openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
693
cereal/car.capnp
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693
cereal/car.capnp
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@@ -0,0 +1,693 @@
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using Cxx = import "./include/c++.capnp";
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$Cxx.namespace("cereal");
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@0x8e2af1e708af8b8d;
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# ******* events causing controls state machine transition *******
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struct CarEvent @0x9b1657f34caf3ad3 {
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name @0 :EventName;
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# event types
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enable @1 :Bool;
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noEntry @2 :Bool;
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warning @3 :Bool; # alerts presented only when enabled or soft disabling
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userDisable @4 :Bool;
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softDisable @5 :Bool;
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immediateDisable @6 :Bool;
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preEnable @7 :Bool;
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permanent @8 :Bool; # alerts presented regardless of openpilot state
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overrideLateral @10 :Bool;
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overrideLongitudinal @9 :Bool;
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enum EventName @0xbaa8c5d505f727de {
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canError @0;
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steerUnavailable @1;
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wrongGear @4;
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doorOpen @5;
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seatbeltNotLatched @6;
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espDisabled @7;
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wrongCarMode @8;
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steerTempUnavailable @9;
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reverseGear @10;
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buttonCancel @11;
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buttonEnable @12;
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pedalPressed @13; # exits active state
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preEnableStandstill @73; # added during pre-enable state with brake
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gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
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steerOverride @114;
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cruiseDisabled @14;
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speedTooLow @17;
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outOfSpace @18;
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overheat @19;
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calibrationIncomplete @20;
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calibrationInvalid @21;
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calibrationRecalibrating @117;
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controlsMismatch @22;
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pcmEnable @23;
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pcmDisable @24;
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radarFault @26;
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brakeHold @28;
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parkBrake @29;
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manualRestart @30;
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lowSpeedLockout @31;
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joystickDebug @34;
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steerTempUnavailableSilent @35;
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resumeRequired @36;
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preDriverDistracted @37;
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promptDriverDistracted @38;
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driverDistracted @39;
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preDriverUnresponsive @43;
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promptDriverUnresponsive @44;
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driverUnresponsive @45;
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belowSteerSpeed @46;
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lowBattery @48;
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accFaulted @51;
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sensorDataInvalid @52;
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commIssue @53;
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commIssueAvgFreq @109;
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tooDistracted @54;
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posenetInvalid @55;
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soundsUnavailable @56;
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preLaneChangeLeft @57;
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preLaneChangeRight @58;
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laneChange @59;
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lowMemory @63;
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stockAeb @64;
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ldw @65;
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carUnrecognized @66;
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invalidLkasSetting @69;
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speedTooHigh @70;
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laneChangeBlocked @71;
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relayMalfunction @72;
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stockFcw @74;
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startup @75;
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startupNoCar @76;
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startupNoControl @77;
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startupMaster @78;
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startupNoFw @104;
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fcw @79;
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steerSaturated @80;
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belowEngageSpeed @84;
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noGps @85;
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wrongCruiseMode @87;
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modeldLagging @89;
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deviceFalling @90;
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fanMalfunction @91;
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cameraMalfunction @92;
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cameraFrameRate @110;
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gpsMalfunction @94;
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processNotRunning @95;
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dashcamMode @96;
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controlsInitializing @98;
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usbError @99;
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roadCameraError @100;
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driverCameraError @101;
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wideRoadCameraError @102;
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highCpuUsage @105;
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cruiseMismatch @106;
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lkasDisabled @107;
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canBusMissing @111;
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controlsdLagging @112;
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resumeBlocked @113;
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steerTimeLimit @115;
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vehicleSensorsInvalid @116;
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locationdTemporaryError @103;
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locationdPermanentError @118;
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paramsdTemporaryError @50;
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paramsdPermanentError @119;
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radarCanErrorDEPRECATED @15;
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communityFeatureDisallowedDEPRECATED @62;
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radarCommIssueDEPRECATED @67;
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driverMonitorLowAccDEPRECATED @68;
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gasUnavailableDEPRECATED @3;
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dataNeededDEPRECATED @16;
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modelCommIssueDEPRECATED @27;
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ipasOverrideDEPRECATED @33;
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geofenceDEPRECATED @40;
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driverMonitorOnDEPRECATED @41;
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driverMonitorOffDEPRECATED @42;
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calibrationProgressDEPRECATED @47;
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invalidGiraffeHondaDEPRECATED @49;
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invalidGiraffeToyotaDEPRECATED @60;
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internetConnectivityNeededDEPRECATED @61;
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whitePandaUnsupportedDEPRECATED @81;
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commIssueWarningDEPRECATED @83;
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focusRecoverActiveDEPRECATED @86;
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neosUpdateRequiredDEPRECATED @88;
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modelLagWarningDEPRECATED @93;
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startupOneplusDEPRECATED @82;
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startupFuzzyFingerprintDEPRECATED @97;
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noTargetDEPRECATED @25;
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brakeUnavailableDEPRECATED @2;
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plannerErrorDEPRECATED @32;
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}
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}
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# ******* main car state @ 100hz *******
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# all speeds in m/s
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struct CarState {
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events @13 :List(CarEvent);
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# CAN health
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canValid @26 :Bool; # invalid counter/checksums
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canTimeout @40 :Bool; # CAN bus dropped out
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# car speed
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vEgo @1 :Float32; # best estimate of speed
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aEgo @16 :Float32; # best estimate of acceleration
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vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
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vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
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yawRate @22 :Float32; # best estimate of yaw rate
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standstill @18 :Bool;
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wheelSpeeds @2 :WheelSpeeds;
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# gas pedal, 0.0-1.0
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gas @3 :Float32; # this is user pedal only
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gasPressed @4 :Bool; # this is user pedal only
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engineRpm @46 :Float32;
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# brake pedal, 0.0-1.0
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brake @5 :Float32; # this is user pedal only
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brakePressed @6 :Bool; # this is user pedal only
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regenBraking @45 :Bool; # this is user pedal only
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parkingBrake @39 :Bool;
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brakeHoldActive @38 :Bool;
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# steering wheel
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steeringAngleDeg @7 :Float32;
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steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple
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steeringRateDeg @15 :Float32;
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steeringTorque @8 :Float32; # TODO: standardize units
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steeringTorqueEps @27 :Float32; # TODO: standardize units
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steeringPressed @9 :Bool; # if the user is using the steering wheel
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steerFaultTemporary @35 :Bool; # temporary EPS fault
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steerFaultPermanent @36 :Bool; # permanent EPS fault
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stockAeb @30 :Bool;
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stockFcw @31 :Bool;
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espDisabled @32 :Bool;
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accFaulted @42 :Bool;
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carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
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# cruise state
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cruiseState @10 :CruiseState;
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# gear
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gearShifter @14 :GearShifter;
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# button presses
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buttonEvents @11 :List(ButtonEvent);
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leftBlinker @20 :Bool;
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rightBlinker @21 :Bool;
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genericToggle @23 :Bool;
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# lock info
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doorOpen @24 :Bool;
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seatbeltUnlatched @25 :Bool;
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# clutch (manual transmission only)
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clutchPressed @28 :Bool;
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# blindspot sensors
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leftBlindspot @33 :Bool; # Is there something blocking the left lane change
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rightBlindspot @34 :Bool; # Is there something blocking the right lane change
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fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0
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charging @43 :Bool;
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struct WheelSpeeds {
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# optional wheel speeds
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fl @0 :Float32;
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fr @1 :Float32;
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rl @2 :Float32;
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rr @3 :Float32;
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}
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struct CruiseState {
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enabled @0 :Bool;
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speed @1 :Float32;
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speedCluster @6 :Float32; # Set speed as shown on instrument cluster
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available @2 :Bool;
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speedOffset @3 :Float32;
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standstill @4 :Bool;
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nonAdaptive @5 :Bool;
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}
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enum GearShifter {
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unknown @0;
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park @1;
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drive @2;
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neutral @3;
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reverse @4;
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sport @5;
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low @6;
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brake @7;
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eco @8;
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manumatic @9;
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}
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# send on change
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struct ButtonEvent {
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pressed @0 :Bool;
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type @1 :Type;
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enum Type {
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unknown @0;
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leftBlinker @1;
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rightBlinker @2;
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accelCruise @3;
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decelCruise @4;
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cancel @5;
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altButton1 @6;
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altButton2 @7;
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altButton3 @8;
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setCruise @9;
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resumeCruise @10;
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gapAdjustCruise @11;
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}
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}
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# deprecated
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errorsDEPRECATED @0 :List(CarEvent.EventName);
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brakeLightsDEPRECATED @19 :Bool;
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steeringRateLimitedDEPRECATED @29 :Bool;
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canMonoTimesDEPRECATED @12: List(UInt64);
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}
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# ******* radar state @ 20hz *******
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struct RadarData @0x888ad6581cf0aacb {
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errors @0 :List(Error);
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points @1 :List(RadarPoint);
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enum Error {
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canError @0;
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fault @1;
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wrongConfig @2;
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}
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# similar to LiveTracks
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# is one timestamp valid for all? I think so
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struct RadarPoint {
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trackId @0 :UInt64; # no trackId reuse
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# these 3 are the minimum required
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dRel @1 :Float32; # m from the front bumper of the car
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yRel @2 :Float32; # m
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vRel @3 :Float32; # m/s
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# these are optional and valid if they are not NaN
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aRel @4 :Float32; # m/s^2
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yvRel @5 :Float32; # m/s
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# some radars flag measurements VS estimates
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measured @6 :Bool;
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}
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# deprecated
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canMonoTimesDEPRECATED @2 :List(UInt64);
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}
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# ******* car controls @ 100hz *******
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struct CarControl {
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# must be true for any actuator commands to work
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enabled @0 :Bool;
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latActive @11: Bool;
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longActive @12: Bool;
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# Actuator commands as computed by controlsd
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actuators @6 :Actuators;
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leftBlinker @15: Bool;
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rightBlinker @16: Bool;
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# Any car specific rate limits or quirks applied by
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# the CarController are reflected in actuatorsOutput
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# and matches what is sent to the car
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actuatorsOutput @10 :Actuators;
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orientationNED @13 :List(Float32);
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angularVelocity @14 :List(Float32);
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cruiseControl @4 :CruiseControl;
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hudControl @5 :HUDControl;
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struct Actuators {
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# range from 0.0 - 1.0
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gas @0: Float32;
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brake @1: Float32;
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# range from -1.0 - 1.0
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steer @2: Float32;
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# value sent over can to the car
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steerOutputCan @8: Float32;
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steeringAngleDeg @3: Float32;
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curvature @7: Float32;
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speed @6: Float32; # m/s
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accel @4: Float32; # m/s^2
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longControlState @5: LongControlState;
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enum LongControlState @0xe40f3a917d908282{
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off @0;
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pid @1;
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stopping @2;
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starting @3;
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}
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}
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struct CruiseControl {
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cancel @0: Bool;
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resume @1: Bool;
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override @4: Bool;
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speedOverrideDEPRECATED @2: Float32;
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accelOverrideDEPRECATED @3: Float32;
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}
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struct HUDControl {
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speedVisible @0: Bool;
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setSpeed @1: Float32;
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lanesVisible @2: Bool;
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leadVisible @3: Bool;
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visualAlert @4: VisualAlert;
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audibleAlert @5: AudibleAlert;
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rightLaneVisible @6: Bool;
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leftLaneVisible @7: Bool;
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rightLaneDepart @8: Bool;
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leftLaneDepart @9: Bool;
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enum VisualAlert {
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# these are the choices from the Honda
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# map as good as you can for your car
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none @0;
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fcw @1;
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steerRequired @2;
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brakePressed @3;
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wrongGear @4;
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seatbeltUnbuckled @5;
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speedTooHigh @6;
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ldw @7;
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}
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enum AudibleAlert {
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none @0;
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engage @1;
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disengage @2;
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refuse @3;
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warningSoft @4;
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warningImmediate @5;
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prompt @6;
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promptRepeat @7;
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promptDistracted @8;
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||||
}
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}
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gasDEPRECATED @1 :Float32;
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brakeDEPRECATED @2 :Float32;
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steeringTorqueDEPRECATED @3 :Float32;
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activeDEPRECATED @7 :Bool;
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rollDEPRECATED @8 :Float32;
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pitchDEPRECATED @9 :Float32;
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||||
}
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# ****** car param ******
|
||||
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||||
struct CarParams {
|
||||
carName @0 :Text;
|
||||
carFingerprint @1 :Text;
|
||||
fuzzyFingerprint @55 :Bool;
|
||||
|
||||
notCar @66 :Bool; # flag for non-car robotics platforms
|
||||
|
||||
enableGasInterceptor @2 :Bool;
|
||||
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;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
Reference in New Issue
Block a user