* 2019-2021 RAV4
* 2021-2023 RAV4 Prime
* 2021-2023 Sienna
These Toyota models can experience a rare EPS fault.
After a sharp, low-speed manual turn the human lets go of the wheel.
During or shortly after the unwind the EPS faults. It can be difficult
to reproduce.
PR #24067 "Toyota: remove 100°/sec steering lockout" attempted to prevent
this high angle rate EPS fault by cutting torque if more than 18 frames.
I found reducing this threshold by just one frame fixes the problem.
Co-authored-by: Jason Young <jyoung8607@gmail.com>
* VW PQ: Update HCA Status to use Mode 2 (Status 7)
* VW PQ: update PQ safety test to use HCA status 7
---------
Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
* [bot] Update cppcheck to 2.18.0
* fix issue with ignore path wildcard handling
* fix false alert on typeof in SAFETY_[ABS/MIN/MAX/CLAMP]
* cleanup GET_FLAG to avoid false alerts on typeof
* fix implicit declaration of microsecond_timer_get()
* bump to 2.18.3 while we're here
* hopefully fix macos
* new (uncached) cppcheck build took longer, sorry not sorry
---------
Co-authored-by: Vehicle Researcher <user@comma.ai>
* add DBC
* add platform definition data
* carstate checkpoint
* checkpoint carcontroller/mlbcan/interface
* checkpoint safety and safety test
* PEBCAK
* checkpoint various fixes
* fixes
* more fixes
* Blinkmodi_01 is genuinely on-demand only, add a fixme
* get turn signal state from a less annoying source
* add @Bentley's route for dev/test only
* gearshift position
* cleanup
* auto_fingerprint e8dac44d3a3458a5/00000000--9b83a227ce
* smooth move, ex-lax
* Kombi_01 COUNTER isn't real, at least not universal
* use lat accel torque controller
* checkpoint refactor
* Revert "always CANFD"
This reverts commit ac6122e272.
* auto_fingerprint 3a4f7c559c2f1215/00000001--5dc72af277
* add the VIN just to be sure
* auto_fingerprint a3bd1cb95d7c2f97/00000082--dbb4d37c0d
* she's a quick one
* more torque
* use different turn state signal
* slight reduction in ramp-up rate for jerk limit safety
* fix HCA status handling
* FINE
* add seatbelt signal
* enable door states
* Revert "use different turn state signal"
This reverts commit fb334567544d1adbeb71289310356e3ddcba17c6.
* use turn stalk helper to handle one-touch lane changes
* derp
* more friction
* a little more SR
* cleanup test routes
* reduce whitespace diff
* unnecessary for now
* dashcam
* cleanup
* Reapply "always CANFD"
This reverts commit 38e304f898107f16d963c976b3ef79978eb49e1d.
* VW: Safety code cleanup
* not yet
* consolidate ESP_05 for MQB
* retry CI after pinning pycapnp
* DRY not worth it here
* a little more DRY
* convert another single-bit read to GET_BIT
* separate MLB checksum handling, add XOR support
* XOR checksum support for LS_01
* shared message handling for LH_EPS_03 and LWI_01
* selective signal pass-through for LS_01
* add note for later consolidation
* consolidate create_lka_hud_control, unpretty but works
* XOR checksum support for TSK_05
* add TODO
* try it out
* good enough for who it's for
* Subaru Global Gen2: bump steering limits
* no longer applies
* must be lowered
* Revert "must be lowered"
This reverts commit 12d86e4272d52c92d4806f9c0f24ee18507dc985.
* lower rate down
* lower
* ui: ensure Cruise panel widget is reset when `hideEvent`
* VW PQ: update Motor_5 signal definitons
* VW PQ: update carstate to match updated DBC
* VW PQ: update safety mode comments to match updated signal names
* VW PQ: update Motor_5 signal name to match updated DBC
* VW PQ: update DBC to add proper CAN multiplex handling
* Merge commaai/master
---------
Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
* opgm
* sunnylateral
* Revert "sunnylateral"
This reverts commit ac59045c3a11c0ca553e4966f197d55fc7b36229.
* Remove Pedal
* Remove CC_LONG
* oops
* init sunnypilot dedicated flags
* Update car_list.json
* re-enable tests
* slight cleanup
* oopsie
* Update opendbc/car/gm/carcontroller.py
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update opendbc/car/gm/carcontroller.py
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update opendbc/car/gm/interface.py
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Ext Attempt
* D param
* Update interface.py
* Try #2
* fix
* need this for safety mode
* lint
* only use car list in tests
* skip test routes for now
* move around
* update car list
* extra
* Update carcontroller.py
* Update interface.py
* Revert "Update carcontroller.py"
This reverts commit 8d4a997f26a4ddf6d2aec768d0f1067eebea932c.
* Update interface.py
* Update interface.py
* Update interface.py
* line
* update MY
* logic fix
* duplicated rx check
* rename and use sunnypilot safety flags
* safety checks for ICE and EV non-ACC
* safety tests for ICE and EV non-ACC
* default should be false
* NO_ACC > NON_ACC
* misra
* set flag for now
* let's make sure it uses the correct checks
* Revert "let's make sure it uses the correct checks"
This reverts commit 0be39cc63ef266c70a4ad4be7078464c419331f4.
* not this pr
* all should have flag
* split fingerprints and add merge_fingerprints
* lint
* start cleanup
* in another PR
* cleanup most in interface
* wrap more
* use get_bit
* update
* undashcam
* dashcam at the end
* uncomment from dashcam for now
* split
* use generations
* more gens
* even more gens
* 23 non-CC bult fingerprints
* treat all as camera for now
* more 17 bolt non acc
* panda doesn't like it and would get stuck in resetting state
* Revert "panda doesn't like it and would get stuck in resetting state"
This reverts commit 4515300cc1f9d0cc02729e505ef7297b46b978ed.
* dashcam untested
* do it
* these are not fwdCamera cars
* less
* not in this list
* none are op long
* unused
* unused
* update list
* uncommented
* no longer needed
* do not include yukon yet
* default all non acc are allowed
* ruff
* cleanup
* safety: these are camera cars
* interface: these are camera cars
* gotta undashcam them
* non pcm cruise only check
---------
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* init safety
* implement
* not used
* type hints
* fix
* parse buttons
* one more try?
* expose in carstate
* just buttons
* FCA: Parse cruise control buttons
* eh
* Revert "just buttons"
This reverts commit cfb83fa351c570a4d762b46f43361d9118d5e07e.
* one last try
* max of 5 hz
* another fix
* consolidate
* make them all the same
* Revert "make them all the same"
This reverts commit 4f933cb61df28468126f91fe0b7bd2b81e9acf14.
* try something new
* ok too fast
* Revert "ok too fast"
This reverts commit 3d2a5a41a8986cf620f4331891830b3274f300ff.
* Revert "try something new"
This reverts commit 0e16426c4349e8a8df54ada8ad6050a75d203aef.
* new one again
* no longer used
* more infra setup
* try it out for HKG for now
* oops
* legacy
* more
* icbm
* need to allow
* name
* use cs is_metric
* just send it
* Using the param store properly for the is metric
* try this out
* Revert "try this out"
This reverts commit 9da11cd33da85be94719fee18111c1bcb13e09c7.
* try new method
* this is slightly better
---------
Co-authored-by: DevTekVE <devtekve@gmail.com>
* init
* readd dbc
* no more gas
* fixes
* no secoc
* mutation
* fix
* fix
* sdsu
* fixes
* another fix
* dead routes
* wrong dead route
* ok not that dead
* mutation
* some tests
* Revert "no more gas"
This reverts commit 8e2cec84b835a15da89f8857dd74b649017a5fc8.
* deprecated
* recheck openpilot long availability
* revert
* need for safety tests
* no need
* old tuning
* Revert "old tuning"
This reverts commit e495e83e0cd5ba3dff3f3b7ce39bce7b398201b2.
* alt brake has sdsu too
* ignore quality
* already separated
* no disengage on gas
* slight
* more coverage
* slight fixes
* explicitly skip it
* skip counters
* make sure they're skipped
* honda pedal init
* honda pedal opendbc
* some fixes
* already gate at rx checks init
* old tuning for TSS-P
* flipped
* apparently it's yucky, reverting most
* rename
* fix dbc
* no way
* fix
* test sdsu distance
* halved the max
* final tuning for pedal
* Add secoc ACC command
* Remove commented out secoc long disable code
* Add Toyota 2021 SecOC route
* Send 0 accel for ACC_CONTROL to match stock
* Update opendbc/car/toyota/carcontroller.py
Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
* Add new ACC steering wheel message for SecOC cars. Update distance_button with the new message.
* Add new DBC file for Toyota SecOC cars.
* Update Toyota Rav4 Prime and 4th Gen Sienna to use SecOC DBC file.
* Update carstate.py l
* dont save button state on secoc
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Update opendbc/car/toyota/carstate.py
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
* Remove unreachable code
* Move secoc safety to opendbc
* Update R4P SecOC route
* Build safety with -Wextra
* safety: relay malfunction config (#1959)
* Do Toyota relay malfunction config
* clean up
* not needed
* rm this
* rm
* fix
* great name (rename after https://github.com/commaai/opendbc/pull/1954)
* do gm
* need this since we will dynamically block it
* subie
* some more brands
* Ford
* Chrysler
* Hyundai
* huge oof hyundai
* toyota & vw
* fix
* tesla
* 0x194 isn't on Honda Bosch
* Honda: we can check bus 1 for 0xe4
* misra
* static
* ugh need this
* correct
* nl
* like
* space
* Hyundai: dashcam FCEV (#1973)
* Disable FCEV
* coverage
* fixme
* misra
misra
* Hyundai CAN FD: Accurate hybrid powertrain detection (#1891)
* Hyundai CAN FD: Accurate hybrid powertrain detection
* label message names
* use 0xFA
* Tesla: Autopilot enabled signal (#1978)
* new Tesla signals
* consistent
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* Tesla: fix incorrect DBC msg length (#1980)
actually DBC is wrong
* Subaru Pre-Global: fix missing rx checks (#1982)
passes tm
* Honda Nidec: missing brake command rx check (#1981)
* missing honda rx nidec brake command
* misra
* move up
* Honda safety: only test alt brake for alt brake param
split from https://github.com/commaai/opendbc/pull/1903
* safety tests: remove redundant test skips (#1983)
remove useless skiptests
* GM safety: add missing regen rx check (#1984)
* from pr
* forgot
* fix test
* cleaner
* misra
* Fingerprint: 2022 Civic Si (#1952)
* 2022 Civic Si
* fix
* Hyundai CAN FD safety: more clear what is common (#1986)
* more clear what is common
* here too
* Hyundai CANFD safety tests: common safety param combinations (#1987)
clean this up
* Hyundai CAN FD safety: replace alt buttons live detection with param (#1985)
* alt buttons needs to be checked with the param
* flip
* do tests
* Hyundai safety: add missing rx checks (#1989)
* add torque driver addr check and always check buttons (for interaction)
* fix
* safety: rename allowed
less confusing next to `safety_allowed`
* safety: only run rx hooks on whitelisted msgs (#1903)
* don't run rx hook on non-allowed messages
* better name
* fix toyota (bug w/ secoc)
* looks like honda is broken
* rivian is also bad! (missing EPAS_SystemStatus)
* misra so far
rivian is also bad!
* nissan is fine
* tesla is also borked
* mazda's good
* subaru's fine
* gm broke
* ford's good
* chrysler's good
* vw is good
* hyundai is broky, canfd is good
* Fix Rivian
* revert these
* do relay malfunction check on all addresses
* Found a Tesla bug
* fix subaru pg
* body
* rm
* Fix Honda
* stash
* fix Hyundai
* fix
* Hyundai: buttons are used always (for interaction)
* revert tesla
* body: we don't rx _torque_cmd_msg
* Revert "body: we don't rx _torque_cmd_msg"
This reverts commit 2f973f603a34d07386ca810c78a871e9723c6444.
* simpler
* GM EV param for correct rxchecks
* no need
* might read better
* rm extras
* fix hyundai
* we weren't testing lfa (non-hda2), alt buttons, long
* fix
* tested
* rm
* not needed
* clean up
* that too
* .
* Hyundai: Fix FCEV RX check and move out of dashcam (#1974)
* Revert "Hyundai: dashcam FCEV (#1973)"
This reverts commit 6254215a84.
* Hyundai: Fix FCEV RX check and move out of dashcam
* less duplication
* line
* same
* add missing test
---------
Co-authored-by: Shane Smiskol <shane@smiskol.com>
* HKG: spas remove unused frame param (#1966)
spas remove unused frame param
* Added FW for Mazda CX5 2025 (#1911)
Add other CX-5 2025 FP fw
* Hyundai CAN FD: Fix steering messages in safety replay (#1975)
* Hyundai: split car controller by CAN FD (#1990)
* split main can sends part
* use_clu11 was confusing
* better
* bet
* clean up
* Toyota: add static rx check for alt brake (#1991)
rx check for alt brake
* whoops bad pull
* PR suggestions
* Remove unnecessary parens
* PR suggestions
* Fix some logical errors
* Fix tester present test
* Update safety for non-op long secoc
* Update tests
* Update safety
* Update tests
* whitespace adjustment for clarity
* PR suggestions
---------
Co-authored-by: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Co-authored-by: PenitentTangent2401 <klabuschagne@kd9atp.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Co-authored-by: vanillagorillaa <31773928+vanillagorillaa@users.noreply.github.com>
Co-authored-by: royjr <royjr96@gmail.com>
Co-authored-by: kenhuang14 <97474725+kenhuang14@users.noreply.github.com>
Co-authored-by: Warren Togami <wtogami@gmail.com>
Co-authored-by: Jason Young <jyoung8607@gmail.com>
