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https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
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109 lines
4.7 KiB
Python
Executable File
109 lines
4.7 KiB
Python
Executable File
#!/usr/bin/env python3
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from opendbc.car import get_safety_config, structs
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from opendbc.car.chrysler.carcontroller import CarController
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from opendbc.car.chrysler.carstate import CarState
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from opendbc.car.chrysler.radar_interface import RadarInterface
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from opendbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
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class CarInterface(CarInterfaceBase):
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CarState = CarState
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CarController = CarController
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RadarInterface = RadarInterface
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DRIVABLE_GEARS = (structs.CarState.GearShifter.low,)
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@staticmethod
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def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
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ret.brand = "chrysler"
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ret.dashcamOnly = candidate in RAM_HD
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# radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
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ret.radarUnavailable = True # Bus.radar not in DBC[candidate][Bus.radar]
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.4
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# safety config
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ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
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if candidate in RAM_HD:
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ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_HD.value
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elif candidate in RAM_DT:
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ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_DT.value
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate not in RAM_CARS:
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# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
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new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
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new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
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if new_eps_platform or new_eps_firmware:
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ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
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# Chrysler
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if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
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CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
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ret.lateralTuning.pid.kf = 0.00006
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# Jeep
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elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
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ret.steerActuatorDelay = 0.2
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
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ret.lateralTuning.pid.kf = 0.00006
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# Ram
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elif candidate == CAR.RAM_1500_5TH_GEN:
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ret.steerActuatorDelay = 0.2
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ret.wheelbase = 3.88
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# Older EPS FW allow steer to zero
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if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
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ret.minSteerSpeed = 0.
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elif candidate == CAR.RAM_HD_5TH_GEN:
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ret.steerActuatorDelay = 0.2
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else:
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raise ValueError(f"Unsupported car: {candidate}")
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if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
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# TODO: allow these cars to steer down to 13 m/s if already engaged.
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# TODO: Durango 2020 may be able to steer to zero once above 38 kph
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ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
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ret.centerToFront = ret.wheelbase * 0.44
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ret.enableBsm = 720 in fingerprint[0]
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return ret
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@staticmethod
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def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
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car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
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if candidate == CAR.RAM_1500_5TH_GEN:
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if stock_cp.minSteerSpeed != 0.:
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stock_cp.minSteerSpeed = 0.5
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stock_cp.minEnableSpeed = 14.5
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if any(fw.ecu == 'eps' and fw.fwVersion in (b"68273275AF", b"68273275AG", b"68312176AE", b"68312176AG",) for fw in car_fw):
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stock_cp.minEnableSpeed = 0.
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if candidate == CAR.RAM_HD_5TH_GEN:
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stock_cp.dashcamOnly = False
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# https://github.com/commaai/openpilot/issues/25389
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stock_cp.tireStiffnessFactor = 1.0
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stock_cp.tireStiffnessFront = 65155.
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stock_cp.tireStiffnessRear = 80926.
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stock_cp.wheelbase = 3.79
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stock_cp.steerRatio = 19.
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if 0x4FF in fingerprint[0]:
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ret.flags |= ChryslerFlagsIQ.NO_MIN_STEERING_SPEED.value
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stock_cp.minSteerSpeed = 0.
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return ret
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