/ekf_sym_pyx.so differ
diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd
index c4f3f940e..5d728ae71 100755
Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ
diff --git a/selfdrive/boardd/boardd_api_impl.so b/selfdrive/boardd/boardd_api_impl.so
index 7065b1598..e2ce62444 100755
Binary files a/selfdrive/boardd/boardd_api_impl.so and b/selfdrive/boardd/boardd_api_impl.so differ
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 31a0fccf5..31c8017d8 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
from selfdrive.car.interfaces import CarInterfaceBase
@@ -12,14 +12,20 @@ class CarInterface(CarInterfaceBase):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "chrysler"
- ret.radarOffCan = DBC[candidate]['radar'] is None
+ ret.dashcamOnly = candidate in RAM_HD
- param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
- ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
+ ret.radarOffCan = DBC[candidate]['radar'] is None
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
+ # safety config
+ ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
+ if candidate in RAM_HD:
+ ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
+ elif candidate in RAM_DT:
+ ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
+
ret.minSteerSpeed = 3.8 # m/s
if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
# TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
@@ -47,18 +53,24 @@ class CarInterface(CarInterfaceBase):
# Ram
elif candidate == CAR.RAM_1500:
ret.steerActuatorDelay = 0.2
-
ret.wheelbase = 3.88
ret.steerRatio = 16.3
ret.mass = 2493. + STD_CARGO_KG
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
ret.minSteerSpeed = 14.5
if car_fw is not None:
for fw in car_fw:
if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
ret.minSteerSpeed = 0.
+ elif candidate == CAR.RAM_HD:
+ ret.steerActuatorDelay = 0.2
+ ret.wheelbase = 3.785
+ ret.steerRatio = 15.61
+ ret.mass = 3405. + STD_CARGO_KG
+ ret.minSteerSpeed = 16
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
+
else:
raise ValueError(f"Unsupported car: {candidate}")
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index c45a81a0a..10478efa8 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -22,23 +22,30 @@ class CAR:
# Ram
RAM_1500 = "RAM 1500 5TH GEN"
+ RAM_HD = "RAM HD 5TH GEN"
class CarControllerParams:
def __init__(self, CP):
- self.STEER_MAX = 261 # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
self.STEER_ERROR_MAX = 80
-
- if CP.carFingerprint in RAM_CARS:
+ 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_CARS = {CAR.RAM_1500, }
+RAM_DT = {CAR.RAM_1500, }
+RAM_HD = {CAR.RAM_HD, }
+RAM_CARS = RAM_DT | RAM_HD
@dataclass
class ChryslerCarInfo(CarInfo):
@@ -57,6 +64,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
+ CAR.RAM_HD: [
+ ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
+ ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
+ ],
}
# Unique CAN messages:
@@ -177,6 +188,41 @@ FW_VERSIONS = {
b'68500483AB',
],
},
+
+ CAR.RAM_HD: {
+ (Ecu.combinationMeter, 0x742, None): [
+ b'68361606AH',
+ b'68492693AD',
+ ],
+ (Ecu.srs, 0x744, None): [
+ b'68399794AC',
+ b'68428503AA',
+ b'68428505AA',
+ ],
+ (Ecu.esp, 0x747, None): [
+ b'68334977AH',
+ b'68504022AB',
+ b'68530686AB',
+ ],
+ (Ecu.fwdRadar, 0x753, None): [
+ b'04672895AB',
+ b'56029827AG',
+ b'68484694AE',
+ ],
+ (Ecu.eps, 0x761, None): [
+ b'68421036AC',
+ b'68507906AB',
+ ],
+ (Ecu.engine, 0x7e0, None): [
+ b'52421132AF',
+ b'M2370131MB',
+ b'M2421132MB',
+ ],
+ (Ecu.gateway, 0x18DACBF1, None): [
+ b'68488419AB',
+ b'68535476AB',
+ ],
+ },
}
DBC = {
@@ -188,4 +234,5 @@ DBC = {
CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
+ CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
}
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 46222d100..0605ec1f2 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -10,6 +10,10 @@ from common.conversions import Conversions as CV
GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
+# Makes that lack auto-resume with stock long, and auto resume in any configuration
+NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
+NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
+
class Tier(Enum):
GOLD = 0
@@ -147,11 +151,11 @@ class CarInfo:
else:
alc = ""
- # Exception for Nissan, Subaru, and stock long Toyota which do not auto-resume yet
+ # Exception for cars which do not auto-resume yet
acc = ""
if self.min_enable_speed > 0:
acc = f" while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph"
- elif CP.carName not in ("nissan", "subaru", "toyota") or (CP.carName == "toyota" and CP.openpilotLongitudinalControl):
+ elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl):
acc = " that automatically resumes from a stop"
if self.row[Column.STEERING_TORQUE] != Star.FULL:
@@ -186,7 +190,8 @@ class Harness(Enum):
bosch_a = "Honda Bosch A"
bosch_b = "Honda Bosch B"
toyota = "Toyota"
- subaru = "Subaru"
+ subaru_a = "Subaru A"
+ subaru_b = "Subaru B"
fca = "FCA"
ram = "Ram"
vw = "VW"
@@ -209,6 +214,7 @@ class Harness(Enum):
hyundai_p = "Hyundai P"
custom = "Developer"
obd_ii = "OBD-II"
+ gm = "GM"
nissan_a = "Nissan A"
nissan_b = "Nissan B"
mazda = "Mazda"
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 0ed8cc542..9d2fd11b4 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -337,17 +337,21 @@ def match_fw_to_car_exact(fw_versions_dict):
return set(candidates.keys()) - set(invalid)
-def match_fw_to_car(fw_versions, allow_fuzzy=True):
+def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
# Try exact matching first
- exact_matches = [(True, match_fw_to_car_exact)]
+ exact_matches = []
+ if allow_exact:
+ exact_matches = [(True, match_fw_to_car_exact)]
if allow_fuzzy:
exact_matches.append((False, match_fw_to_car_fuzzy))
+ brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys()
for exact_match, match_func in exact_matches:
- # TODO: For each brand, attempt to fingerprint using only FW returned from its queries
+ # For each brand, attempt to fingerprint using all FW returned from its queries
matches = set()
- fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None)
- matches |= match_func(fw_versions_dict)
+ for brand in brands:
+ fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
+ matches |= match_func(fw_versions_dict)
if len(matches):
return exact_match, matches
@@ -416,9 +420,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
all_car_fw.extend(car_fw)
-
- # TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far
- _, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False)
+ # Try to match using FW returned from this brand only
+ matches = match_fw_to_car_exact(build_fw_dict(car_fw))
if len(matches) == 1:
break
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 0e7406514..10e602797 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
@@ -19,6 +19,7 @@ class CarController:
self.apply_gas = 0
self.apply_brake = 0
self.frame = 0
+ self.last_button_frame = 0
self.lka_steering_cmd_counter_last = -1
self.lka_icon_status_last = (False, False)
@@ -46,8 +47,7 @@ class CarController:
if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
elif (self.frame % self.params.STEER_STEP) == 0:
- lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED
- if lkas_enabled:
+ if CC.latActive:
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
else:
@@ -58,7 +58,7 @@ class CarController:
# moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
idx = (CS.lka_steering_cmd_counter + 1) % 4
- can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
+ can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
if self.CP.openpilotLongitudinalControl:
# Gas/regen, brakes, and UI commands - all at 25Hz
@@ -107,6 +107,13 @@ class CarController:
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
+ else:
+ # Stock longitudinal, integrated at camera
+ if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+ if CC.cruiseControl.cancel:
+ self.last_button_frame = self.frame
+ can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
+
# Show green icon when LKA torque is applied, and
# alarming orange icon when approaching torque limit.
# If not sent again, LKA icon disappears in about 5 seconds.
@@ -114,6 +121,8 @@ class CarController:
lka_active = CS.lkas_status == 1
lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical)
+
+ # SW_GMLAN not yet on cam harness, no HUD alerts
if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index b174d0327..0bda7edad 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -1,4 +1,5 @@
from cereal import car
+from common.conversions import Conversions as CV
from common.numpy_fast import mean
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
@@ -6,6 +7,7 @@ from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
class CarState(CarStateBase):
@@ -15,7 +17,7 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
self.lka_steering_cmd_counter = 0
- def update(self, pt_cp, loopback_cp):
+ def update(self, pt_cp, cam_cp, loopback_cp):
ret = car.CarState.new_message()
self.prev_cruise_buttons = self.cruise_buttons
@@ -77,9 +79,21 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
+ if self.CP.networkLocation == NetworkLocation.fwdCamera:
+ ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
return ret
+ @staticmethod
+ def get_cam_can_parser(CP):
+ signals = []
+ checks = []
+ if CP.networkLocation == NetworkLocation.fwdCamera:
+ signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"))
+ checks.append(("ASCMActiveCruiseControlStatus", 25))
+
+ return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
+
@staticmethod
def get_can_parser(CP):
signals = [
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 47e6090a0..3a10c4d9d 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -1,5 +1,9 @@
from selfdrive.car import make_can_msg
+def create_buttons(packer, bus, button):
+ values = {"ACCButtons": button}
+ return packer.make_can_msg("ASCMSteeringButton", bus, values)
+
def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
values = {
@@ -59,8 +63,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
- # Not a bit shift, dash can round up based on low 4 bits.
- target_speed = int(target_speed_kph * 16) & 0xfff
+ target_speed = min(target_speed_kph, 255)
values = {
"ACCAlwaysOne" : 1,
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 7a0535f40..1ef594f24 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -1,10 +1,11 @@
#!/usr/bin/env python3
from cereal import car
from math import fabs
+from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
+from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -48,29 +49,36 @@ class CarInterface(CarInterfaceBase):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
- ret.pcmCruise = False # For ASCM, stock non-adaptive cruise control is kept off
- ret.radarOffCan = False # For ASCM, radar exists
- ret.transmissionType = TransmissionType.automatic
- # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
- ret.networkLocation = NetworkLocation.gateway
+
+ if candidate in EV_CAR:
+ ret.transmissionType = TransmissionType.direct
+ else:
+ ret.transmissionType = TransmissionType.automatic
+
+ if candidate in CAMERA_ACC_CAR:
+ ret.openpilotLongitudinalControl = False
+ ret.networkLocation = NetworkLocation.fwdCamera
+ ret.radarOffCan = True # no radar
+ ret.pcmCruise = True
+ ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+ else: # ASCM, OBD-II harness
+ ret.openpilotLongitudinalControl = True
+ ret.networkLocation = NetworkLocation.gateway
+ ret.radarOffCan = False
+ ret.pcmCruise = False # stock non-adaptive cruise control is kept off
# 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 selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
- # Presence of a camera on the object bus is ok.
- # Have to go to read_only if ASCM is online (ACC-enabled cars),
- # or camera is on powertrain bus (LKA cars without ACC).
- ret.openpilotLongitudinalControl = True
- tire_stiffness_factor = 0.444 # not optimized yet
-
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
+ tire_stiffness_factor = 0.444 # not optimized yet
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
@@ -84,7 +92,6 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
if candidate == CAR.VOLT:
- ret.transmissionType = TransmissionType.direct
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
@@ -143,6 +150,16 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.000045
tire_stiffness_factor = 1.0
+ elif candidate == CAR.BOLT_EUV:
+ ret.minEnableSpeed = -1
+ ret.mass = 1669. + STD_CARGO_KG
+ ret.wheelbase = 2.675
+ ret.steerRatio = 16.8
+ ret.centerToFront = ret.wheelbase * 0.4
+ tire_stiffness_factor = 1.0
+ ret.steerActuatorDelay = 0.2
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -156,7 +173,7 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def _update(self, c):
- ret = self.CS.update(self.cp, self.cp_loopback)
+ ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 016910a40..cb9aff172 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -14,7 +14,6 @@ class CarControllerParams:
STEER_STEP = 2 # Control frames per command (50hz)
STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 17
- MIN_STEER_SPEED = 3. # m/s
STEER_DRIVER_ALLOWANCE = 50
STEER_DRIVER_MULTIPLIER = 4
STEER_DRIVER_FACTOR = 100
@@ -59,10 +58,7 @@ class CAR:
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
-
-
-EV_CAR = {CAR.VOLT}
-STEER_THRESHOLD = 1.0
+ BOLT_EUV = "CHEVROLET BOLT EUV 2022"
class Footnote(Enum):
@@ -87,6 +83,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+ CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier/Premier Redline Trim", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
}
@@ -107,6 +104,7 @@ class AccState:
class CanBus:
POWERTRAIN = 0
OBSTACLE = 1
+ CAMERA = 2
CHASSIS = 2
SW_GMLAN = 3
LOOPBACK = 128
@@ -155,6 +153,17 @@ FINGERPRINTS = {
{
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.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, 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, 1930: 7
+ }],
}
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
+
+EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
+
+# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
+CAMERA_ACC_CAR = {CAR.BOLT_EUV}
+
+STEER_THRESHOLD = 1.0
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index b55ca3e42..6c4d65a4d 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -329,6 +329,23 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8
+ if Params().get_bool('dp_honda_eps_mod'):
+ if candidate == CAR.CIVIC:
+ # tuned by a-tao
+ ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096, 8000], [0, 4096, 4096]]
+ elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
+ ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
+ ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] #2.5 default mod #Tuned by TMG
+ elif candidate in (CAR.ACCORD, CAR.ACCORDH):
+ ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
+ elif candidate == CAR.CRV_5G:
+ ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]] #tuned by Titanminer (8000)
+ ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
+ elif candidate == CAR.CRV_HYBRID:
+ ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0x0, 0xB5, 0x161, 0x2D6, 0x4C0, 0x70D, 0xC42, 0x1058, 0x2C00], [0x0, 0x160, 0x1F0, 0x2E0, 0x378, 0x4A0, 0x5F0, 0x804, 0xF00]]
+ ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]] #still needs to finish tuning for the new car
+ ret.lateralTuning.pid.kf = 0.00004
+
CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
return ret
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 88e118cc3..ab1cc9a6c 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -131,7 +131,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
- CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-22", min_steer_speed=0., harness=Harness.nidec),
+ CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4d181e382..60fb46340 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -4,8 +4,8 @@ from common.numpy_fast import clip, interp
from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.hyundai import hda2can, hyundaican
-from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
+from selfdrive.car.hyundai import hyundaicanfd, hyundaican
+from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CANFD_CAR, CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -69,23 +69,23 @@ class CarController:
can_sends = []
- if self.CP.carFingerprint in HDA2_CAR:
+ if self.CP.carFingerprint in CANFD_CAR:
# steering control
- can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
+ can_sends.append(hyundaicanfd.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
if self.frame % 5 == 0:
- can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
+ can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
# cruise cancel
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
if CC.cruiseControl.cancel:
for _ in range(20):
- can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+ can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
# cruise standstill resume
elif CC.cruiseControl.resume:
- can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+ can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
else:
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index fa3f14bff..640961df1 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -5,7 +5,7 @@ from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 8
@@ -19,7 +19,7 @@ class CarState(CarStateBase):
self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
- if CP.carFingerprint in HDA2_CAR:
+ if CP.carFingerprint in CANFD_CAR:
self.shifter_values = can_define.dv["ACCELERATOR"]["GEAR"]
elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
@@ -35,8 +35,8 @@ class CarState(CarStateBase):
self.params = CarControllerParams(CP)
def update(self, cp, cp_cam):
- if self.CP.carFingerprint in HDA2_CAR:
- return self.update_hda2(cp, cp_cam)
+ if self.CP.carFingerprint in CANFD_CAR:
+ return self.update_canfd(cp, cp_cam)
ret = car.CarState.new_message()
@@ -133,7 +133,7 @@ class CarState(CarStateBase):
return ret
- def update_hda2(self, cp, cp_cam):
+ def update_canfd(self, cp, cp_cam):
ret = car.CarState.new_message()
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
@@ -184,8 +184,8 @@ class CarState(CarStateBase):
@staticmethod
def get_can_parser(CP):
- if CP.carFingerprint in HDA2_CAR:
- return CarState.get_can_parser_hda2(CP)
+ if CP.carFingerprint in CANFD_CAR:
+ return CarState.get_can_parser_canfd(CP)
signals = [
# signal_name, signal_address
@@ -319,7 +319,7 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
- if CP.carFingerprint in HDA2_CAR:
+ if CP.carFingerprint in CANFD_CAR:
signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
checks = [("CAM_0x2a4", 20)]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
@@ -374,7 +374,7 @@ class CarState(CarStateBase):
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
@staticmethod
- def get_can_parser_hda2(CP):
+ def get_can_parser_canfd(CP):
signals = [
("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hyundaicanfd.py
similarity index 100%
rename from selfdrive/car/hyundai/hda2can.py
rename to selfdrive/car/hyundai/hyundaicanfd.py
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 146d5e7c0..eadd088a9 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -26,7 +26,6 @@ class CarInterface(CarInterfaceBase):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "hyundai"
- ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
# WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
@@ -239,8 +238,12 @@ class CarInterface(CarInterfaceBase):
ret.mass = 2055 + STD_CARGO_KG
ret.wheelbase = 2.9
ret.steerRatio = 16.
- ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
- get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
+ tire_stiffness_factor = 0.65
+ CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+ elif candidate == CAR.IONIQ_5:
+ ret.mass = 2012 + STD_CARGO_KG
+ ret.wheelbase = 3.0
+ ret.steerRatio = 16.
tire_stiffness_factor = 0.65
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -280,15 +283,28 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
- # these cars require a special panda safety mode due to missing counters and checksums in the messages
- if candidate in LEGACY_SAFETY_MODE_CAR:
- ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+ # panda safety config
+ if candidate in CANFD_CAR:
+ ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
+ get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+ else:
+ if candidate in LEGACY_SAFETY_MODE_CAR:
+ # these cars require a special panda safety mode due to missing counters and checksums in the messages
+ ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+ else:
+ ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
- # set appropriate safety param for gas signal
- if candidate in HYBRID_CAR:
- ret.safetyConfigs[0].safetyParam = 2
- elif candidate in EV_CAR:
- ret.safetyConfigs[0].safetyParam = 1
+ # set appropriate safety param for gas signal
+ if candidate in HYBRID_CAR:
+ ret.safetyConfigs[0].safetyParam = 2
+ elif candidate in EV_CAR:
+ ret.safetyConfigs[0].safetyParam = 1
+
+ if ret.openpilotLongitudinalControl:
+ ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
+
+ if candidate in CAMERA_SCC_CAR:
+ ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
ret.centerToFront = ret.wheelbase * 0.4
@@ -306,12 +322,6 @@ class CarInterface(CarInterfaceBase):
if int(Params().get("dp_atl").decode('utf-8')) == 1:
ret.openpilotLongitudinalControl = False
- if ret.openpilotLongitudinalControl:
- ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
-
- if candidate in CAMERA_SCC_CAR:
- ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-
CarInterfaceBase.configure_lqr_tune(ret.lateralTuning)
return ret
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index ec38123fa..8879931b2 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -20,7 +20,7 @@ class CarControllerParams:
self.STEER_DRIVER_FACTOR = 1
self.STEER_THRESHOLD = 150
- if CP.carFingerprint in HDA2_CAR:
+ if CP.carFingerprint in CANFD_CAR:
self.STEER_MAX = 270
self.STEER_DRIVER_ALLOWANCE = 250
self.STEER_DRIVER_MULTIPLIER = 2
@@ -65,6 +65,7 @@ class CAR:
PALISADE = "HYUNDAI PALISADE 2020"
VELOSTER = "HYUNDAI VELOSTER 2019"
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
+ IONIQ_5 = "HYUNDAI IONIQ 5 2022"
# Kia
KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@@ -126,6 +127,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
],
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
+ CAR.IONIQ_5: HyundaiCarInfo("Hyundai Ioniq 5 2022", "Highway Driving Assist II", harness=Harness.none),
# Kia
CAR.KIA_FORTE: [
@@ -156,7 +158,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
],
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
- CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
+ CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p),
# Genesis
CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
@@ -1263,6 +1265,23 @@ FW_VERSIONS = {
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027',
],
},
+ CAR.IONIQ_5: {
+ (Ecu.esp, 0x7d1, None): [
+ b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
+ b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
+ ],
+ (Ecu.eps, 0x7d4, None): [
+ b'\xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
+ b'\xf1\x8757700GI000 \xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106',
+ ],
+ (Ecu.fwdRadar, 0x7d0, None): [
+ b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
+ b'\xf1\x8799110GI000\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
+ ],
+ (Ecu.fwdCamera, 0x7c4, None): [
+ b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206',
+ ],
+ },
}
CHECKSUM = {
@@ -1280,7 +1299,7 @@ FEATURES = {
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
}
-HDA2_CAR = {CAR.KIA_EV6, }
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5}
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1335,4 +1354,5 @@ DBC = {
CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
CAR.KIA_EV6: dbc_dict('kia_ev6', None),
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
+ CAR.IONIQ_5: dbc_dict('kia_ev6', None),
}
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index bb96572c3..65122ab89 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -135,6 +135,7 @@ class IsoTpParallelQuery:
if self.debug:
cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
else:
+ response_timeouts[tx_addr] = 0
request_done[tx_addr] = True
cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 7db401e16..7e99cccec 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -67,6 +67,7 @@ FW_VERSIONS = {
b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+ b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -80,6 +81,7 @@ FW_VERSIONS = {
(Ecu.transmission, 0x7e1, None): [
b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+ b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.CX5: {
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 9465f75ed..691a4c915 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -46,12 +46,12 @@ class CAR:
@dataclass
class SubaruCarInfo(CarInfo):
package: str = "EyeSight Driver Assistance"
- harness: Enum = Harness.subaru
+ harness: Enum = Harness.subaru_a
CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
- CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.none),
+ CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
CAR.IMPREZA: [
SubaruCarInfo("Subaru Impreza 2017-19"),
SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -99,7 +99,6 @@ FW_VERSIONS = {
b'\x00\xfe\xf7\x00\x00',
b'\001\xfe\xf9\000\000',
b'\x01\xfe\xf7\x00\x00',
- b'\xf1\x00\xa4\x10@',
],
},
CAR.IMPREZA: {
@@ -116,6 +115,7 @@ FW_VERSIONS = {
b'z\x94\x08\x90\x00',
b'z\x84\x19\x90\x00',
b'\xf1\x00\xb2\x06\x04',
+ b'z\x94\x0c\x90\x00',
],
(Ecu.eps, 0x746, None): [
b'\x7a\xc0\x0c\x00',
@@ -139,6 +139,7 @@ FW_VERSIONS = {
b'\x00\x00c\xf4\x00\x00\x00\x00',
b'\x00\x00d\xdc\x00\x00\x00\x00',
b'\x00\x00dd\x00\x00\x00\x00',
+ b'\x00\x00c\xf4\x1f@ \x07',
],
(Ecu.engine, 0x7e0, None): [
b'\xaa\x61\x66\x73\x07',
@@ -148,7 +149,6 @@ FW_VERSIONS = {
b'\xaa!`u\a',
b'\xaa!dq\a',
b'\xaa!dt\a',
- b'\xf1\x00\xa2\x10\t',
b'\xc5!ar\a',
b'\xbe!as\a',
b'\xc5!ds\a',
@@ -158,6 +158,7 @@ FW_VERSIONS = {
b'\xaa\x00Bu\x07',
b'\xc5!dr\x07',
b'\xaa!aw\x07',
+ b'\xaa!av\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xe3\xe5\x46\x31\x00',
@@ -173,7 +174,6 @@ FW_VERSIONS = {
b'\xe4\xf5\002\000\000',
b'\xe3\xd0\x081\x00',
b'\xe3\xf5\x06\x00\x00',
- b'\xf1\x00\xa4\x10@',
],
},
CAR.IMPREZA_2020: {
@@ -202,7 +202,6 @@ FW_VERSIONS = {
b'\xca!`0\a',
b'\xcc\"f0\a',
b'\xcc!fp\a',
- b'\xf1\x00\xa2\x10\t',
b'\xca!f@\x07',
b'\xca!fp\x07',
],
@@ -247,7 +246,6 @@ FW_VERSIONS = {
b'\x1a\xf6F`\x00',
b'\032\xf6b`\000',
b'\x1a\xf6B`\x00',
- b'\xf1\x00\xa4\x10@',
b'\x1a\xf6b0\x00',
],
},
@@ -475,4 +473,4 @@ DBC = {
}
GLOBAL_GEN2 = (CAR.OUTBACK, )
-PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
\ No newline at end of file
+PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 27a8c26fd..0a958a9d0 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -22,7 +22,9 @@ COMMA BODY: [.nan, 1000, .nan]
# Totally new cars
KIA EV6 2022: [3.5, 2.5, 0.0]
RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
+RAM HD 5TH GEN: [1.4, 1.4, 0.0]
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
+CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
# Dashcam or fallback configured as ideal car
mock: [10.0, 10, 0.0]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index f7288ec73..279e28ff5 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -29,6 +29,7 @@ HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI IONIQ 5 2022: KIA EV6 2022
HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index dd6726b3b..7cd7be2df 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -32,10 +32,12 @@ class CarController:
# dp
self.dp_toyota_sng = False
+ self.dp_atl = 0
def update(self, CC, CS, dragonconf):
if dragonconf is not None:
self.dp_toyota_sng = dragonconf.dpToyotaSng
+ self.dp_atl = dragonconf.dpAtl
actuators = CC.actuators
hud_control = CC.hudControl
pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -79,6 +81,11 @@ class CarController:
apply_steer_req = 0
self.steer_rate_counter = 0
+ # dp - try to avoid steering fault
+ if self.dp_atl > 0 and abs(CS.out.steeringAngleDeg) > 500:
+ apply_steer = 0
+ apply_steer_req = 0
+
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
# than CS.cruiseState.enabled. confirm they're not meaningfully different
if not CC.enabled and CS.pcm_acc_status:
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 750722ab9..bcdeb26b5 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -158,7 +158,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
- CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
+ CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU], min_enable_speed=MIN_ACC_SPEED),
# Lexus
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
@@ -171,7 +171,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
- CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
+ CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-19", footnotes=[Footnote.DSU]),
CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
@@ -1825,15 +1825,18 @@ FW_VERSIONS = {
b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+ b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.esp, 0x7b0, None): [
b'F152648831\x00\x00\x00\x00\x00\x00',
b'F152648891\x00\x00\x00\x00\x00\x00',
b'F152648D00\x00\x00\x00\x00\x00\x00',
b'F152648D60\x00\x00\x00\x00\x00\x00',
+ b'F152648811\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B48271\x00\x00\x00\x00\x00\x00',
+ b'8965B48261\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301400\x00\x00\x00\x00',
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 99a3ce55f..2c5830f86 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,8 +1,8 @@
from cereal import car
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.volkswagen import volkswagencan
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, CarControllerParams as P
+from selfdrive.car.volkswagen import mqbcan
+from selfdrive.car.volkswagen.values import CANBUS, CarControllerParams
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -10,11 +10,12 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
+ self.CCP = CarControllerParams(CP)
+ self.CCS = mqbcan
+ self.packer_pt = CANPacker(dbc_name)
+
self.apply_steer_last = 0
self.frame = 0
-
- self.packer_pt = CANPacker(DBC_FILES.mqb)
-
self.hcaSameTorqueCount = 0
self.hcaEnabledFrameCount = 0
@@ -26,7 +27,7 @@ class CarController:
# **** Steering Controls ************************************************ #
- if self.frame % P.HCA_STEP == 0:
+ if self.frame % self.CCP.HCA_STEP == 0:
# Logic to avoid HCA state 4 "refused":
# * Don't steer unless HCA is in state 3 "ready" or 5 "active"
# * Don't steer at standstill
@@ -38,21 +39,21 @@ class CarController:
# when exceeding ~1/3 the 360 second timer.
if CC.latActive:
- new_steer = int(round(actuators.steer * P.STEER_MAX))
- apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
+ new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
+ apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
if apply_steer == 0:
hcaEnabled = False
self.hcaEnabledFrameCount = 0
else:
self.hcaEnabledFrameCount += 1
- if self.hcaEnabledFrameCount >= 118 * (100 / P.HCA_STEP): # 118s
+ if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.HCA_STEP): # 118s
hcaEnabled = False
self.hcaEnabledFrameCount = 0
else:
hcaEnabled = True
if self.apply_steer_last == apply_steer:
self.hcaSameTorqueCount += 1
- if self.hcaSameTorqueCount > 1.9 * (100 / P.HCA_STEP): # 1.9s
+ if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.HCA_STEP): # 1.9s
apply_steer -= (1, -1)[apply_steer < 0]
self.hcaSameTorqueCount = 0
else:
@@ -62,32 +63,28 @@ class CarController:
apply_steer = 0
self.apply_steer_last = apply_steer
- can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
+ can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
# **** HUD Controls ***************************************************** #
- if self.frame % P.LDW_STEP == 0:
+ if self.frame % self.CCP.LDW_STEP == 0:
+ hud_alert = 0
if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
- hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
- else:
- hud_alert = MQB_LDW_MESSAGES["none"]
+ hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
+ can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
+ CS.out.steeringPressed, hud_alert, hud_control))
- can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
- CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
- hud_control.rightLaneVisible, CS.ldw_stock_values,
- hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+ # **** Stock ACC Button Controls **************************************** #
- # **** ACC Button Controls ********************************************** #
-
- if self.CP.pcmCruise and self.frame % P.GRA_ACC_STEP == 0:
+ if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:
idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
if CC.cruiseControl.cancel:
- can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
+ can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
elif CC.cruiseControl.resume:
- can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
+ can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
new_actuators = actuators.copy()
- new_actuators.steer = self.apply_steer_last / P.STEER_MAX
+ new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
self.frame += 1
return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 0ba00d1f5..d6eb1e80d 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -3,20 +3,29 @@ from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
-from opendbc.can.can_define import CANDefine
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
- CarControllerParams, MQB_BUTTONS
+from selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
+ CarControllerParams
+
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
- self.button_states = {button.event_type: False for button in MQB_BUTTONS}
- can_define = CANDefine(DBC_FILES.mqb)
- if CP.transmissionType == TransmissionType.automatic:
- self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
- elif CP.transmissionType == TransmissionType.direct:
- self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
- self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
+ self.CCP = CarControllerParams(CP)
+ self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
+
+ def create_button_events(self, pt_cp, buttons):
+ button_events = []
+
+ for button in buttons:
+ state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
+ if self.button_states[button.event_type] != state:
+ event = car.CarState.ButtonEvent.new_message()
+ event.type = button.event_type
+ event.pressed = state
+ button_events.append(event)
+ self.button_states[button.event_type] = state
+
+ return button_events
def update(self, pt_cp, cam_cp, ext_cp, trans_type):
ret = car.CarState.new_message()
@@ -37,11 +46,11 @@ class CarState(CarStateBase):
ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
- ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
+ ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
# Verify EPS readiness to accept steering commands
- hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
+ hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT")
ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED")
@@ -54,9 +63,9 @@ class CarState(CarStateBase):
# Update gear and/or clutch position data.
if trans_type == TransmissionType.automatic:
- ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
+ ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_11"]["GE_Fahrstufe"], None))
elif trans_type == TransmissionType.direct:
- ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
+ ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["EV_Gearshift"]["GearPosition"], None))
elif trans_type == TransmissionType.manual:
ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
@@ -118,17 +127,8 @@ class CarState(CarStateBase):
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
+ ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
- buttonEvents = []
- for button in MQB_BUTTONS:
- state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
- if self.button_states[button.event_type] != state:
- event = car.CarState.ButtonEvent.new_message()
- event.type = button.event_type
- event.pressed = state
- buttonEvents.append(event)
- self.button_states[button.event_type] = state
- ret.buttonEvents = buttonEvents
# Additional safety checks performed in CarInterface.
ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
@@ -219,7 +219,7 @@ class CarState(CarStateBase):
signals += MqbExtraSignals.bsm_radar_signals
checks += MqbExtraSignals.bsm_radar_checks
- return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.pt)
+ return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
@staticmethod
def get_cam_can_parser(CP):
@@ -247,7 +247,7 @@ class CarState(CarStateBase):
signals += MqbExtraSignals.bsm_radar_signals
checks += MqbExtraSignals.bsm_radar_checks
- return CANParser(DBC_FILES.mqb, signals, checks, CANBUS.cam)
+ return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
class MqbExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 77cf1f547..92beb3482 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -1,7 +1,9 @@
from cereal import car
-from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car import STD_CARGO_KG, create_button_enable_events, scale_rot_inertia, scale_tire_stiffness, \
+ gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
+
EventName = car.CarEvent.EventName
@@ -52,6 +54,13 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
+ # Global longitudinal tuning defaults, can be overridden per-vehicle
+
+ ret.pcmCruise = not ret.openpilotLongitudinalControl
+ ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+ ret.longitudinalTuning.kpV = [0.1]
+ ret.longitudinalTuning.kiV = [0.0]
+
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1:
@@ -162,7 +171,8 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
ret.cruiseState.enabled, ret.cruiseState.available = self.dp_atl_mode(ret)
- events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
+ events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+ pcm_enable=not self.CS.CP.openpilotLongitudinalControl)
events = self.dp_atl_warning(ret, events)
# Low speed steer alert hysteresis logic
@@ -173,6 +183,13 @@ class CarInterface(CarInterfaceBase):
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
+ if self.CS.CP.openpilotLongitudinalControl:
+ if ret.vEgo < self.CP.minEnableSpeed + 2.:
+ events.add(EventName.belowEngageSpeed)
+ if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
+ events.add(EventName.speedTooLow)
+
+ events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
ret.events = events.to_msg()
return ret
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
new file mode 100644
index 000000000..1a4ca339a
--- /dev/null
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -0,0 +1,38 @@
+def create_steering_control(packer, bus, apply_steer, lkas_enabled):
+ values = {
+ "SET_ME_0X3": 0x3,
+ "Assist_Torque": abs(apply_steer),
+ "Assist_Requested": lkas_enabled,
+ "Assist_VZ": 1 if apply_steer < 0 else 0,
+ "HCA_Available": 1,
+ "HCA_Standby": not lkas_enabled,
+ "HCA_Active": lkas_enabled,
+ "SET_ME_0XFE": 0xFE,
+ "SET_ME_0X07": 0x07,
+ }
+ return packer.make_can_msg("HCA_01", bus, values)
+
+
+def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
+ values = ldw_stock_values.copy()
+
+ values.update({
+ "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
+ "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
+ "LDW_Lernmodus_links": 3 if hud_control.leftLaneDepart else 1 + hud_control.leftLaneVisible,
+ "LDW_Lernmodus_rechts": 3 if hud_control.rightLaneDepart else 1 + hud_control.rightLaneVisible,
+ "LDW_Texte": hud_alert,
+ })
+ return packer.make_can_msg("LDW_02", bus, values)
+
+
+def create_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
+ values = gra_stock_values.copy()
+
+ values.update({
+ "COUNTER": idx,
+ "GRA_Abbrechen": cancel,
+ "GRA_Tip_Wiederaufnahme": resume,
+ })
+
+ return packer.make_can_msg("GRA_ACC_01", bus, values)
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 9f58d68f8..785a70d2d 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -4,6 +4,7 @@ from enum import Enum
from typing import Dict, List, Union
from cereal import car
+from opendbc.can.can_define import CANDefine
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
@@ -15,19 +16,51 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CarControllerParams:
- HCA_STEP = 2 # HCA_01 message frequency 50Hz
- LDW_STEP = 10 # LDW_02 message frequency 10Hz
- GRA_ACC_STEP = 3 # GRA_ACC_01 message frequency 33Hz
+ HCA_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz
+ GRA_ACC_STEP = 3 # GRA_ACC_01/GRA_Neu message frequency 33Hz
- # Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
- # Limiting rate-of-change based on real-world testing and Comma's safety
- # requirements for minimum time to lane departure.
- STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
- STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
- STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
- STEER_DRIVER_ALLOWANCE = 80
- STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
- STEER_DRIVER_FACTOR = 1 # from dbc
+ def __init__(self, CP):
+ # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
+ # MQB vs PQ maximums are shared, but rate-of-change limited differently
+ # based on safety requirements driven by lateral accel testing.
+ self.STEER_MAX = 300 # Max heading control assist torque 3.00 Nm
+ self.STEER_DRIVER_MULTIPLIER = 3 # weight driver torque heavily
+ self.STEER_DRIVER_FACTOR = 1 # from dbc
+
+ can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
+
+ if True: # pylint: disable=using-constant-test
+ self.LDW_STEP = 10 # LDW_02 message frequency 10Hz
+ self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
+ self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
+ self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
+
+ if CP.transmissionType == TransmissionType.automatic:
+ self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
+ elif CP.transmissionType == TransmissionType.direct:
+ self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
+ self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
+
+ self.BUTTONS = [
+ Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
+ Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
+ Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
+ Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
+ Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
+ Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
+ ]
+
+ self.LDW_MESSAGES = {
+ "none": 0, # Nothing to display
+ "laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime
+ "laneAssistUnavailNoSensorChime": 3, # "Lane Assist not available. No sensor view." with chime
+ "laneAssistTakeOverUrgent": 4, # "Lane Assist: Please Take Over Steering" with urgent beep
+ "emergencyAssistUrgent": 6, # "Emergency Assist: Please Take Over Steering" with urgent beep
+ "laneAssistTakeOverChime": 7, # "Lane Assist: Please Take Over Steering" with chime
+ "laneAssistTakeOver": 8, # "Lane Assist: Please Take Over Steering" silent
+ "emergencyAssistChangingLanes": 9, # "Emergency Assist: Changing lanes..." with urgent beep
+ "laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward
+ }
class CANBUS:
@@ -35,36 +68,6 @@ class CANBUS:
cam = 2
-class DBC_FILES:
- mqb = "vw_mqb_2010" # Used for all cars with MQB-style CAN messaging
-
-
-DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
-
-
-MQB_BUTTONS = [
- Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
- Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
- Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
- Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
- Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
- Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
-]
-
-
-MQB_LDW_MESSAGES = {
- "none": 0, # Nothing to display
- "laneAssistUnavailChime": 1, # "Lane Assist currently not available." with chime
- "laneAssistUnavailNoSensorChime": 3, # "Lane Assist not available. No sensor view." with chime
- "laneAssistTakeOverUrgent": 4, # "Lane Assist: Please Take Over Steering" with urgent beep
- "emergencyAssistUrgent": 6, # "Emergency Assist: Please Take Over Steering" with urgent beep
- "laneAssistTakeOverChime": 7, # "Lane Assist: Please Take Over Steering" with chime
- "laneAssistTakeOverSilent": 8, # "Lane Assist: Please Take Over Steering" silent
- "emergencyAssistChangingLanes": 9, # "Emergency Assist: Changing lanes..." with urgent beep
- "laneAssistDeactivated": 10, # "Lane Assist deactivated." silent with persistent icon afterward
-}
-
-
# Check the 7th and 8th characters of the VIN before adding a new CAR. If the
# chassis code is already listed below, don't add a new CAR, just add to the
# FW_VERSIONS for that existing CAR.
@@ -96,18 +99,22 @@ class CAR:
SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants
+DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None))
+
+
class Footnote(Enum):
KAMIQ = CarFootnote(
"Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.",
Column.MODEL)
PASSAT = CarFootnote(
- "Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform.",
+ "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
Column.MODEL)
VW_HARNESS = CarFootnote(
"Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " +
"store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black " +
- "(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " +
- "from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.",
+ "(older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway " +
+ "inside the dashboard, choose \"VW J533 Development\" from the vehicle drop-down for a suitable harness. " +
+ "(Some newer models are also observed to not have a J533 connector.)",
Column.MODEL)
VW_VARIANT = CarFootnote(
"Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)",
@@ -177,7 +184,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]),
- CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
+ CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21", footnotes=[Footnote.VW_HARNESS]),
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"),
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),
diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py
deleted file mode 100644
index f4c21eeed..000000000
--- a/selfdrive/car/volkswagen/volkswagencan.py
+++ /dev/null
@@ -1,42 +0,0 @@
-# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT.
-# PQ35/PQ46/NMS, and any future MLB, to come later.
-
-def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled):
- values = {
- "SET_ME_0X3": 0x3,
- "Assist_Torque": abs(apply_steer),
- "Assist_Requested": lkas_enabled,
- "Assist_VZ": 1 if apply_steer < 0 else 0,
- "HCA_Available": 1,
- "HCA_Standby": not lkas_enabled,
- "HCA_Active": lkas_enabled,
- "SET_ME_0XFE": 0xFE,
- "SET_ME_0X07": 0x07,
- }
- return packer.make_can_msg("HCA_01", bus, values)
-
-def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
- ldw_stock_values, left_lane_depart, right_lane_depart):
- # Lane color reference:
- # 0 (LKAS disabled) - off
- # 1 (LKAS enabled, no lane detected) - dark gray
- # 2 (LKAS enabled, lane detected) - light gray on VW, green or white on Audi depending on year or virtual cockpit. On a color MFD on a 2015 A3 TDI it is white, virtual cockpit on a 2018 A3 e-Tron its green.
- # 3 (LKAS enabled, lane departure detected) - white on VW, red on Audi
- values = ldw_stock_values.copy()
- values.update({
- "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
- "LDW_Status_LED_gruen": 1 if enabled and not steering_pressed else 0,
- "LDW_Lernmodus_links": 3 if left_lane_depart else 1 + left_lane_visible,
- "LDW_Lernmodus_rechts": 3 if right_lane_depart else 1 + right_lane_visible,
- "LDW_Texte": hud_alert,
- })
- return packer.make_can_msg("LDW_02", bus, values)
-
-def create_mqb_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
- values = gra_stock_values.copy()
-
- values["COUNTER"] = idx
- values["GRA_Abbrechen"] = cancel
- values["GRA_Tip_Wiederaufnahme"] = resume
-
- return packer.make_can_msg("GRA_ACC_01", bus, values)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3dc45fd53..abd1efadb 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -645,8 +645,13 @@ class Controls:
if len(dpath_points):
# Check if we deviated from the path
# TODO use desired vs actual curvature
- left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20
- right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20
+ if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+ steering_value = actuators.steeringAngleDeg
+ else:
+ steering_value = actuators.steer
+
+ left_deviation = steering_value > 0 and dpath_points[0] < -0.20
+ right_deviation = steering_value < 0 and dpath_points[0] > 0.20
if left_deviation or right_deviation:
self.events.add(EventName.steerSaturated)
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 077a618d3..fe034c87a 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -48,7 +48,7 @@ class DesireHelper:
self.dp_lc_auto_min_mph = LANE_CHANGE_SPEED_MIN + 10
self.dp_lc_auto_delay = 3 # secs
- def update(self, carstate, active, lane_change_prob, dragonconf):
+ def update(self, carstate, lateral_active, lane_change_prob, dragonconf):
# dp - sync with dragonConf
self.dp_lateral_mode = dragonconf.dpLateralMode
self.dp_lc_min_mph = dragonconf.dpLcMinMph * CV.MPH_TO_MS
@@ -61,7 +61,7 @@ class DesireHelper:
below_lane_change_speed = v_ego < self.dp_lc_min_mph
below_alc_speed = v_ego < self.dp_lc_auto_min_mph
- if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+ if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
else:
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index a1037f040..c0e735816 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -89,7 +89,7 @@ def gen_lat_ocp():
# TODO hacky weights to keep behavior the same
ocp.model.cost_y_expr = vertcat(y_ego,
((v_ego +5.0) * psi_ego),
- ((v_ego +5.0) * 4 * curv_rate))
+ ((v_ego + 5.0) * 4.0 * curv_rate))
ocp.model.cost_y_expr_e = vertcat(y_ego,
((v_ego +5.0) * psi_ego))
@@ -147,7 +147,7 @@ class LateralMpc():
#TODO hacky weights to keep behavior the same
self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2])
- def run(self, x0, p, y_pts, heading_pts):
+ def run(self, x0, p, y_pts, heading_pts, curv_rate_pts):
x0_cp = np.copy(x0)
p_cp = np.copy(p)
self.solver.constraints_set(0, "lbx", x0_cp)
@@ -156,6 +156,7 @@ class LateralMpc():
v_ego = p_cp[0]
# rotation_radius = p_cp[1]
self.yref[:,1] = heading_pts*(v_ego+5.0)
+ self.yref[:,2] = curv_rate_pts * (v_ego+5.0) * 4.0
for i in range(N):
self.solver.cost_set(i, "yref", self.yref[i])
self.solver.set(i, "p", p_cp)
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 42e032304..f9103c1c1 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -3,7 +3,7 @@ from common.realtime import sec_since_boot, DT_MDL
from common.numpy_fast import interp
from system.swaglog import cloudlog
from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
-from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
+from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N
from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
from selfdrive.controls.lib.desire_helper import DesireHelper
import cereal.messaging as messaging
@@ -11,17 +11,21 @@ from cereal import log
class LateralPlanner:
- def __init__(self, use_lanelines=True, wide_camera=False):
+ def __init__(self, CP, use_lanelines=True, wide_camera=False):
self.use_lanelines = use_lanelines
self.LP = LanePlanner(wide_camera)
self.DH = DesireHelper()
+ # Vehicle model parameters used to calculate lateral movement of car
+ self.factor1 = CP.wheelbase - CP.centerToFront
+ self.factor2 = (CP.centerToFront * CP.mass) / (CP.wheelbase * CP.tireStiffnessRear)
self.last_cloudlog_t = 0
self.solution_invalid_cnt = 0
self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3))
self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
+ self.plan_curv_rate = np.zeros((TRAJECTORY_SIZE,))
self.t_idxs = np.arange(TRAJECTORY_SIZE)
self.y_pts = np.zeros(TRAJECTORY_SIZE)
self.d_path_w_lines_xyz = np.zeros((TRAJECTORY_SIZE, 3))
@@ -45,13 +49,13 @@ class LateralPlanner:
if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
self.t_idxs = np.array(md.position.t)
- self.plan_yaw = list(md.orientation.z)
+ self.plan_yaw = np.array(md.orientation.z)
if len(md.position.xStd) == TRAJECTORY_SIZE:
self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd])
# Lane change logic
lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
- self.DH.update(sm['carState'], sm['controlsState'].active, lane_change_prob, sm['dragonConf'])
+ self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['dragonConf'])
# Turn off lanes during lane change
if self.DH.desire == log.LateralPlan.Desire.laneChangeRight or self.DH.desire == log.LateralPlan.Desire.laneChangeLeft:
@@ -78,16 +82,19 @@ class LateralPlanner:
y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1])
heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
+ curv_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_curv_rate)
self.y_pts = y_pts
assert len(y_pts) == LAT_MPC_N + 1
assert len(heading_pts) == LAT_MPC_N + 1
- # self.x0[4] = v_ego
- p = np.array([v_ego, CAR_ROTATION_RADIUS])
+ assert len(curv_rate_pts) == LAT_MPC_N + 1
+ lateral_factor = max(0, self.factor1 - (self.factor2 * v_ego**2))
+ p = np.array([v_ego, lateral_factor])
self.lat_mpc.run(self.x0,
p,
y_pts,
- heading_pts)
+ heading_pts,
+ curv_rate_pts)
# init state for next
# mpc.u_sol is the desired curvature rate given x0 curv state.
# with x0[3] = measured_curvature, this would be the actual desired rate.
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 92f351750..1dd55c1c4 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -23,10 +23,10 @@ def plannerd_thread(sm=None, pm=None):
cloudlog.event("e2e mode", on=use_lanelines)
longitudinal_planner = Planner(CP)
- lateral_planner = LateralPlanner(use_lanelines=use_lanelines, wide_camera=wide_camera)
+ lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
if sm is None:
- sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2', 'dragonConf', 'lateralPlan', 'navInstruction', 'liveMapData'],
+ sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'dragonConf', 'lateralPlan', 'navInstruction', 'liveMapData'],
poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
if pm is None:
diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd
index 8ca26cbb7..a33f29ec8 100755
Binary files a/selfdrive/locationd/locationd and b/selfdrive/locationd/locationd differ
diff --git a/selfdrive/locationd/ubloxd b/selfdrive/locationd/ubloxd
index 01979994d..98bec2949 100755
Binary files a/selfdrive/locationd/ubloxd and b/selfdrive/locationd/ubloxd differ
diff --git a/selfdrive/mapd/lib/Route.py b/selfdrive/mapd/lib/Route.py
index 7aa502bb2..794ffe873 100644
--- a/selfdrive/mapd/lib/Route.py
+++ b/selfdrive/mapd/lib/Route.py
@@ -86,9 +86,17 @@ class Route():
b = np.arctan2(v[:, 0], v[:, 1])
# - Find index of las_wr section and calculate deltas of bearings to the other sections.
- last_wr_idx = way_relations.index(last_wr)
- b_ref = b[last_wr_idx]
- delta = b - b_ref
+ # dp - force re init if last_wr_idx return ValueError?
+ try:
+ last_wr_idx = way_relations.index(last_wr)
+ b_ref = b[last_wr_idx]
+ delta = b - b_ref
+ except ValueError:
+ self.way_collection_id = way_collection_id
+ self._ordered_way_relations = []
+ self._nodes_data = None
+ self._reset()
+ return
# - Update the direction of the possible route continuation ways as starting from last_node_id.
# Make sure to exclude any ways already included in the ordered list as to not modify direction when there
diff --git a/selfdrive/modeld/_modeld b/selfdrive/modeld/_modeld
index 19b9e00b0..8c656b471 100755
Binary files a/selfdrive/modeld/_modeld and b/selfdrive/modeld/_modeld differ
diff --git a/selfdrive/modeld/models/supercombo.thneed b/selfdrive/modeld/models/supercombo.thneed
index 77f4cb8de..de87a5ce8 100644
Binary files a/selfdrive/modeld/models/supercombo.thneed and b/selfdrive/modeld/models/supercombo.thneed differ
diff --git a/selfdrive/modeld/thneed/compile b/selfdrive/modeld/thneed/compile
index 06cdf7f68..22295419c 100755
Binary files a/selfdrive/modeld/thneed/compile and b/selfdrive/modeld/thneed/compile differ
diff --git a/selfdrive/sensord/_sensord b/selfdrive/sensord/_sensord
index d85ec0874..ffc8effaf 100755
Binary files a/selfdrive/sensord/_sensord and b/selfdrive/sensord/_sensord differ
diff --git a/selfdrive/ui/_ui b/selfdrive/ui/_ui
index e604bd14a..49342beca 100755
Binary files a/selfdrive/ui/_ui and b/selfdrive/ui/_ui differ
diff --git a/selfdrive/ui/qt/spinner b/selfdrive/ui/qt/spinner
index 97d5b64fb..cfcbf9736 100755
Binary files a/selfdrive/ui/qt/spinner and b/selfdrive/ui/qt/spinner differ
diff --git a/selfdrive/ui/qt/text b/selfdrive/ui/qt/text
index 710bd1b5b..da5a69393 100755
Binary files a/selfdrive/ui/qt/text and b/selfdrive/ui/qt/text differ
diff --git a/selfdrive/ui/soundd/_soundd b/selfdrive/ui/soundd/_soundd
index bb2660ab6..06f130c7e 100755
Binary files a/selfdrive/ui/soundd/_soundd and b/selfdrive/ui/soundd/_soundd differ
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index f52a28ef9..2559b2d26 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -1,5 +1,6 @@
{
"English": "main_en",
+ "Português": "main_pt",
"中文（繁體）": "main_zh-CHT",
"中文（简体）": "main_zh-CHS",
"한국어": "main_ko",
diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm
index 365980142..23a37fad2 100644
Binary files a/selfdrive/ui/translations/main_ja.qm and b/selfdrive/ui/translations/main_ja.qm differ
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 36ad618bd..de97b71f7 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -164,6 +164,22 @@ Reboot required.
Enable this to link Accel Mode (AM) control to the physical button (TSS2).
ONLY WORK ON SOME OF TSS1 VEHICLES.
+Reboot required.
+
+
+
+
+ Honda
+
+
+
+
+ Enable EPS Mod Mode
+
+
+
+
+ Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
Reboot required.
@@ -1631,23 +1647,23 @@ location set
Switch Branch
-
+ ブランチの切り替え
ENTER
-
+ 切替
The new branch will be pulled the next time the updater runs.
-
+ updater を実行する時にブランチを切り替えます。
Enter branch name
-
+ ブランチ名を入力
@@ -1820,7 +1836,7 @@ location set
- Show ETA in 24h format
+ Show ETA in 24h Format
24時間表示
diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm
index 585e0c3c9..e23303f77 100644
Binary files a/selfdrive/ui/translations/main_ko.qm and b/selfdrive/ui/translations/main_ko.qm differ
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 5c52f38c7..916c609f9 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -164,6 +164,22 @@ Reboot required.
Enable this to link Accel Mode (AM) control to the physical button (TSS2).
ONLY WORK ON SOME OF TSS1 VEHICLES.
+Reboot required.
+
+
+
+
+ Honda
+
+
+
+
+ Enable EPS Mod Mode
+
+
+
+
+ Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
Reboot required.
@@ -1820,7 +1836,7 @@ location set
- Show ETA in 24h format
+ Show ETA in 24h Format
24시간 형식으로 도착예정시간 표시
diff --git a/selfdrive/ui/translations/main_pt.qm b/selfdrive/ui/translations/main_pt.qm
new file mode 100644
index 000000000..f53ea2db6
Binary files /dev/null and b/selfdrive/ui/translations/main_pt.qm differ
diff --git a/selfdrive/ui/translations/main_pt.ts b/selfdrive/ui/translations/main_pt.ts
new file mode 100644
index 000000000..9825cdf42
--- /dev/null
+++ b/selfdrive/ui/translations/main_pt.ts
@@ -0,0 +1,1939 @@
+
+
+
+
+ AbstractAlert
+
+
+ Close
+ Fechar
+
+
+
+ Snooze Update
+ Adiar Atualização
+
+
+
+ Reboot and Update
+ Reiniciar e Atualizar
+
+
+
+ AdvancedNetworking
+
+
+ Back
+ Voltar
+
+
+
+ Enable Tethering
+ Ativar Theter
+
+
+
+ Tethering Password
+ Senha Thetering
+
+
+
+
+ EDIT
+ EDITAR
+
+
+
+ Enter new tethering password
+ Insira nova senha thetering
+
+
+
+ IP Address
+ IP Endereço
+
+
+
+ Enable Roaming
+ Ativar Roaming
+
+
+
+ APN Setting
+ APN Config
+
+
+
+ Enter APN
+ Insira APN
+
+
+
+ leave blank for automatic configuration
+ deixe em branco para configuração automática
+
+
+
+ C2NetworkPanel
+
+
+ Wi-Fi Settings
+
+
+
+
+
+ OPEN
+
+
+
+
+ Tethering Settings
+
+
+
+
+ IP Address
+ IP Endereço
+
+
+
+ ConfirmationDialog
+
+
+
+ Ok
+ OK
+
+
+
+ Cancel
+ Cancelar
+
+
+
+ DPCarPanel
+
+
+ Override Speed When Below
+
+
+
+
+ Override feature will be enabled when set cruise speed is lower than this value.
+1 km/h = 0.62 mph.
+
+
+
+
+ km/h
+
+
+
+
+ Turn On Cruise Speed Override
+
+
+
+
+ This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)
+
+
+
+
+ Toyota / Lexus
+
+
+
+
+ Enable SnG Mod
+
+
+
+
+ Enable this to fix stop and go (SnG) issue on some models.
+Reboot required.
+
+
+
+
+ Enable AM Physical Button Ctrl
+
+
+
+
+ Enable this to link Accel Mode (AM) control to the physical button (TSS2).
+ONLY WORK ON SOME OF TSS1 VEHICLES.
+Reboot required.
+
+
+
+
+ Honda
+
+
+
+
+ Enable EPS Mod Mode
+
+
+
+
+ Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
+Reboot required.
+
+
+
+
+ Mazda
+
+
+
+
+ Display Below Steer Speed Alert
+
+
+
+
+ Enable this will show below steer speed alert.
+Thanks to @TheCrowd
+
+
+
+
+ DPControlPanel
+
+
+ ALCA Delay
+
+
+
+
+ Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.
+
+
+
+
+ secs
+
+
+
+
+ ALCA Min Speed
+
+
+
+
+ ALCA minimum engage speed in mph.
+1 mph = 1.61 km/h.
+
+
+
+
+
+ mph
+
+
+
+
+ LCA Min Speed
+
+
+
+
+ LCA minimum engage speed in mph.
+1 mph = 1.61 km/h.
+
+
+
+
+ Lateral Ctrl Mode
+
+
+
+
+ 1 = Lane Change Assist (LCA)
+2 = Auto Lane Change Assist (ALCA)
+
+
+
+
+ Longitudinal
+
+
+
+
+ Manually Control Accel Mode
+
+
+
+
+ Enable this if you wish to adjust openpilot's acceleration control.
+
+
+
+
+ Enable vision based turn control
+
+
+
+
+ Use vision path predictions to estimate the appropriate speed to drive through turns ahead.
+
+
+
+
+ Lateral
+
+
+
+
+ Use Lane Lines
+
+
+
+
+ Enable this if you wish to use lane lines mode.
+
+
+
+
+ Use LQR Controller
+
+
+
+
+ Enable this if you wish to use LQR instead of PID or INDI controller.
+WORKS WELL ONLY ON SOME VEHICLES.
+More linear steering experience.
+
+
+
+
+ Always On Lateral
+
+
+
+
+ Use at your own risk!
+1 = Stock Long
+2 = OP Long
+Run Panda Recovery if Panda is not detected after reboot.
+Reboot required.
+
+
+
+
+ DPGeneralPanel
+
+
+ Auto Shutdown In
+
+
+
+
+ Adjust your shutdown waiting period.
+0 = shutdown immediately.
+
+
+
+
+ mins
+
+
+
+
+ Enable Auto Shutdown
+
+
+
+
+ Enable this if you wish to shutdown your device automatically.
+
+
+
+
+ Use Custom API Server
+
+
+
+
+ Enable this if you wish to connect to a custom API server.
+Default to "https://api.retropilot.org/", change "dp_api_custom" if you want to change API server URL.
+Reboot required.
+
+
+
+
+ Services
+
+
+
+
+ Enable On-Road Dashcam
+
+
+
+
+ Enable this if you wish to record screen, just like a dashcam.
+Reboot required.
+
+
+
+
+ Enable GPS Logger
+
+
+
+
+ This will store your track in /data/media/0/gpx_logs/.
+Reboot required.
+
+
+
+
+ Hardware - General
+
+
+
+
+ Enable Hotspot On Boot
+
+
+
+
+ Reboot required.
+
+
+
+
+ Miscellaneous
+
+
+
+
+ Enable Jetson Support
+
+
+
+
+ Enable this option if you intend to run dp on Nvidia Jetson.
+Reboot required.
+
+
+
+
+ Reboot recommended.
+Reboot?
+
+
+
+
+ Flashing Panda Firmware
+
+
+
+
+ FLASH
+
+
+
+
+ Tap the button to update your panda firmware.
+The device should reboot once if it finish updating.
+
+
+
+
+
+
+ Are you sure?
+
+
+
+
+ Pandas Firmware Recovery
+
+
+
+
+ RECOVER
+
+
+
+
+ Tap the button ONLY if your panda ran into issue.
+
+
+
+
+ Delete All Driving Log
+
+
+
+
+ DELETE
+
+
+
+
+ Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).
+
+
+
+
+ DPMapsPanel
+
+
+ Show Full Screen Nav.
+
+
+
+
+ This will show navigation in full screen.
+Please tap green boarder if you wish to switch back drive view.
+
+
+
+
+ Search Destination using Google Map
+
+
+
+
+ This will allow you to search destination in google map api.
+You will need to apply your own google map api key.Enter your key detail in web interface once it's enabled.
+
+
+
+
+ Enable Nav.
+
+
+
+
+ This will let use the build in Navigation.
+Use web interface to control it: *http://<device_ip>:8082*.
+You will need to apply your own mapbox token at https://www.mapbox.com/.
+Internet access from mobile phone (tethering) is required.
+Reboot required.
+
+
+
+
+ Enable Speed Limit Control
+
+
+
+
+ Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.
+
+
+
+
+ Enable Speed Limit Offset
+
+
+
+
+ Set speed limit slightly higher than actual speed limit for a more natural drive.
+
+
+
+
+ Enable Map Data Turn Control
+
+
+
+
+ Use curvature info from map data to define speed limits to take turns ahead
+
+
+
+
+ Show debug UI elements
+
+
+
+
+ Show UI elements that aid debugging.
+
+
+
+
+ Enable MapD
+
+
+
+
+ Use OSM to assist lateral/longitudinal control.
+Please note:
+1. This feature will works only when your car support OP longitudinal.
+2. MapD will contribute your route to OSM for future improvement automatically.
+3. You can add your own offset for mapd just follow the readme under /selfdrive/mapd.
+4. Not connecting to the internet for while might feel up device storage from all the gps traces.
+
+
+
+
+ DPUIPanel
+
+
+ Display Mode
+
+
+
+
+ 0 = Default
+1 = Screen Off While Driving
+
+
+
+
+ Screen Brightness
+
+
+
+
+ Adjust your screen brightness.
+
+
+
+
+
+ AUTO
+
+
+
+
+ Alert Volume
+
+
+
+
+ Adjust your alert volume.
+
+
+
+
+ Quiet Drive
+
+
+
+
+ Display alert and play important warning sound. Thanks @sunnyhaibin.
+
+
+
+
+ Display Side Info
+
+
+
+
+ Enable this to display steering angle / lead car distance / engine RPM.
+
+
+
+
+ Display Top Info
+
+
+
+
+ Enable this to display time / system temp / battery level.
+
+
+
+
+ DeclinePage
+
+
+ You must accept the Terms and Conditions in order to use openpilot.
+ Você precisa aceitar os Termos e Condições para utilizar openpilot.
+
+
+
+ Back
+ Voltar
+
+
+
+ Decline, uninstall %1
+ Rejeitar, desintalar %1
+
+
+
+ DevicePanel
+
+
+ Dongle ID
+ Dongle ID
+
+
+
+ N/A
+ N/A
+
+
+
+ Serial
+ Serial
+
+
+
+ Driver Camera
+ Câmera Motorista
+
+
+
+ PREVIEW
+ PREVISUAL
+
+
+
+ Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)
+ Pré-visualizar a câmera voltada para o motorista para garantir que monitor tem uma boa visibilidade (veículo precisa estar desligado)
+
+
+
+ Reset Calibration
+ Limpar Calibragem
+
+
+
+ RESET
+ RESET
+
+
+
+ Are you sure you want to reset calibration?
+ Tem certeza que quer limpar calibragem?
+
+
+
+ Review Training Guide
+ Revisar o Treinamento
+
+
+
+ REVIEW
+ REVISAR
+
+
+
+ Review the rules, features, and limitations of openpilot
+ Revisar regras, features e limitações do openpilot
+
+
+
+ Are you sure you want to review the training guide?
+ Tem certeza que quer rever o treinamento?
+
+
+
+ Regulatory
+ Regulatório
+
+
+
+ VIEW
+ VER
+
+
+
+ Change Language
+ Mudar Língua
+
+
+
+ CHANGE
+ MUDAR
+
+
+
+ Select a language
+ Selecione uma linguagem
+
+
+
+ Reboot
+ Reiniciar
+
+
+
+ Power Off
+ Desligar
+
+
+
+ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.
+ o openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. o openpilot está continuamente calibrando, a redefinição raramente é necessária.
+
+
+
+ Your device is pointed %1° %2 and %3° %4.
+ Seu dispositivo está montado %1° %2 e %3° %4.
+
+
+
+ down
+ baixo
+
+
+
+ up
+ cima
+
+
+
+ left
+ esquerda
+
+
+
+ right
+ direita
+
+
+
+ Are you sure you want to reboot?
+ Tem certeza que quer reiniciar?
+
+
+
+ Disengage to Reboot
+ Desacione para Reiniciar
+
+
+
+ Are you sure you want to power off?
+ Tem certeza que quer desligar?
+
+
+
+ Disengage to Power Off
+ Desacione para Desligar
+
+
+
+ DriveStats
+
+
+ Drives
+ Dirigidas
+
+
+
+ Hours
+ Horas
+
+
+
+ ALL TIME
+ TOTAL
+
+
+
+ PAST WEEK
+ SEMANA PASSADA
+
+
+
+ KM
+ KM
+
+
+
+ Miles
+ Milhas
+
+
+
+ DriverViewScene
+
+
+ camera starting
+ camera iniciando
+
+
+
+ InputDialog
+
+
+ Cancel
+ Cancelar
+
+
+
+ Need at least %n character(s)!
+
+ Necessita no mínimo %n caractere!
+ Necessita no mínimo %n caracteres!
+
+
+
+
+ Installer
+
+
+ Installing...
+ Instalando...
+
+
+
+ Receiving objects:
+ Recebendo objetos:
+
+
+
+ Resolving deltas:
+ Resolvendo deltas:
+
+
+
+ Updating files:
+ Atualizando arquivos:
+
+
+
+ MapETA
+
+
+ eta
+ eta
+
+
+
+ min
+ min
+
+
+
+ hr
+ hr
+
+
+
+ km
+ km
+
+
+
+ mi
+ mi
+
+
+
+ MapInstructions
+
+
+ km
+ km
+
+
+
+ m
+ m
+
+
+
+ mi
+ milha
+
+
+
+ ft
+ pés
+
+
+
+ MapPanel
+
+
+ Current Destination
+ Destino Atual
+
+
+
+ CLEAR
+ LIMPAR
+
+
+
+ Recent Destinations
+ Destinos Recentes
+
+
+
+ Try the Navigation Beta
+ Experimente a Navegação Beta
+
+
+
+ Get turn-by-turn directions displayed and more with a comma
+prime subscription. Sign up now: https://connect.comma.ai
+ Obtenha instruções passo a passo exibidas e muito mais com
+uma assinatura prime Increva-se agora：https://connect.comma.ai
+
+
+
+ No home
+location set
+ Sem local
+residência definido
+
+
+
+ No work
+location set
+ Sem local
+trabalho definido
+
+
+
+ no recent destinations
+ sem destinos recentes
+
+
+
+ MapWindow
+
+
+ Map Loading
+ Carregando Mapa
+
+
+
+ Waiting for GPS
+ Esperando por GPS
+
+
+
+ MultiOptionDialog
+
+
+ Select
+ Selecione
+
+
+
+ Cancel
+ Cancelar
+
+
+
+ Networking
+
+
+ Advanced
+ Avançado
+
+
+
+ Enter password
+ Insira a senha
+
+
+
+
+ for "%1"
+ para "%1"
+
+
+
+ Wrong password
+ Senha incorreta
+
+
+
+ NvgWindow
+
+
+ km/h
+ km/h
+
+
+
+ mph
+ mph
+
+
+
+
+ MAX
+ LIMITE
+
+
+
+
+ SPEED
+ MAX
+
+
+
+
+ LIMIT
+ VELO
+
+
+
+ REAL STEER
+
+
+
+
+ RAM PER
+
+
+
+
+ OFF
+
+
+
+
+ ENG RPM
+
+
+
+
+ NOR
+
+
+
+
+ SPT
+
+
+
+
+ ECO
+
+
+
+
+ ACCEL
+
+
+
+
+ OffroadHome
+
+
+ UPDATE
+ ATUALIZAÇÃO
+
+
+
+ ALERTS
+ ALERTAS
+
+
+
+ ALERT
+ ALERTA
+
+
+
+ PairingPopup
+
+
+ Pair your device to your comma account
+ Pareie seu dispositivo a sua conta comma
+
+
+
+ Go to https://connect.comma.ai on your phone
+ navegue até https://connect.comma.ai no seu telefone
+
+
+
+ Click "add new device" and scan the QR code on the right
+ Clique "add new device" e escaneie o QR code a seguir
+
+
+
+ Bookmark connect.comma.ai to your home screen to use it like an app
+ Salve connect.comma.ai como sua página inicial para utilizar com um app
+
+
+
+ PrimeAdWidget
+
+
+ Upgrade Now
+ Atualizar Agora
+
+
+
+ Become a comma prime member at connect.comma.ai
+ Torne-se um membro comma prime em connect.comma.ai
+
+
+
+ PRIME FEATURES:
+ PRIME FEATURES:
+
+
+
+ Remote access
+ Acesso remoto
+
+
+
+ 1 year of storage
+ 1 ano de armazenamento
+
+
+
+ Developer perks
+ Benefícios para desenvolvedor
+
+
+
+ PrimeUserWidget
+
+
+ ✓ SUBSCRIBED
+ ✓ INSCRITO
+
+
+
+ comma prime
+ comma prime
+
+
+
+ CONNECT.COMMA.AI
+ CONNECT.COMMA.AI
+
+
+
+ COMMA POINTS
+ PONTOS COMMA
+
+
+
+ QObject
+
+
+ Reboot
+ Reiniciar
+
+
+
+ Exit
+ Sair
+
+
+ dashcam
+ dashcam
+
+
+ openpilot
+ openpilot
+
+
+
+ %n minute(s) ago
+
+ há %n minuto
+ há %n minutos
+
+
+
+
+ %n hour(s) ago
+
+ há %n hora
+ há %n horas
+
+
+
+
+ %n day(s) ago
+
+ há %n dia
+ há %n dias
+
+
+
+
+ Reset
+
+
+ Reset failed. Reboot to try again.
+ Reset falhou. Reinicie para tentar novamente.
+
+
+
+ Are you sure you want to reset your device?
+ Tem certeza que quer resetar seu dispositivo?
+
+
+
+ Resetting device...
+ Resetando dispositivo...
+
+
+
+ System Reset
+ Resetar Sistema
+
+
+
+ System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.
+ Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot.
+
+
+
+ Cancel
+ Cancelar
+
+
+
+ Reboot
+ Reiniciar
+
+
+
+ Confirm
+ Confirmar
+
+
+
+ Unable to mount data partition. Press confirm to reset your device.
+ Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo.
+
+
+
+ RichTextDialog
+
+
+ Ok
+ Ok
+
+
+
+ SettingsWindow
+
+ ×
+ ×
+
+
+
+ BACK
+
+
+
+
+ Device
+ Dispositivo
+
+
+
+
+ Network
+ Rede
+
+
+
+ Toggles
+ Ajustes
+
+
+
+ Software
+ Software
+
+
+
+ Navigation
+ Navegação
+
+
+
+ DP - General
+
+
+
+
+ DP - Controls
+
+
+
+
+ DP - UI
+
+
+
+
+ DP - Cars
+
+
+
+
+ DP - Maps
+
+
+
+
+ Setup
+
+
+ WARNING: Low Voltage
+ ALERTA: Baixa Voltagem
+
+
+
+ Power your device in a car with a harness or proceed at your own risk.
+ Ligue seu dispositivo em um carro com um chicote ou prossiga por sua conta e risco.
+
+
+
+ Power off
+ Desligar
+
+
+
+
+
+ Continue
+ Continuar
+
+
+
+ Getting Started
+ Começando
+
+
+
+ Before we get on the road, let’s finish installation and cover some details.
+ Antes de pegarmos a estrada, vamos terminar a instalação e cobrir alguns detalhes.
+
+
+
+ Connect to Wi-Fi
+ Conectar ao Wi-Fi
+
+
+
+
+ Back
+ Voltar
+
+
+
+ Continue without Wi-Fi
+ Continuar sem Wi-Fi
+
+
+
+ Waiting for internet
+ Esperando pela internet
+
+
+
+ Choose Software to Install
+ Escolher Software para Instalar
+
+
+
+ Dashcam
+ Dashcam
+
+
+
+ Custom Software
+ Sofware Customizado
+
+
+
+ Enter URL
+ Preencher URL
+
+
+
+ for Custom Software
+ para o Software Customizado
+
+
+
+ Downloading...
+ Baixando...
+
+
+
+ Download Failed
+ Download Falhou
+
+
+
+ Ensure the entered URL is valid, and the device’s internet connection is good.
+ Garanta que a URL inserida é valida, e uma boa conexão à internet.
+
+
+
+ Reboot device
+ Reiniciar Dispositivo
+
+
+
+ Start over
+ Inicializar
+
+
+
+ SetupWidget
+
+
+ Finish Setup
+ Terminar Configuração
+
+
+
+ Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.
+ Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime.
+
+
+
+ Pair device
+ Parear dispositivo
+
+
+
+ Sidebar
+
+
+
+ CONNECT
+ CONEXÃO
+
+
+
+ OFFLINE
+ DESCONEC
+
+
+
+
+ ONLINE
+ CONECTADO
+
+
+
+ ERROR
+ ERRO
+
+
+
+
+
+ TEMP
+ TEMP
+
+
+ HIGH
+ ALTA
+
+
+ GOOD
+ BOA
+
+
+ OK
+ OK
+
+
+
+ VEHICLE
+ VEÍCULO
+
+
+
+ NO
+ SEM
+
+
+
+ PANDA
+ PANDA
+
+
+
+ GPS
+ GPS
+
+
+
+ SEARCH
+ PROCURA
+
+
+
+ --
+ --
+
+
+
+ Wi-Fi
+ Wi-Fi
+
+
+
+ ETH
+ ETH
+
+
+
+ 2G
+ 2G
+
+
+
+ 3G
+ 3G
+
+
+
+ LTE
+ LTE
+
+
+
+ 5G
+ 5G
+
+
+
+ SoftwarePanel
+
+
+ Git Branch
+ Ramo Git
+
+
+
+ Git Commit
+ Commit Git
+
+
+
+ OS Version
+ Versão do Sistema
+
+
+
+ Version
+ Versão
+
+
+
+ Last Update Check
+ Verificação da última atualização
+
+
+
+ The last time openpilot successfully checked for an update. The updater only runs while the car is off.
+ A última vez que o openpilot verificou com sucesso uma atualização. O atualizador só funciona com o carro desligado.
+
+
+
+ Check for Update
+ Verifique atualizações
+
+
+
+ CHECKING
+ VERIFICANDO
+
+
+
+ Switch Branch
+ Trocar Ramo
+
+
+
+ ENTER
+ INSERIR
+
+
+
+
+ The new branch will be pulled the next time the updater runs.
+ O novo ramo será aplicado na próxima execução do atualizador.
+
+
+
+ Enter branch name
+ Inserir o nome do ramo
+
+
+
+ UNINSTALL
+ DESINSTALAR
+
+
+
+ Uninstall %1
+ Desintalando %1
+
+
+
+ Are you sure you want to uninstall?
+ Tem certeza que quer desinstalar?
+
+
+
+ failed to fetch update
+ falha ao buscar atualização
+
+
+
+
+ CHECK
+ VERIFICAR
+
+
+
+ SshControl
+
+
+ SSH Keys
+ Chave SSH
+
+
+
+ Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.
+ Aviso: isso concede acesso SSH a todas as chaves públicas nas configurações do GitHub. Nunca insira um nome de usuário do GitHub que não seja o seu. Um funcionário da comma NUNCA pedirá que você adicione seu nome de usuário do GitHub.
+
+
+
+
+ ADD
+ ADICIONAR
+
+
+
+ Enter your GitHub username
+ Insira seu nome de usuário do GitHub
+
+
+
+ LOADING
+ CARREGANDO
+
+
+
+ REMOVE
+ REMOVER
+
+
+
+ Username '%1' has no keys on GitHub
+ Usuário "%1” não possui chaves no GitHub
+
+
+
+ Request timed out
+ A solicitação expirou
+
+
+
+ Username '%1' doesn't exist on GitHub
+ Usuário '%1' não existe no GitHub
+
+
+
+ SshToggle
+
+
+ Enable SSH
+ Habilitar SSH
+
+
+
+ TermsPage
+
+
+ Terms & Conditions
+ Termos & Condições
+
+
+
+ Decline
+ Declinar
+
+
+
+ Scroll to accept
+ Role para aceitar
+
+
+
+ Agree
+ Concordo
+
+
+
+ TogglesPanel
+
+
+ Enable openpilot
+ Ativar openpilot
+
+
+
+ Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.
+ Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado.
+
+
+
+ Enable Lane Departure Warnings
+ Ativar Avisos de Saída de Faixa
+
+
+
+ Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).
+ Receba alertas para voltar para a pista se o seu veículo sair da faixa e a seta não tiver sido acionada previamente quando em velocidades superiores a 50 km/h.
+
+
+
+ Enable Right-Hand Drive
+
+
+
+
+ Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.
+
+
+
+
+ Use Metric System
+ Usar Sistema Métrico
+
+
+
+ Display speed in km/h instead of mph.
+ Exibir velocidade em km/h invés de mph.
+
+
+
+ Record and Upload Driver Camera
+ Gravar e Upload Câmera Motorista
+
+
+
+ Upload data from the driver facing camera and help improve the driver monitoring algorithm.
+ Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor.
+
+
+
+ Disengage On Accelerator Pedal
+ Desacionar Com Pedal Do Acelerador
+
+
+
+ When enabled, pressing the accelerator pedal will disengage openpilot.
+ Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.
+
+
+
+ Show ETA in 24h Format
+ Mostrar ETA em formato 24h
+
+
+
+ Use 24h format instead of am/pm
+ Use o formato 24h em vez de am/pm
+
+
+
+ Show Map on Left Side of UI
+ Exibir Mapa no Lado Esquerdo
+
+
+
+ Show map on left side when in split screen view.
+ Exibir mapa do lado esquerdo quando a tela for dividida.
+
+
+
+ openpilot Longitudinal Control
+ openpilot Controle Longitudinal
+
+
+
+ openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!
+ openpilot desativará o radar do carro e assumirá o controle do acelerador e freios. Atenção: isso desativa AEB!
+
+
+
+ Updater
+
+
+ Update Required
+ Atualização Necessária
+
+
+
+ An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.
+ Uma atualização do sistema operacional é necessária. Conecte seu dispositivo ao Wi-Fi para a experiência de atualização mais rápida. O tamanho do download é de aproximadamente 1GB.
+
+
+
+ Connect to Wi-Fi
+ Conecte-se ao Wi-Fi
+
+
+
+ Install
+ Instalar
+
+
+
+ Back
+ Voltar
+
+
+
+ Loading...
+ Carregando...
+
+
+
+ Reboot
+ Reiniciar
+
+
+
+ Update failed
+ Falha na atualização
+
+
+
+ WifiUI
+
+
+
+ Scanning for networks...
+ Procurando redes...
+
+
+
+ CONNECTING...
+ CONECTANDO...
+
+
+
+ FORGET
+ ESQUECER
+
+
+
+ Forget Wi-Fi Network "%1"?
+ Esquecer Rede Wi-Fi "%1"?
+
+
+
diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
index 9f15451c1..8a1385946 100644
Binary files a/selfdrive/ui/translations/main_zh-CHS.qm and b/selfdrive/ui/translations/main_zh-CHS.qm differ
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 5fecd390a..2feb44c12 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -164,6 +164,22 @@ Reboot required.
Enable this to link Accel Mode (AM) control to the physical button (TSS2).
ONLY WORK ON SOME OF TSS1 VEHICLES.
+Reboot required.
+
+
+
+
+ Honda
+
+
+
+
+ Enable EPS Mod Mode
+
+
+
+
+ Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
Reboot required.
@@ -1818,7 +1834,7 @@ location set
- Show ETA in 24h format
+ Show ETA in 24h Format
以24小时格式显示预计到达时间
diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm
index ba9aa5a47..cf83a6ea6 100644
Binary files a/selfdrive/ui/translations/main_zh-CHT.qm and b/selfdrive/ui/translations/main_zh-CHT.qm differ
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 354cf59bc..e659fb75b 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -171,6 +171,22 @@ Reboot required.
在某些TSS1車型上也可以使用。
需重新啟動。
+
+
+ Honda
+
+
+
+
+ Enable EPS Mod Mode
+
+
+
+
+ Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
+Reboot required.
+
+
Mazda
@@ -1852,7 +1868,7 @@ location set
- Show ETA in 24h format
+ Show ETA in 24h Format
預計到達時間單位改用 24 小時制
diff --git a/system/camerad/camerad b/system/camerad/camerad
index 98d1091d7..c24ad536c 100755
Binary files a/system/camerad/camerad and b/system/camerad/camerad differ
diff --git a/system/clocksd/clocksd b/system/clocksd/clocksd
index efc9a44f4..4415c2c70 100755
Binary files a/system/clocksd/clocksd and b/system/clocksd/clocksd differ