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Chrysler: fill cruiseState.available (#24907)

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* Update some signals to unified names and definitions

Co-authored-by: Jonathan <jraycec@gmail.com>

* steering looks good

* Fix cp signals

* Do steering signal changes separately

* bump opendbc to master

* fix

fix

* check available is true if enabled is true

* fix

* already added

* bump opendbc, better cruise status names

* bump opendbc

* bump opendbc to master

* bump panda

Co-authored-by: Jonathan <jraycec@gmail.com>
old-commit-hash: fb949779ae151d9597cd70b5435f87edbffb1f53
This commit is contained in:
Shane Smiskol
2022-06-22 15:13:09 -07:00
committed by GitHub
parent 7179696f6c
commit 218fd26a2f
3 changed files with 18 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
opendbc

Submodule opendbc updated: 5e2a820268...e7cd3ebc89

2
panda

Submodule panda updated: e1b2f1253c...4bc85ad40a

31
selfdrive/car/chrysler/carstate.py
View File

@@ -18,10 +18,10 @@ class CarState(CarStateBase):
self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
cp.vl["DOORS"]["DOOR_OPEN_FR"],
cp.vl["DOORS"]["DOOR_OPEN_RL"],
cp.vl["DOORS"]["DOOR_OPEN_RR"]])
ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
cp.vl["BCM_1"]["DOOR_OPEN_FR"],
cp.vl["BCM_1"]["DOOR_OPEN_RL"],
cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
# brake pedal
@@ -51,12 +51,12 @@ class CarState(CarStateBase):
ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7 # ACC is green.
ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled
ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white
ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green
ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
# CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@@ -82,10 +82,10 @@ class CarState(CarStateBase):
signals = [
# sig_name, sig_address
("PRNDL", "GEAR"),
("DOOR_OPEN_FL", "DOORS"),
("DOOR_OPEN_FR", "DOORS"),
("DOOR_OPEN_RL", "DOORS"),
("DOOR_OPEN_RR", "DOORS"),
("DOOR_OPEN_FL", "BCM_1"),
("DOOR_OPEN_FR", "BCM_1"),
("DOOR_OPEN_RL", "BCM_1"),
("DOOR_OPEN_RR", "BCM_1"),
("Brake_Pedal_State", "ESP_1"),
("Accelerator_Position", "ECM_5"),
("SPEED_LEFT", "SPEED_1"),
@@ -97,8 +97,9 @@ class CarState(CarStateBase):
("STEER_ANGLE", "STEERING"),
("STEERING_RATE", "STEERING"),
("TURN_SIGNALS", "STEERING_LEVERS"),
("ACC_STATUS_2", "ACC_2"),
("ACC_FAULTED", "ACC_2"),
("ACC_AVAILABLE", "DAS_3"),
("ACC_ACTIVE", "DAS_3"),
("ACC_FAULTED", "DAS_3"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
("CRUISE_STATE", "DASHBOARD"),
@@ -118,14 +119,14 @@ class CarState(CarStateBase):
("SPEED_1", 100),
("WHEEL_SPEEDS", 50),
("STEERING", 100),
("ACC_2", 50),
("DAS_3", 50),
("GEAR", 50),
("ECM_5", 50),
("WHEEL_BUTTONS", 50),
("DASHBOARD", 15),
("STEERING_LEVERS", 10),
("SEATBELT_STATUS", 2),
("DOORS", 1),
("BCM_1", 1),
("TRACTION_BUTTON", 1),
]