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using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
@0x8e2af1e708af8b8d;
# ******* events causing controls state machine transition *******
struct CarEvent @0x9b1657f34caf3ad3 {
name @0 :EventName;
# event types
enable @1 :Bool;
noEntry @2 :Bool;
warning @3 :Bool; # alerts presented only when enabled or soft disabling
userDisable @4 :Bool;
softDisable @5 :Bool;
immediateDisable @6 :Bool;
preEnable @7 :Bool;
permanent @8 :Bool; # alerts presented regardless of openpilot state
overrideLateral @10 :Bool;
overrideLongitudinal @9 :Bool;
enum EventName @0xbaa8c5d505f727de {
canError @0;
steerUnavailable @1;
wrongGear @4;
doorOpen @5;
seatbeltNotLatched @6;
espDisabled @7;
wrongCarMode @8;
steerTempUnavailable @9;
reverseGear @10;
buttonCancel @11;
buttonEnable @12;
pedalPressed @13; # exits active state
preEnableStandstill @73; # added during pre-enable state with brake
gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
steerOverride @114;
cruiseDisabled @14;
speedTooLow @17;
outOfSpace @18;
overheat @19;
calibrationIncomplete @20;
calibrationInvalid @21;
calibrationRecalibrating @117;
controlsMismatch @22;
pcmEnable @23;
pcmDisable @24;
radarFault @26;
brakeHold @28;
parkBrake @29;
manualRestart @30;
lowSpeedLockout @31;
joystickDebug @34;
steerTempUnavailableSilent @35;
resumeRequired @36;
preDriverDistracted @37;
promptDriverDistracted @38;
driverDistracted @39;
preDriverUnresponsive @43;
promptDriverUnresponsive @44;
driverUnresponsive @45;
belowSteerSpeed @46;
lowBattery @48;
accFaulted @51;
sensorDataInvalid @52;
commIssue @53;
commIssueAvgFreq @109;
tooDistracted @54;
posenetInvalid @55;
soundsUnavailable @56;
preLaneChangeLeft @57;
preLaneChangeRight @58;
laneChange @59;
lowMemory @63;
stockAeb @64;
ldw @65;
carUnrecognized @66;
invalidLkasSetting @69;
speedTooHigh @70;
laneChangeBlocked @71;
relayMalfunction @72;
stockFcw @74;
startup @75;
startupNoCar @76;
startupNoControl @77;
startupMaster @78;
startupNoFw @104;
fcw @79;
steerSaturated @80;
belowEngageSpeed @84;
noGps @85;
wrongCruiseMode @87;
modeldLagging @89;
deviceFalling @90;
fanMalfunction @91;
cameraMalfunction @92;
cameraFrameRate @110;
processNotRunning @95;
dashcamMode @96;
controlsInitializing @98;
usbError @99;
roadCameraError @100;
driverCameraError @101;
wideRoadCameraError @102;
highCpuUsage @105;
cruiseMismatch @106;
lkasDisabled @107;
canBusMissing @111;
controlsdLagging @112;
resumeBlocked @113;
steerTimeLimit @115;
vehicleSensorsInvalid @116;
locationdTemporaryError @103;
locationdPermanentError @118;
paramsdTemporaryError @50;
paramsdPermanentError @119;
manualSteeringRequired @120;
manualLongitudinalRequired @121;
silentPedalPressed @122;
silentButtonEnable @123;
silentBrakeHold @124;
silentWrongGear @125;
spReverseGear @126;
preKeepHandsOnWheel @127;
promptKeepHandsOnWheel @128;
keepHandsOnWheel @129;
speedLimitActive @130;
speedLimitValueChange @131;
e2eLongStop @132;
e2eLongStart @133;
controlsMismatchLong @134;
cruiseEngageBlocked @135;
laneChangeRoadEdge @136;
speedLimitPreActive @137;
speedLimitConfirmed @138;
torqueNNLoad @139;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
radarCommIssueDEPRECATED @67;
driverMonitorLowAccDEPRECATED @68;
gasUnavailableDEPRECATED @3;
dataNeededDEPRECATED @16;
modelCommIssueDEPRECATED @27;
ipasOverrideDEPRECATED @33;
geofenceDEPRECATED @40;
driverMonitorOnDEPRECATED @41;
driverMonitorOffDEPRECATED @42;
calibrationProgressDEPRECATED @47;
invalidGiraffeHondaDEPRECATED @49;
invalidGiraffeToyotaDEPRECATED @60;
internetConnectivityNeededDEPRECATED @61;
whitePandaUnsupportedDEPRECATED @81;
commIssueWarningDEPRECATED @83;
focusRecoverActiveDEPRECATED @86;
neosUpdateRequiredDEPRECATED @88;
modelLagWarningDEPRECATED @93;
startupOneplusDEPRECATED @82;
startupFuzzyFingerprintDEPRECATED @97;
noTargetDEPRECATED @25;
brakeUnavailableDEPRECATED @2;
plannerErrorDEPRECATED @32;
gpsMalfunctionDEPRECATED @94;
}
}
# ******* main car state @ 100hz *******
# all speeds in m/s
struct CarState {
events @13 :List(CarEvent);
# CAN health
canValid @26 :Bool; # invalid counter/checksums
canTimeout @40 :Bool; # CAN bus dropped out
# car speed
vEgo @1 :Float32; # best estimate of speed
aEgo @16 :Float32; # best estimate of acceleration
vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
yawRate @22 :Float32; # best estimate of yaw rate
standstill @18 :Bool;
wheelSpeeds @2 :WheelSpeeds;
# gas pedal, 0.0-1.0
gas @3 :Float32; # this is user pedal only
gasPressed @4 :Bool; # this is user pedal only
engineRpm @46 :Float32;
# brake pedal, 0.0-1.0
brake @5 :Float32; # this is user pedal only
brakePressed @6 :Bool; # this is user pedal only
regenBraking @45 :Bool; # this is user pedal only
parkingBrake @39 :Bool;
brakeHoldActive @38 :Bool;
# steering wheel
steeringAngleDeg @7 :Float32;
steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
steeringRateDeg @15 :Float32;
steeringTorque @8 :Float32; # TODO: standardize units
steeringTorqueEps @27 :Float32; # TODO: standardize units
steeringPressed @9 :Bool; # if the user is using the steering wheel
steerFaultTemporary @35 :Bool; # temporary EPS fault
steerFaultPermanent @36 :Bool; # permanent EPS fault
stockAeb @30 :Bool;
stockFcw @31 :Bool;
espDisabled @32 :Bool;
accFaulted @42 :Bool;
carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
# cruise state
cruiseState @10 :CruiseState;
# gear
gearShifter @14 :GearShifter;
# button presses
buttonEvents @11 :List(ButtonEvent);
leftBlinker @20 :Bool;
rightBlinker @21 :Bool;
genericToggle @23 :Bool;
# lock info
doorOpen @24 :Bool;
seatbeltUnlatched @25 :Bool;
# clutch (manual transmission only)
clutchPressed @28 :Bool;
madsEnabled @48 :Bool;
leftBlinkerOn @49 :Bool;
rightBlinkerOn @50 :Bool;
disengageByBrake @51 :Bool;
belowLaneChangeSpeed @52 :Bool;
accEnabled @53 :Bool;
latActive @54 :Bool;
gapAdjustCruiseTr @55 :Int32;
endToEndLong @56 :Bool;
customStockLong @57 :CustomStockLong;
struct CustomStockLong {
cruiseButton @0 :Int16;
finalSpeedKph @1 :Float32;
vCruiseKphPrev @2 :Float32;
targetSpeed @3 :Float32;
vSetDis @4 :Float32;
speedDiff @5 :Float32;
buttonType @6 :Int16;
}
# blindspot sensors
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
charging @43 :Bool;
struct WheelSpeeds {
# optional wheel speeds
fl @0 :Float32;
fr @1 :Float32;
rl @2 :Float32;
rr @3 :Float32;
}
struct CruiseState {
enabled @0 :Bool;
speed @1 :Float32;
speedCluster @6 :Float32; # Set speed as shown on instrument cluster
available @2 :Bool;
speedOffset @3 :Float32;
standstill @4 :Bool;
nonAdaptive @5 :Bool;
speedLimit @7 :Float32;
}
enum GearShifter {
unknown @0;
park @1;
drive @2;
neutral @3;
reverse @4;
sport @5;
low @6;
brake @7;
eco @8;
manumatic @9;
}
# send on change
struct ButtonEvent {
pressed @0 :Bool;
type @1 :Type;
enum Type {
unknown @0;
leftBlinker @1;
rightBlinker @2;
accelCruise @3;
decelCruise @4;
cancel @5;
altButton1 @6;
altButton2 @7;
altButton3 @8;
setCruise @9;
resumeCruise @10;
gapAdjustCruise @11;
}
}
# deprecated
errorsDEPRECATED @0 :List(CarEvent.EventName);
brakeLightsDEPRECATED @19 :Bool;
steeringRateLimitedDEPRECATED @29 :Bool;
canMonoTimesDEPRECATED @12: List(UInt64);
}
# ******* radar state @ 20hz *******
struct RadarData @0x888ad6581cf0aacb {
errors @0 :List(Error);
points @1 :List(RadarPoint);
enum Error {
canError @0;
fault @1;
wrongConfig @2;
}
# similar to LiveTracks
# is one timestamp valid for all? I think so
struct RadarPoint {
trackId @0 :UInt64; # no trackId reuse
# these 3 are the minimum required
dRel @1 :Float32; # m from the front bumper of the car
yRel @2 :Float32; # m
vRel @3 :Float32; # m/s
# these are optional and valid if they are not NaN
aRel @4 :Float32; # m/s^2
yvRel @5 :Float32; # m/s
# some radars flag measurements VS estimates
measured @6 :Bool;
}
# deprecated
canMonoTimesDEPRECATED @2 :List(UInt64);
}
# ******* car controls @ 100hz *******
struct CarControl {
# must be true for any actuator commands to work
enabled @0 :Bool;
latActive @11: Bool;
longActive @12: Bool;
vCruise @17 :Float32; # actual set speed
# Actuator commands as computed by controlsd
actuators @6 :Actuators;
# moved to CarOutput
actuatorsOutputDEPRECATED @10 :Actuators;
leftBlinker @15: Bool;
rightBlinker @16: Bool;
orientationNED @13 :List(Float32);
angularVelocity @14 :List(Float32);
cruiseControl @4 :CruiseControl;
hudControl @5 :HUDControl;
struct Actuators {
# range from 0.0 - 1.0
gas @0: Float32;
brake @1: Float32;
# range from -1.0 - 1.0
steer @2: Float32;
# value sent over can to the car
steerOutputCan @8: Float32;
steeringAngleDeg @3: Float32;
curvature @7: Float32;
speed @6: Float32; # m/s
accel @4: Float32; # m/s^2
longControlState @5: LongControlState;
enum LongControlState @0xe40f3a917d908282{
off @0;
pid @1;
stopping @2;
starting @3;
}
}
struct CruiseControl {
cancel @0: Bool;
resume @1: Bool;
override @4: Bool;
speedOverrideDEPRECATED @2: Float32;
accelOverrideDEPRECATED @3: Float32;
}
struct HUDControl {
speedVisible @0: Bool;
setSpeed @1: Float32;
lanesVisible @2: Bool;
leadVisible @3: Bool;
visualAlert @4: VisualAlert;
audibleAlert @5: AudibleAlert;
rightLaneVisible @6: Bool;
leftLaneVisible @7: Bool;
rightLaneDepart @8: Bool;
leftLaneDepart @9: Bool;
leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
enum VisualAlert {
# these are the choices from the Honda
# map as good as you can for your car
none @0;
fcw @1;
steerRequired @2;
brakePressed @3;
wrongGear @4;
seatbeltUnbuckled @5;
speedTooHigh @6;
ldw @7;
}
enum AudibleAlert {
none @0;
engage @1;
disengage @2;
refuse @3;
warningSoft @4;
warningImmediate @5;
prompt @6;
promptRepeat @7;
promptDistracted @8;
promptStarting @9;
promptSingleLow @10;
promptSingleHigh @11;
}
}
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;
steeringTorqueDEPRECATED @3 :Float32;
activeDEPRECATED @7 :Bool;
rollDEPRECATED @8 :Float32;
pitchDEPRECATED @9 :Float32;
}
struct CarOutput {
# Any car specific rate limits or quirks applied by
# the CarController are reflected in actuatorsOutput
# and matches what is sent to the car
actuatorsOutput @0 :CarControl.Actuators;
}
# ****** car param ******
struct CarParams {
carName @0 :Text;
carFingerprint @1 :Text;
fuzzyFingerprint @55 :Bool;
notCar @66 :Bool; # flag for non-car robotics platforms
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
enableDsu @5 :Bool; # driving support unit
enableBsm @56 :Bool; # blind spot monitoring
flags @64 :UInt32; # flags for car specific quirks
experimentalLongitudinalAvailable @71 :Bool;
pcmCruiseSpeed @74 :Bool; # is openpilot's state tied to the PCM's cruise speed?
customStockLongAvailable @75 :Bool;
spFlags @76 :UInt32; # flags for car specific quirks in sunnypilot
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
safetyConfigs @62 :List(SafetyConfig);
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
# Car docs fields
maxLateralAccel @68 :Float32;
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically
# things about the car in the manual
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
# things we can derive
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear]
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
longitudinalTuning @25 :LongitudinalPIDTuning;
lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indiDEPRECATED @27 :LateralINDITuning;
lqrDEPRECATED @40 :LateralLQRTuning;
torque @67 :LateralTorqueTuning;
}
steerLimitAlert @28 :Bool;
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
steerControlType @34 :SteerControlType;
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
startAccel @32 :Float32; # Required acceleration to get car moving
startingState @70 :Bool; # Does this car make use of special starting state
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
longitudinalActuatorDelayUpperBound @58 :Float32; # Gas/Brake actuator delay in seconds, upper bound
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
dashcamOnly @41: Bool;
passive @73: Bool; # is openpilot in control?
transmissionType @43 :TransmissionType;
carFw @44 :List(CarFw);
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
fingerprintSource @49: FingerprintSource;
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
struct SafetyConfig {
safetyModel @0 :SafetyModel;
safetyParam @3 :UInt16;
safetyParamDEPRECATED @1 :Int16;
safetyParam2DEPRECATED @2 :UInt32;
}
struct LateralParams {
torqueBP @0 :List(Int32);
torqueV @1 :List(Int32);
}
struct LateralPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @4 :Float32;
}
struct LateralTorqueTuning {
useSteeringAngle @0 :Bool;
kp @1 :Float32;
ki @2 :Float32;
friction @3 :Float32;
kf @4 :Float32;
steeringAngleDeadzoneDeg @5 :Float32;
latAccelFactor @6 :Float32;
latAccelOffset @7 :Float32;
nnModelName @8 :Text;
nnModelFuzzyMatch @9 :Bool;
}
struct LongitudinalPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @6 :Float32;
deadzoneBP @4 :List(Float32);
deadzoneV @5 :List(Float32);
}
struct LateralINDITuning {
outerLoopGainBP @4 :List(Float32);
outerLoopGainV @5 :List(Float32);
innerLoopGainBP @6 :List(Float32);
innerLoopGainV @7 :List(Float32);
timeConstantBP @8 :List(Float32);
timeConstantV @9 :List(Float32);
actuatorEffectivenessBP @10 :List(Float32);
actuatorEffectivenessV @11 :List(Float32);
outerLoopGainDEPRECATED @0 :Float32;
innerLoopGainDEPRECATED @1 :Float32;
timeConstantDEPRECATED @2 :Float32;
actuatorEffectivenessDEPRECATED @3 :Float32;
}
struct LateralLQRTuning {
scale @0 :Float32;
ki @1 :Float32;
dcGain @2 :Float32;
# State space system
a @3 :List(Float32);
b @4 :List(Float32);
c @5 :List(Float32);
k @6 :List(Float32); # LQR gain
l @7 :List(Float32); # Kalman gain
}
enum SafetyModel {
silent @0;
hondaNidec @1;
toyota @2;
elm327 @3;
gm @4;
hondaBoschGiraffe @5;
ford @6;
cadillac @7;
hyundai @8;
chrysler @9;
tesla @10;
subaru @11;
gmPassive @12;
mazda @13;
nissan @14;
volkswagen @15;
toyotaIpas @16;
allOutput @17;
gmAscm @18;
noOutput @19; # like silent but without silent CAN TXs
hondaBosch @20;
volkswagenPq @21;
subaruPreglobal @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
volkswagenMlb @25;
hongqi @26;
body @27;
hyundaiCanfd @28;
volkswagenMqbEvo @29;
chryslerCusw @30;
psa @31;
}
enum SteerControlType {
torque @0;
angle @1;
curvatureDEPRECATED @2;
}
enum TransmissionType {
unknown @0;
automatic @1; # Traditional auto, including DSG
manual @2; # True "stick shift" only
direct @3; # Electric vehicle or other direct drive
cvt @4;
}
struct CarFw {
ecu @0 :Ecu;
fwVersion @1 :Data;
address @2 :UInt32;
subAddress @3 :UInt8;
responseAddress @4 :UInt32;
request @5 :List(Data);
brand @6 :Text;
bus @7 :UInt8;
logging @8 :Bool;
obdMultiplexing @9 :Bool;
}
enum Ecu {
eps @0;
abs @1;
fwdRadar @2;
fwdCamera @3;
engine @4;
unknown @5;
transmission @8; # Transmission Control Module
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
srs @9; # airbag
gateway @10; # can gateway
hud @11; # heads up display
combinationMeter @12; # instrument cluster
electricBrakeBooster @15;
shiftByWire @16;
adas @19;
cornerRadar @21;
hvac @20;
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
epb @22; # electronic parking brake
telematics @23;
body @24; # body control module
# Toyota only
dsu @6;
# Honda only
vsa @13; # Vehicle Stability Assist
programmedFuelInjection @14;
debug @17;
}
enum FingerprintSource {
can @0;
fw @1;
fixed @2;
}
enum NetworkLocation {
fwdCamera @0; # Standard/default integration at LKAS camera
gateway @1; # Integration at vehicle's CAN gateway
}
enableGasInterceptorDEPRECATED @2 :Bool;
enableCameraDEPRECATED @4 :Bool;
enableApgsDEPRECATED @6 :Bool;
steerRateCostDEPRECATED @33 :Float32;
isPandaBlackDEPRECATED @39 :Bool;
hasStockCameraDEPRECATED @57 :Bool;
safetyParamDEPRECATED @10 :Int16;
safetyModelDEPRECATED @9 :SafetyModel;
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
minSpeedCanDEPRECATED @51 :Float32;
communityFeatureDEPRECATED @46: Bool;
startingAccelRateDEPRECATED @53 :Float32;
steerMaxBPDEPRECATED @11 :List(Float32);
steerMaxVDEPRECATED @12 :List(Float32);
gasMaxBPDEPRECATED @13 :List(Float32);
gasMaxVDEPRECATED @14 :List(Float32);
brakeMaxBPDEPRECATED @15 :List(Float32);
brakeMaxVDEPRECATED @16 :List(Float32);
directAccelControlDEPRECATED @30 :Bool;
maxSteeringAngleDegDEPRECATED @54 :Float32;
}
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