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openpilot
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Merge branch 'upstream/openpilot/master' into sync-20240224 

# Conflicts:
#	cereal
#	common/params.cc
#	selfdrive/car/chrysler/interface.py
This commit is contained in:
Jason Wen 2024-02-27 21:01:40 -05:00
parent 4124c4593f 56e343b3f1
commit 4d8c13ba42
No known key found for this signature in database
GPG Key ID: EF8EA444C1E7B69C
29 changed files with 226 additions and 193 deletions
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9
SConstruct
View File

@ -96,8 +96,6 @@ lenv = {
rpath = lenv["LD_LIBRARY_PATH"].copy()
if arch == "larch64":
lenv["LD_LIBRARY_PATH"] += ['/data/data/com.termux/files/usr/lib']
cpppath = [
"#third_party/opencl/include",
]
@ -360,13 +358,6 @@ Export('common', 'gpucommon')
# Build cereal and messaging
SConscript(['cereal/SConscript'])
cereal = [File('#cereal/libcereal.a')]
messaging = [File('#cereal/libmessaging.a')]
visionipc = [File('#cereal/libvisionipc.a')]
messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
Export('cereal', 'messaging', 'messaging_python', 'visionipc')
# Build other submodules
SConscript([
'body/board/SConscript',

2
cereal

@ -1 +1 @@
Subproject commit 6f8c147d22a8fce2d75a2b6fd3a49e6c1fe35553
Subproject commit 6aff39be259914e1596cc6a582f434132ce0e810

1
common/params.cc
View File

@ -207,7 +207,6 @@ std::unordered_map<std::string, uint32_t> keys = {
{"UpdaterLastFetchTime", PERSISTENT},
{"Version", PERSISTENT},
{"VisionRadarToggle", PERSISTENT},
{"WheeledBody", PERSISTENT},
{"AccMadsCombo", PERSISTENT},
{"AmapKey1", PERSISTENT},

2
docs/CONTRIBUTING.md
View File

@ -62,4 +62,4 @@ A good pull request has all of the following:
* Consider opting into driver camera uploads to improve the driver monitoring model.
* Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
* Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
* Annotate images in the [comma10k dateset](https://github.com/commaai/comma10k).
* Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).

1
pyproject.toml
View File

@ -190,6 +190,7 @@ lint.flake8-implicit-str-concat.allow-multiline=false
"system".msg = "Use openpilot.system"
"third_party".msg = "Use openpilot.third_party"
"tools".msg = "Use openpilot.tools"
"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
[tool.coverage.run]
concurrency = ["multiprocessing", "thread"]

9
selfdrive/car/__init__.py
View File

@ -1,6 +1,6 @@
# functions common among cars
from collections import namedtuple
from dataclasses import dataclass, field
from dataclasses import dataclass, field, replace
from enum import ReprEnum
import capnp
@ -246,7 +246,7 @@ class CanSignalRateCalculator:
CarInfos = CarInfo | list[CarInfo]
@dataclass(kw_only=True)
@dataclass(frozen=True, kw_only=True)
class CarSpecs:
mass: float
wheelbase: float
@ -256,7 +256,7 @@ class CarSpecs:
minEnableSpeed: float = field(default=-1.)
@dataclass(order=True)
@dataclass(frozen=True, order=True)
class PlatformConfig:
platform_str: str
car_info: CarInfos
@ -267,6 +267,9 @@ class PlatformConfig:
def __hash__(self) -> int:
return hash(self.platform_str)
def override(self, **kwargs):
return replace(self, **kwargs)
class Platforms(str, ReprEnum):
config: PlatformConfig

20
selfdrive/car/body/carcontroller.py
View File

@ -1,6 +1,5 @@
import numpy as np
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car.body import bodycan
@ -20,18 +19,13 @@ class CarController:
self.frame = 0
self.packer = CANPacker(dbc_name)
# Speed, balance and turn PIDs
self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL)
self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL)
# PIDs
self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
self.torque_r_filtered = 0.
self.torque_l_filtered = 0.
params = Params()
self.wheeled_body = params.get("WheeledBody")
@staticmethod
def deadband_filter(torque, deadband):
if torque > 0:
@ -55,17 +49,7 @@ class CarController:
speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
speed_error = speed_desired - speed_measured
if self.wheeled_body is None:
freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
(speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
# Clip angle error, this is enough to get up from stands
angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
else:
torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
turn_error = speed_diff_measured - speed_diff_desired

21
selfdrive/car/chrysler/interface.py
View File

@ -24,7 +24,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in RAM_DT:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
ret.minSteerSpeed = 3.8 # m/s
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate not in RAM_CARS:
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
@ -35,10 +34,6 @@ class CarInterface(CarInterfaceBase):
# Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
ret.mass = 2242.
ret.wheelbase = 3.089
ret.steerRatio = 16.2 # Pacifica Hybrid 2017
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
@ -46,9 +41,6 @@ class CarInterface(CarInterfaceBase):
# Jeep
elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
ret.mass = 1778
ret.wheelbase = 2.71
ret.steerRatio = 16.7
ret.steerActuatorDelay = 0.2
ret.lateralTuning.init('pid')
@ -60,19 +52,12 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.RAM_1500:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88
ret.steerRatio = 16.3
ret.mass = 2493.
ret.minSteerSpeed = 0.5
ret.minEnableSpeed = 14.5
if any(fw.ecu == 'eps' and fw.fwVersion in (b"68273275AF", b"68273275AG", b"68312176AE", b"68312176AG",) for fw in car_fw):
ret.minEnableSpeed = 0.
# Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
ret.minSteerSpeed = 0.
elif candidate == CAR.RAM_HD:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.785
ret.steerRatio = 15.61
ret.mass = 3405.
ret.minSteerSpeed = 16
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
else:

131
selfdrive/car/chrysler/values.py
View File

@ -1,9 +1,9 @@
from enum import IntFlag, StrEnum
from enum import IntFlag
from dataclasses import dataclass, field
from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
@ -13,25 +13,89 @@ Ecu = car.CarParams.Ecu
class ChryslerFlags(IntFlag):
HIGHER_MIN_STEERING_SPEED = 1
@dataclass
class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
class CAR(StrEnum):
@dataclass(frozen=True)
class ChryslerPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None))
@dataclass(frozen=True)
class ChryslerCarSpecs(CarSpecs):
minSteerSpeed: float = 3.8 # m/s
class CAR(Platforms):
# Chrysler
PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2017",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
specs=ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
)
PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2018",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
specs=PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
"CHRYSLER PACIFICA HYBRID 2019",
ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
specs=PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2018 = ChryslerPlatformConfig(
"CHRYSLER PACIFICA 2018",
ChryslerCarInfo("Chrysler Pacifica 2017-18"),
specs=PACIFICA_2017_HYBRID.specs,
)
PACIFICA_2020 = ChryslerPlatformConfig(
"CHRYSLER PACIFICA 2020",
[
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
],
specs=PACIFICA_2017_HYBRID.specs,
)
# Dodge
DODGE_DURANGO = "DODGE DURANGO 2021"
DODGE_DURANGO = ChryslerPlatformConfig(
"DODGE DURANGO 2021",
ChryslerCarInfo("Dodge Durango 2020-21"),
specs=PACIFICA_2017_HYBRID.specs,
)
# Jeep
JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk
"JEEP GRAND CHEROKEE V6 2018",
ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
specs=ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
)
JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk
"JEEP GRAND CHEROKEE 2019",
ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
specs=JEEP_GRAND_CHEROKEE.specs,
)
# Ram
RAM_1500 = "RAM 1500 5TH GEN"
RAM_HD = "RAM HD 5TH GEN"
RAM_1500 = ChryslerPlatformConfig(
"RAM 1500 5TH GEN",
ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
dbc_dict('chrysler_ram_dt_generated', None),
specs=ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
)
RAM_HD = ChryslerPlatformConfig(
"RAM HD 5TH GEN",
[
ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
],
dbc_dict('chrysler_ram_hd_generated', None),
specs=ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
)
class CarControllerParams:
@ -59,32 +123,6 @@ RAM_HD = {CAR.RAM_HD, }
RAM_CARS = RAM_DT | RAM_HD
@dataclass
class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
CAR_INFO: dict[str, ChryslerCarInfo | list[ChryslerCarInfo] | None] = {
CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
CAR.PACIFICA_2020: [
ChryslerCarInfo("Chrysler Pacifica 2019-20"),
ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
],
CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
CAR.RAM_HD: [
ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
],
}
CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf132)
CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@ -124,16 +162,5 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
)
DBC = {
CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_GRAND_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),
}
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()

1
selfdrive/car/ford/tests/test_ford.py
View File

@ -19,6 +19,7 @@ ECU_ADDRESSES = {
Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA)
Ecu.engine: 0x7E0, # Powertrain Control Module (PCM)
Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM)
Ecu.debug: 0x7D0, # Accessory Protocol Interface Module (APIM)
}

48
selfdrive/car/ford/values.py
View File

@ -1,11 +1,12 @@
from dataclasses import dataclass, field
from enum import Enum
import panda.python.uds as uds
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
Device
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = car.CarParams.Ecu
@ -63,7 +64,7 @@ class FordCarInfo(CarInfo):
self.car_parts = CarParts([Device.threex, harness])
@dataclass
@dataclass(frozen=True)
class FordPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
@ -140,6 +141,33 @@ class CAR(Platforms):
CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
ASBUILT_BLOCKS: list[tuple[int, list]] = [
(1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
(2, [Ecu.abs, Ecu.debug, Ecu.eps]),
(3, [Ecu.abs, Ecu.debug, Ecu.eps]),
(4, [Ecu.debug, Ecu.fwdCamera]),
(5, [Ecu.debug]),
(6, [Ecu.debug]),
(7, [Ecu.debug]),
(8, [Ecu.debug]),
(9, [Ecu.debug]),
(16, [Ecu.debug, Ecu.fwdCamera]),
(18, [Ecu.fwdCamera]),
(20, [Ecu.fwdCamera]),
(21, [Ecu.fwdCamera]),
]
def ford_asbuilt_block_request(block_id: int):
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
def ford_asbuilt_block_response(block_id: int):
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# CAN and CAN FD queries are combined.
@ -147,19 +175,29 @@ FW_QUERY_CONFIG = FwQueryConfig(
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
logging=True,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
bus=0,
auxiliary=True,
),
*[Request(
[StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
[StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
whitelist_ecus=ecus,
bus=0,
logging=True,
) for block_id, ecus in ASBUILT_BLOCKS],
],
extra_ecus=[
# We are unlikely to get a response from the PCM from behind the gateway
(Ecu.engine, 0x7e0, None),
(Ecu.shiftByWire, 0x732, None),
(Ecu.engine, 0x7e0, None), # Powertrain Control Module
# Note: We are unlikely to get a response from behind the gateway
(Ecu.shiftByWire, 0x732, None), # Gear Shift Module
(Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module
],
)

2
selfdrive/car/gm/values.py
View File

@ -79,7 +79,7 @@ class GMCarInfo(CarInfo):
self.footnotes.append(Footnote.OBD_II)
@dataclass
@dataclass(frozen=True)
class GMPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))

2
selfdrive/car/honda/values.py
View File

@ -219,6 +219,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
Ecu.shiftByWire: [CAR.ACCORD], # existence correlates with transmission type for ICE
Ecu.hud: [CAR.ACCORD, CAR.ACCORDH], # existence correlates with trim level
},
extra_ecus=[
# The only other ECU on PT bus accessible by camera on radarless Civic

19
selfdrive/car/interfaces.py
View File

@ -4,7 +4,7 @@ import numpy as np
import tomllib
from abc import abstractmethod, ABC
from enum import StrEnum
from typing import Any, NamedTuple, cast
from typing import Any, NamedTuple
from collections.abc import Callable
from cereal import car
@ -13,7 +13,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.simple_kalman import KF1D, get_kalman_gain
from openpilot.common.numpy_fast import clip
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from openpilot.selfdrive.car.values import Platform
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
from openpilot.selfdrive.controls.lib.events import Events
@ -113,14 +113,13 @@ class CarInterfaceBase(ABC):
ret = CarInterfaceBase.get_std_params(candidate)
if hasattr(candidate, "config"):
platform_config = cast(PlatformConfig, candidate.config)
if platform_config.specs is not None:
ret.mass = platform_config.specs.mass
ret.wheelbase = platform_config.specs.wheelbase
ret.steerRatio = platform_config.specs.steerRatio
ret.centerToFront = ret.wheelbase * platform_config.specs.centerToFrontRatio
ret.minEnableSpeed = platform_config.specs.minEnableSpeed
ret.minSteerSpeed = platform_config.specs.minSteerSpeed
if candidate.config.specs is not None:
ret.mass = candidate.config.specs.mass
ret.wheelbase = candidate.config.specs.wheelbase
ret.steerRatio = candidate.config.specs.steerRatio
ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)

14
selfdrive/car/nissan/interface.py
View File

@ -16,25 +16,13 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.1
ret.steerRatio = 17
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarUnavailable = True
if candidate in (CAR.ROGUE, CAR.XTRAIL):
ret.mass = 1610
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
elif candidate in (CAR.LEAF, CAR.LEAF_IC):
ret.mass = 1610
ret.wheelbase = 2.705
ret.centerToFront = ret.wheelbase * 0.44
elif candidate == CAR.ALTIMA:
if candidate == CAR.ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
ret.mass = 1492
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
return ret

68
selfdrive/car/nissan/values.py
View File

@ -1,9 +1,8 @@
from dataclasses import dataclass, field
from enum import StrEnum
from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@ -20,29 +19,52 @@ class CarControllerParams:
pass
class CAR(StrEnum):
XTRAIL = "NISSAN X-TRAIL 2017"
LEAF = "NISSAN LEAF 2018"
# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
# Currently the only known difference between them is the inverted seatbelt signal.
LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster"
ROGUE = "NISSAN ROGUE 2019"
ALTIMA = "NISSAN ALTIMA 2020"
@dataclass
class NissanCarInfo(CarInfo):
package: str = "ProPILOT Assist"
car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
CAR_INFO: dict[str, NissanCarInfo | list[NissanCarInfo] | None] = {
CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
CAR.LEAF_IC: None, # same platforms
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
}
@dataclass(frozen=True)
class NissanCarSpecs(CarSpecs):
centerToFrontRatio: float = 0.44
steerRatio: float = 17.
@dataclass(frozen=True)
class NissanPlaformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('nissan_x_trail_2017_generated', None))
class CAR(Platforms):
XTRAIL = NissanPlaformConfig(
"NISSAN X-TRAIL 2017",
NissanCarInfo("Nissan X-Trail 2017"),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
)
LEAF = NissanPlaformConfig(
"NISSAN LEAF 2018",
NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
dbc_dict=dbc_dict('nissan_leaf_2018_generated', None),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
)
# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
# Currently the only known difference between them is the inverted seatbelt signal.
LEAF_IC = LEAF.override(platform_str="NISSAN LEAF 2018 Instrument Cluster", car_info=None)
ROGUE = NissanPlaformConfig(
"NISSAN ROGUE 2019",
NissanCarInfo("Nissan Rogue 2018-20"),
specs=NissanCarSpecs(mass=1610, wheelbase=2.705)
)
ALTIMA = NissanPlaformConfig(
"NISSAN ALTIMA 2020",
NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
specs=NissanCarSpecs(mass=1492, wheelbase=2.824)
)
CAR_INFO = CAR.create_carinfo_map()
DBC = CAR.create_dbc_map()
# Default diagnostic session
NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
@ -88,11 +110,3 @@ FW_QUERY_CONFIG = FwQueryConfig(
),
]],
)
DBC = {
CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
}

2
selfdrive/car/subaru/values.py
View File

@ -92,7 +92,7 @@ class SubaruCarInfo(CarInfo):
self.footnotes.append(Footnote.EXP_LONG)
@dataclass
@dataclass(frozen=True)
class SubaruPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))

6
selfdrive/car/tests/test_fw_fingerprint.py
View File

@ -263,13 +263,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
def test_fw_query_timing(self):
total_ref_time = {1: 6.5, 2: 7.4}
total_ref_time = {1: 7.8, 2: 8.7}
brand_ref_times = {
1: {
'gm': 0.5,
'body': 0.1,
'chrysler': 0.3,
'ford': 0.2,
'ford': 1.5,
'honda': 0.55,
'hyundai': 1.05,
'mazda': 0.1,
@ -280,7 +280,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
'volkswagen': 0.65,
},
2: {
'ford': 0.3,
'ford': 1.6,
'hyundai': 1.85,
}
}

3
selfdrive/car/toyota/fingerprints.py
View File

@ -573,6 +573,7 @@ FW_VERSIONS = {
b'\x018821F6201400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F12010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@ -843,6 +844,7 @@ FW_VERSIONS = {
b'8965B47023\x00\x00\x00\x00\x00\x00',
b'8965B47050\x00\x00\x00\x00\x00\x00',
b'8965B47060\x00\x00\x00\x00\x00\x00',
b'8965B47070\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152647290\x00\x00\x00\x00\x00\x00',
@ -1024,6 +1026,7 @@ FW_VERSIONS = {
b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A13201\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',

6
selfdrive/car/volkswagen/values.py
View File

@ -112,15 +112,15 @@ class CANBUS:
class VolkswagenFlags(IntFlag):
STOCK_HCA_PRESENT = 1
@dataclass
@dataclass(frozen=True)
class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
@dataclass
@dataclass(frozen=True)
class VolkswagenPQPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
@dataclass(kw_only=True)
@dataclass(frozen=True, kw_only=True)
class VolkswagenCarSpecs(CarSpecs):
steerRatio: float = field(default=15.6)

8
selfdrive/locationd/locationd.cc
View File

@ -691,10 +691,9 @@ int Localizer::locationd_thread() {
this->configure_gnss_source(source);
const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
"carState", "carParams", "accelerometer", "gyroscope"};
"carState", "accelerometer", "gyroscope"};
// TODO: remove carParams once we're always sending at 100Hz
SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
PubMaster pm({"liveLocationKalman"});
uint64_t cnt = 0;
@ -718,8 +717,7 @@ int Localizer::locationd_thread() {
filterInitialized = sm.allAliveAndValid();
}
// 100Hz publish for notcars, 20Hz for cars
const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "accelerometer" : "cameraOdometry";
const char* trigger_msg = "cameraOdometry";
if (sm.updated(trigger_msg)) {
bool inputsOK = sm.allValid() && this->are_inputs_ok();
bool gpsOK = this->is_gps_ok();

2
selfdrive/test/process_replay/process_replay.py
View File

@ -512,7 +512,7 @@ CONFIGS = [
proc_name="locationd",
pubs=[
"cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
"liveCalibration", "carState", "carParams", "gpsLocation"
"liveCalibration", "carState", "gpsLocation"
],
subs=["liveLocationKalman"],
ignore=["logMonoTime"],

2
selfdrive/test/process_replay/ref_commit
View File

@ -1 +1 @@
d0cdea7eb15f3cac8a921f7ace3eaa6baebb4fd5
47609e372bf616932c4dca74d2616c3d97fa2443

2
selfdrive/test/test_onroad.py
View File

@ -424,4 +424,4 @@ class TestOnroad(unittest.TestCase):
if __name__ == "__main__":
pytest.main()
unittest.main()

1
system/hardware/tici/amplifier.py
View File

@ -97,6 +97,7 @@ CONFIGS = {
AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
],
"mici": [],
}
class Amplifier:

6
system/hardware/tici/hardware.h
View File

@ -20,12 +20,12 @@ public:
}
static std::string get_name() {
std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model");
return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici";
std::string model = util::read_file("/sys/firmware/devicetree/base/model");
return model.substr(std::string("comma ").size());
}
static cereal::InitData::DeviceType get_device_type() {
return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI;
return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : (get_name() == "mici" ? cereal::InitData::DeviceType::MICI : cereal::InitData::DeviceType::TICI);
}
static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }

2
system/hardware/tici/tests/test_hardware.py
View File

@ -25,4 +25,4 @@ class TestHardware(unittest.TestCase):
if __name__ == "__main__":
pytest.main()
unittest.main()

3
system/hardware/tici/tests/test_power_draw.py
View File

@ -1,6 +1,5 @@
#!/usr/bin/env python3
from collections import defaultdict, deque
import sys
import pytest
import unittest
import time
@ -132,4 +131,4 @@ class TestPowerDraw(unittest.TestCase):
if __name__ == "__main__":
pytest.main(sys.argv)
unittest.main()

26
tools/replay/can_replay.py
View File

@ -21,41 +21,41 @@ ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0
ENABLE_PWR = PWR_ON > 0 and PWR_OFF > 0
def send_thread(s, flock):
def send_thread(j: PandaJungle, flock):
if "FLASH" in os.environ:
with flock:
s.flash()
j.flash()
for i in [0, 1, 2, 3, 0xFFFF]:
s.can_clear(i)
s.set_can_speed_kbps(i, 500)
s.set_can_data_speed_kbps(i, 500)
s.set_ignition(False)
j.can_clear(i)
j.set_can_speed_kbps(i, 500)
j.set_can_data_speed_kbps(i, 500)
j.set_ignition(False)
time.sleep(5)
s.set_ignition(True)
s.set_panda_power(True)
s.set_can_loopback(False)
j.set_ignition(True)
j.set_panda_power(True)
j.set_can_loopback(False)
rk = Ratekeeper(1 / DT_CTRL, print_delay_threshold=None)
while True:
# handle cycling
if ENABLE_PWR:
i = (rk.frame*DT_CTRL) % (PWR_ON + PWR_OFF) < PWR_ON
s.set_panda_power(i)
j.set_panda_power(i)
if ENABLE_IGN:
i = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON
s.set_ignition(i)
j.set_ignition(i)
snd = CAN_MSGS[rk.frame % len(CAN_MSGS)]
snd = list(filter(lambda x: x[-1] <= 2, snd))
try:
s.can_send_many(snd)
j.can_send_many(snd)
except usb1.USBErrorTimeout:
# timeout is fine, just means the CAN TX buffer is full
pass
# Drain panda message buffer
s.can_recv()
j.can_recv()
rk.keep_time()