commaai
/
opendbc
mirror of https://github.com/maweiyuweiwei/opendbc.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Ford: check expected radar configuration (#1414) 

* no functional change, but later

* check correct radar configuration

* add comments

* temp

* Revert "temp"

This reverts commit 1a618297d4.

* better cmt

* betteR?
This commit is contained in:
Shane Smiskol 2024-10-23 22:54:15 -05:00 committed by GitHub
parent 31758a40c9
commit 606c035419
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 19 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
opendbc/car/ford/radar_interface.py
View File

@ -9,9 +9,11 @@ from opendbc.car.interfaces import RadarInterfaceBase
DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
DELPHI_MRR_RADAR_START_ADDR = 0x120
DELPHI_MRR_RADAR_HEADER_ADDR = 0x170 # MRR_Header_InformationDetections
DELPHI_MRR_RADAR_HEADER_ADDR = 0x174 # MRR_Header_SensorCoverage
DELPHI_MRR_RADAR_MSG_COUNT = 64
DELPHI_MRR_RADAR_RANGE_COVERAGE = {0: 42, 1: 164, 2: 45, 3: 175} # scan index to detection range (m)
def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
msg_n = len(DELPHI_ESR_RADAR_MSGS)
@ -21,7 +23,10 @@ def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
messages = [("MRR_Header_InformationDetections", 33)]
messages = [
("MRR_Header_InformationDetections", 33),
("MRR_Header_SensorCoverage", 33),
]
for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
msg = f"MRR_Detection_{i:03d}"
@ -63,14 +68,14 @@ class RadarInterface(RadarInterfaceBase):
errors = []
if not self.rcp.can_valid:
errors.append("canError")
ret.errors = errors
if self.radar == RADAR.DELPHI_ESR:
self._update_delphi_esr()
elif self.radar == RADAR.DELPHI_MRR:
self._update_delphi_mrr()
errors.extend(self._update_delphi_mrr())
ret.points = list(self.pts.values())
ret.errors = errors
self.updated_messages.clear()
return ret
@ -106,11 +111,17 @@ class RadarInterface(RadarInterfaceBase):
def _update_delphi_mrr(self):
headerScanIndex = int(self.rcp.vl["MRR_Header_InformationDetections"]['CAN_SCAN_INDEX']) & 0b11
errors = []
if DELPHI_MRR_RADAR_RANGE_COVERAGE[headerScanIndex] != int(self.rcp.vl["MRR_Header_SensorCoverage"]["CAN_RANGE_COVERAGE"]):
errors.append("wrongConfig")
for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
# SCAN_INDEX rotates through 0..3 on each message
# treat these as separate points
# SCAN_INDEX rotates through 0..3 on each message for different measurement modes
# Indexes 0 and 2 have a max range of ~40m, 1 and 3 are ~170m (MRR_Header_SensorCoverage->CAN_RANGE_COVERAGE)
# TODO: filter out close range index 1 and 3 points, contain false positives
# TODO: can we group into 2 groups?
scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
i = (ii - 1) * 4 + scanIndex
@ -148,3 +159,5 @@ class RadarInterface(RadarInterfaceBase):
else:
del self.pts[i]
return errors