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Tesla Raven (#29947) 

* fingerprinting

* wip

* bug

* fix another bug

* fix rebase

* clean up raven

* forgot to save

* one more rename

* one more rename

* radar fixes

* AP1 also has bosch radar

* put back dashcamOnly

* small fixes

* raven flag

* fix bug

* fix raven flag

* bump opendbc

* fix radar trigger for non-raven

* fix tests?

* bump panda

* more test fixes

* tesla fingerprinting is a bit slower now

* fix tests

* bump opendbc

* bump submodules to master

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7177ec0631
This commit is contained in:
Robbe Derks 2024-03-06 21:14:48 +01:00 committed by GitHub
parent e6dbf6d614
commit 8a2766a86b
12 changed files with 105 additions and 62 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
opendbc

@ -1 +1 @@
Subproject commit 1745ab51825055cd18748013c4a5e3377319e390
Subproject commit ff1f1ff335261c469635c57c81817afd04663eab

2
panda

@ -1 +1 @@
Subproject commit ea156f7c628a371bea9a15a29f9068d5392534ba
Subproject commit 41e9610ff841e4cf62051c6df09c1870f5d12477

3
release/files_common
View File

@ -542,7 +542,8 @@ opendbc/vw_golf_mk4.dbc
opendbc/vw_mqb_2010.dbc
opendbc/tesla_can.dbc
opendbc/tesla_radar.dbc
opendbc/tesla_radar_bosch_generated.dbc
opendbc/tesla_radar_continental_generated.dbc
opendbc/tesla_powertrain.dbc
tinygrad_repo/openpilot/compile2.py

5
selfdrive/car/fw_query_definitions.py
View File

@ -47,6 +47,11 @@ class StdQueries:
MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \

30
selfdrive/car/tesla/carstate.py
View File

@ -2,7 +2,7 @@ import copy
from collections import deque
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
@ -37,13 +37,15 @@ class CarState(CarStateBase):
ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
# Steering wheel
self.hands_on_level = cp.vl["EPAS_sysStatus"]["EPAS_handsOnLevel"]
self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacErrorCode"]), None)
steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacStatus"]), None)
epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
ret.steeringAngleDeg = -cp.vl["EPAS_sysStatus"]["EPAS_internalSAS"]
self.hands_on_level = epas_status["EPAS_handsOnLevel"]
self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"]
ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
ret.steeringPressed = (self.hands_on_level > 0)
ret.steerFaultPermanent = steer_status == "EAC_FAULT"
ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
@ -85,7 +87,10 @@ class CarState(CarStateBase):
ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
# Seatbelt
ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
if self.CP.carFingerprint == CAR.MODELS_RAVEN:
ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
else:
ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
# TODO: blindspot
@ -111,9 +116,14 @@ class CarState(CarStateBase):
("DI_state", 10),
("STW_ACTN_RQ", 10),
("GTW_carState", 10),
("SDM1", 10),
("BrakeMessage", 50),
]
if CP.carFingerprint == CAR.MODELS_RAVEN:
messages.append(("DriverSeat", 20))
else:
messages.append(("SDM1", 10))
return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
@staticmethod
@ -122,4 +132,8 @@ class CarState(CarStateBase):
# sig_address, frequency
("DAS_control", 40),
]
if CP.carFingerprint == CAR.MODELS_RAVEN:
messages.append(("EPAS3P_sysStatus", 100))
return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)

11
selfdrive/car/tesla/fingerprints.py
View File

@ -25,4 +25,15 @@ FW_VERSIONS = {
b'\x10#\x01',
],
},
CAR.MODELS_RAVEN: {
(Ecu.electricBrakeBooster, 0x64d, None): [
b'1037123-00-A',
],
(Ecu.fwdRadar, 0x671, None): [
b'\x01\x00\x99\x02\x01\x00\x10\x00\x00AP8.3.03\x00\x10',
],
(Ecu.eps, 0x730, None): [
b'SX_0.0.0 (99),SR013.7',
],
},
}

11
selfdrive/car/tesla/interface.py
View File

@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car.tesla.values import CANBUS
from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@ -28,19 +28,20 @@ class CarInterface(CarInterfaceBase):
# Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
# If so, we assume that it is connected to the longitudinal harness.
flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.MODELS_RAVEN else 0)
if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
ret.openpilotLongitudinalControl = True
flags |= Panda.FLAG_TESLA_LONG_CONTROL
ret.safetyConfigs = [
get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
get_safety_config(car.CarParams.SafetyModel.tesla, flags),
get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
]
else:
ret.openpilotLongitudinalControl = False
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.25
return ret
def _update(self, c):

62
selfdrive/car/tesla/radar_interface.py
View File

@ -1,38 +1,33 @@
#!/usr/bin/env python3
from cereal import car
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.tesla.values import DBC, CANBUS
from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
RADAR_MSGS_A = list(range(0x310, 0x36E, 3))
RADAR_MSGS_B = list(range(0x311, 0x36F, 3))
NUM_POINTS = len(RADAR_MSGS_A)
def get_radar_can_parser(CP):
# Status messages
messages = [
('TeslaRadarSguInfo', 10),
]
# Radar tracks. There are also raw point clouds available,
# we don't use those.
for i in range(NUM_POINTS):
msg_id_a = RADAR_MSGS_A[i]
msg_id_b = RADAR_MSGS_B[i]
messages.extend([
(msg_id_a, 8),
(msg_id_b, 8),
])
return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.rcp = get_radar_can_parser(CP)
self.CP = CP
if CP.carFingerprint == CAR.MODELS_RAVEN:
messages = [('RadarStatus', 16)]
self.num_points = 40
self.trigger_msg = 1119
else:
messages = [('TeslaRadarSguInfo', 10)]
self.num_points = 32
self.trigger_msg = 878
for i in range(self.num_points):
messages.extend([
(f'RadarPoint{i}_A', 16),
(f'RadarPoint{i}_B', 16),
])
self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
self.updated_messages = set()
self.track_id = 0
self.trigger_msg = RADAR_MSGS_B[-1]
def update(self, can_strings):
if self.rcp is None:
@ -48,17 +43,24 @@ class RadarInterface(RadarInterfaceBase):
# Errors
errors = []
sgu_info = self.rcp.vl['TeslaRadarSguInfo']
if not self.rcp.can_valid:
errors.append('canError')
if sgu_info['RADC_HWFail'] or sgu_info['RADC_SGUFail'] or sgu_info['RADC_SensorDirty']:
errors.append('fault')
if self.CP.carFingerprint == CAR.MODELS_RAVEN:
radar_status = self.rcp.vl['RadarStatus']
if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
errors.append('fault')
else:
radar_status = self.rcp.vl['TeslaRadarSguInfo']
if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']:
errors.append('fault')
ret.errors = errors
# Radar tracks
for i in range(NUM_POINTS):
msg_a = self.rcp.vl[RADAR_MSGS_A[i]]
msg_b = self.rcp.vl[RADAR_MSGS_B[i]]
for i in range(self.num_points):
msg_a = self.rcp.vl[f'RadarPoint{i}_A']
msg_b = self.rcp.vl[f'RadarPoint{i}_B']
# Make sure msg A and B are together
if msg_a['Index'] != msg_b['Index2']:

34
selfdrive/car/tesla/values.py
View File

@ -1,8 +1,7 @@
from collections import namedtuple
from dataclasses import dataclass, field
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarInfo
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@ -10,24 +9,25 @@ Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
@dataclass
class TeslaPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'))
class CAR(Platforms):
AP1_MODELS = TeslaPlatformConfig(
AP1_MODELS = PlatformConfig(
'TESLA AP1 MODEL S',
CarInfo("Tesla AP1 Model S", "All"),
CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0)
CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
)
AP2_MODELS = TeslaPlatformConfig(
AP2_MODELS = PlatformConfig(
'TESLA AP2 MODEL S',
CarInfo("Tesla AP2 Model S", "All"),
AP1_MODELS.specs
AP1_MODELS.specs,
AP1_MODELS.dbc_dict
)
MODELS_RAVEN = PlatformConfig(
'TESLA MODEL S RAVEN',
CarInfo("Tesla Model S Raven", "All"),
AP1_MODELS.specs,
dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
@ -38,6 +38,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
rx_offset=0x08,
bus=0,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.eps],
rx_offset=0x08,
bus=0,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
@ -48,7 +55,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
]
)
class CANBUS:
# Lateral harness
chassis = 0

1
selfdrive/car/tests/routes.py
View File

@ -289,6 +289,7 @@ routes = [
CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.MODELS_RAVEN),
# Segments that test specific issues
# Controls mismatch due to interceptor threshold

5
selfdrive/car/tests/test_fw_fingerprint.py
View File

@ -263,7 +263,7 @@ 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: 8.3, 2: 9.2}
total_ref_time = {1: 8.4, 2: 9.3}
brand_ref_times = {
1: {
'gm': 1.0,
@ -275,13 +275,14 @@ class TestFwFingerprintTiming(unittest.TestCase):
'mazda': 0.1,
'nissan': 0.8,
'subaru': 0.45,
'tesla': 0.2,
'tesla': 0.3,
'toyota': 1.6,
'volkswagen': 0.65,
},
2: {
'ford': 1.6,
'hyundai': 1.85,
'tesla': 0.3,
}
}

1
selfdrive/car/torque_data/override.toml
View File

@ -18,6 +18,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
# Tesla has high torque
"TESLA AP1 MODEL S" = [nan, 2.5, nan]
"TESLA AP2 MODEL S" = [nan, 2.5, nan]
"TESLA MODEL S RAVEN" = [nan, 2.5, nan]
# Guess
"FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan]