openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
0
selfdrive/car/chrysler/__init__.py
Normal file
0
selfdrive/car/chrysler/__init__.py
Normal file
84
selfdrive/car/chrysler/carcontroller.py
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84
selfdrive/car/chrysler/carcontroller.py
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@@ -0,0 +1,84 @@
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from opendbc.can.packer import CANPacker
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.car import apply_meas_steer_torque_limits
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from openpilot.selfdrive.car.chrysler import chryslercan
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from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
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class CarController:
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.apply_steer_last = 0
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self.frame = 0
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self.hud_count = 0
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self.last_lkas_falling_edge = 0
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self.lkas_control_bit_prev = False
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self.last_button_frame = 0
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self.packer = CANPacker(dbc_name)
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self.params = CarControllerParams(CP)
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def update(self, CC, CS, now_nanos):
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can_sends = []
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lkas_active = CC.latActive and self.lkas_control_bit_prev
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# cruise buttons
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if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
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das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
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# ACC cancellation
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if CC.cruiseControl.cancel:
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self.last_button_frame = self.frame
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can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
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# ACC resume from standstill
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elif CC.cruiseControl.resume:
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self.last_button_frame = self.frame
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can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
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# HUD alerts
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if self.frame % 25 == 0:
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if CS.lkas_car_model != -1:
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can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
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self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
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self.hud_count += 1
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# steering
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if self.frame % self.params.STEER_STEP == 0:
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# TODO: can we make this more sane? why is it different for all the cars?
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lkas_control_bit = self.lkas_control_bit_prev
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if CS.out.vEgo > self.CP.minSteerSpeed:
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lkas_control_bit = True
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elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
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if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
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lkas_control_bit = False
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elif self.CP.carFingerprint in RAM_CARS:
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if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
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lkas_control_bit = False
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# EPS faults if LKAS re-enables too quickly
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lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
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if not lkas_control_bit and self.lkas_control_bit_prev:
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self.last_lkas_falling_edge = self.frame
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self.lkas_control_bit_prev = lkas_control_bit
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# steer torque
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new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
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apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
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if not lkas_active or not lkas_control_bit:
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apply_steer = 0
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self.apply_steer_last = apply_steer
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can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
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self.frame += 1
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new_actuators = CC.actuators.copy()
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new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
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new_actuators.steerOutputCan = self.apply_steer_last
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return new_actuators, can_sends
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150
selfdrive/car/chrysler/carstate.py
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150
selfdrive/car/chrysler/carstate.py
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@@ -0,0 +1,150 @@
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from opendbc.can.parser import CANParser
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from opendbc.can.can_define import CANDefine
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from openpilot.selfdrive.car.interfaces import CarStateBase
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from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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self.CP = CP
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can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
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self.auto_high_beam = 0
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self.button_counter = 0
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self.lkas_car_model = -1
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if CP.carFingerprint in RAM_CARS:
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self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
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else:
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self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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# lock info
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ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
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cp.vl["BCM_1"]["DOOR_OPEN_FR"],
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cp.vl["BCM_1"]["DOOR_OPEN_RL"],
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cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
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ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
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# brake pedal
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ret.brake = 0
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ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch
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# gas pedal
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ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
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ret.gasPressed = ret.gas > 1e-5
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# car speed
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if self.CP.carFingerprint in RAM_CARS:
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ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
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else:
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ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = not ret.vEgoRaw > 0.001
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
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cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
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cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
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cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
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unit=1,
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)
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# button presses
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
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cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
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ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
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# steering wheel
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ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
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ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
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ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
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ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
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ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
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# cruise state
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cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
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ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
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ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
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ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
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ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2) # 1 NormalCCOn and 2 NormalCCSet
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ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
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ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
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if self.CP.carFingerprint in RAM_CARS:
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# Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
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self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
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ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
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else:
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ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
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ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
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# blindspot sensors
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if self.CP.enableBsm:
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ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
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ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
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self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
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self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
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return ret
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@staticmethod
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def get_cruise_messages():
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messages = [
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("DAS_3", 50),
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("DAS_4", 50),
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]
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return messages
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@staticmethod
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def get_can_parser(CP):
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messages = [
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# sig_address, frequency
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("ESP_1", 50),
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("EPS_2", 100),
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("ESP_6", 50),
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("STEERING", 100),
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("ECM_5", 50),
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("CRUISE_BUTTONS", 50),
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("STEERING_LEVERS", 10),
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("ORC_1", 2),
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("BCM_1", 1),
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]
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if CP.enableBsm:
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messages.append(("BSM_1", 2))
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if CP.carFingerprint in RAM_CARS:
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messages += [
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("ESP_8", 50),
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("EPS_3", 50),
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("Transmission_Status", 50),
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]
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else:
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messages += [
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("GEAR", 50),
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("SPEED_1", 100),
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]
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messages += CarState.get_cruise_messages()
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return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
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@staticmethod
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def get_cam_can_parser(CP):
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messages = [
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("DAS_6", 4),
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]
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if CP.carFingerprint in RAM_CARS:
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messages += CarState.get_cruise_messages()
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return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
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71
selfdrive/car/chrysler/chryslercan.py
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71
selfdrive/car/chrysler/chryslercan.py
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@@ -0,0 +1,71 @@
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from cereal import car
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from openpilot.selfdrive.car.chrysler.values import RAM_CARS
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GearShifter = car.CarState.GearShifter
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
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# LKAS_HUD - Controls what lane-keeping icon is displayed
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# == Color ==
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# 0 hidden?
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# 1 white
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# 2 green
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# 3 ldw
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# == Lines ==
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# 03 white Lines
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# 04 grey lines
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# 09 left lane close
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# 0A right lane close
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# 0B left Lane very close
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# 0C right Lane very close
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# 0D left cross cross
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# 0E right lane cross
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# == Alerts ==
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# 7 Normal
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# 6 lane departure place hands on wheel
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color = 2 if lkas_active else 1
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lines = 3 if lkas_active else 0
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alerts = 7 if lkas_active else 0
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if hud_count < (1 * 4): # first 3 seconds, 4Hz
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alerts = 1
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if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
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color = 4
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lines = 0
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alerts = 6
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values = {
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"LKAS_ICON_COLOR": color,
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"CAR_MODEL": car_model,
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"LKAS_LANE_LINES": lines,
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"LKAS_ALERTS": alerts,
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}
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if CP.carFingerprint in RAM_CARS:
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values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
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return packer.make_can_msg("DAS_6", 0, values)
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||||
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||||
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def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
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||||
# LKAS_COMMAND Lane-keeping signal to turn the wheel
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enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
|
||||
values = {
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"STEERING_TORQUE": apply_steer,
|
||||
"LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
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||||
}
|
||||
return packer.make_can_msg("LKAS_COMMAND", 0, values)
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||||
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||||
|
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def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
|
||||
values = {
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||||
"ACC_Cancel": cancel,
|
||||
"ACC_Resume": resume,
|
||||
"COUNTER": frame % 0x10,
|
||||
}
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||||
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
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646
selfdrive/car/chrysler/fingerprints.py
Normal file
646
selfdrive/car/chrysler/fingerprints.py
Normal file
@@ -0,0 +1,646 @@
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.car.chrysler.values import CAR
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
FW_VERSIONS = {
|
||||
CAR.PACIFICA_2017_HYBRID: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68239262AH',
|
||||
b'68239262AI',
|
||||
b'68239262AJ',
|
||||
b'68239263AH',
|
||||
b'68239263AJ',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68238840AH',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'68226356AI',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68288309AC',
|
||||
b'68288309AD',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'68277480AV ',
|
||||
b'68277480AX ',
|
||||
b'68277480AZ ',
|
||||
],
|
||||
(Ecu.hybrid, 0x7e2, None): [
|
||||
b'05190175BF',
|
||||
b'05190175BH',
|
||||
b'05190226AK',
|
||||
],
|
||||
},
|
||||
CAR.PACIFICA_2018: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68227902AF',
|
||||
b'68227902AG',
|
||||
b'68227902AH',
|
||||
b'68360252AC',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68211617AF',
|
||||
b'68211617AG',
|
||||
b'68358974AC',
|
||||
b'68405937AA',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68222747AG',
|
||||
b'68330876AA',
|
||||
b'68330876AB',
|
||||
b'68352227AA',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672758AA',
|
||||
b'68226356AF',
|
||||
b'68226356AH',
|
||||
b'68226356AI',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68288891AE',
|
||||
b'68378884AA',
|
||||
b'68525338AA',
|
||||
b'68525338AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'68267018AO ',
|
||||
b'68267020AJ ',
|
||||
b'68303534AJ ',
|
||||
b'68340762AD ',
|
||||
b'68340764AD ',
|
||||
b'68352652AE ',
|
||||
b'68366851AH ',
|
||||
b'68366853AE ',
|
||||
b'68372861AF ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'68277370AJ',
|
||||
b'68277370AM',
|
||||
b'68277372AD',
|
||||
b'68277372AN',
|
||||
b'68277374AA',
|
||||
b'68277374AB',
|
||||
b'68277374AD',
|
||||
b'68277374AN',
|
||||
b'68367471AC',
|
||||
b'68380571AB',
|
||||
],
|
||||
},
|
||||
CAR.PACIFICA_2020: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68405327AC',
|
||||
b'68436233AB',
|
||||
b'68436233AC',
|
||||
b'68436250AE',
|
||||
b'68529067AA',
|
||||
b'68594993AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68405565AB',
|
||||
b'68405565AC',
|
||||
b'68444299AC',
|
||||
b'68480708AC',
|
||||
b'68526663AB',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68397394AA',
|
||||
b'68433480AB',
|
||||
b'68453575AF',
|
||||
b'68577676AA',
|
||||
b'68593395AA',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672758AA',
|
||||
b'04672758AB',
|
||||
b'68417813AF',
|
||||
b'68540436AA',
|
||||
b'68540436AC',
|
||||
b'68540436AD',
|
||||
b'68598670AB',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68416742AA',
|
||||
b'68460393AA',
|
||||
b'68460393AB',
|
||||
b'68494461AB',
|
||||
b'68524936AA',
|
||||
b'68524936AB',
|
||||
b'68525338AB',
|
||||
b'68594340AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'68413871AD ',
|
||||
b'68413871AE ',
|
||||
b'68413871AH ',
|
||||
b'68413871AI ',
|
||||
b'68413873AI ',
|
||||
b'68443120AE ',
|
||||
b'68443123AC ',
|
||||
b'68443125AC ',
|
||||
b'68526752AD ',
|
||||
b'68526752AE ',
|
||||
b'68526754AE ',
|
||||
b'68536264AE ',
|
||||
b'68700306AB ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'68414271AC',
|
||||
b'68414271AD',
|
||||
b'68414275AC',
|
||||
b'68443154AB',
|
||||
b'68443155AC',
|
||||
b'68443158AB',
|
||||
b'68501050AD',
|
||||
b'68527221AB',
|
||||
b'68527223AB',
|
||||
b'68586231AD',
|
||||
],
|
||||
},
|
||||
CAR.PACIFICA_2018_HYBRID: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68358439AE',
|
||||
b'68358439AG',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68358990AC',
|
||||
b'68405939AA',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672758AA',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68288309AD',
|
||||
b'68525339AA',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'68366580AI ',
|
||||
b'68366580AK ',
|
||||
b'68366580AM ',
|
||||
],
|
||||
(Ecu.hybrid, 0x7e2, None): [
|
||||
b'05190226AI',
|
||||
b'05190226AK',
|
||||
b'05190226AM',
|
||||
],
|
||||
},
|
||||
CAR.PACIFICA_2019_HYBRID: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68405292AC',
|
||||
b'68434956AC',
|
||||
b'68434956AD',
|
||||
b'68434960AE',
|
||||
b'68434960AF',
|
||||
b'68529064AB',
|
||||
b'68594990AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68405567AB',
|
||||
b'68405567AC',
|
||||
b'68453076AD',
|
||||
b'68480710AC',
|
||||
b'68526665AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672758AB',
|
||||
b'68417813AF',
|
||||
b'68540436AA',
|
||||
b'68540436AB',
|
||||
b'68540436AC',
|
||||
b'68540436AD',
|
||||
b'68598670AB',
|
||||
b'68598670AC',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68416741AA',
|
||||
b'68460392AA',
|
||||
b'68525339AA',
|
||||
b'68525339AB',
|
||||
b'68594341AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'68416680AE ',
|
||||
b'68416680AF ',
|
||||
b'68416680AG ',
|
||||
b'68444228AD ',
|
||||
b'68444228AE ',
|
||||
b'68444228AF ',
|
||||
b'68499122AD ',
|
||||
b'68499122AE ',
|
||||
b'68499122AF ',
|
||||
b'68526772AD ',
|
||||
b'68526772AH ',
|
||||
b'68599493AC ',
|
||||
],
|
||||
(Ecu.hybrid, 0x7e2, None): [
|
||||
b'05185116AF',
|
||||
b'05185116AJ',
|
||||
b'05185116AK',
|
||||
b'05190240AP',
|
||||
b'05190240AQ',
|
||||
b'05190240AR',
|
||||
b'05190265AG',
|
||||
b'05190265AH',
|
||||
b'05190289AE',
|
||||
b'68540977AH',
|
||||
b'68540977AK',
|
||||
b'68597647AE',
|
||||
],
|
||||
},
|
||||
CAR.JEEP_GRAND_CHEROKEE: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68302211AC',
|
||||
b'68302212AD',
|
||||
b'68302246AC',
|
||||
b'68331511AC',
|
||||
b'68331574AC',
|
||||
b'68331687AC',
|
||||
b'68340272AD',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68316742AB',
|
||||
b'68355363AB',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68306178AD',
|
||||
b'68336276AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672627AB',
|
||||
b'68332015AB',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68321644AB',
|
||||
b'68321644AC',
|
||||
b'68321646AC',
|
||||
b'68321648AC',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05035920AE ',
|
||||
b'68284455AI ',
|
||||
b'68284456AI ',
|
||||
b'68284477AF ',
|
||||
b'68325564AH ',
|
||||
b'68325565AH ',
|
||||
b'68325565AI ',
|
||||
b'68325618AD ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035517AH',
|
||||
b'68311218AC',
|
||||
b'68311223AF',
|
||||
b'68311223AG',
|
||||
b'68361911AE',
|
||||
b'68361911AF',
|
||||
b'68361911AH',
|
||||
b'68361916AD',
|
||||
],
|
||||
},
|
||||
CAR.JEEP_GRAND_CHEROKEE_2019: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68402703AB',
|
||||
b'68402704AB',
|
||||
b'68402708AB',
|
||||
b'68402971AD',
|
||||
b'68454144AD',
|
||||
b'68454152AB',
|
||||
b'68454156AB',
|
||||
b'68516650AB',
|
||||
b'68516651AB',
|
||||
b'68516669AB',
|
||||
b'68516671AB',
|
||||
b'68516683AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68355363AB',
|
||||
b'68355364AB',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68408639AC',
|
||||
b'68408639AD',
|
||||
b'68499978AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672788AA',
|
||||
b'68456722AC',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68417279AA',
|
||||
b'68417280AA',
|
||||
b'68417281AA',
|
||||
b'68453431AA',
|
||||
b'68453433AA',
|
||||
b'68453435AA',
|
||||
b'68499171AA',
|
||||
b'68499171AB',
|
||||
b'68501183AA',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05035674AB ',
|
||||
b'68412635AG ',
|
||||
b'68412660AD ',
|
||||
b'68422860AB',
|
||||
b'68449435AE ',
|
||||
b'68496223AA ',
|
||||
b'68504959AD ',
|
||||
b'68504960AD ',
|
||||
b'68504993AC ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035707AA',
|
||||
b'68419672AC',
|
||||
b'68419678AB',
|
||||
b'68423905AB',
|
||||
b'68449258AC',
|
||||
b'68495807AA',
|
||||
b'68495807AB',
|
||||
b'68503641AC',
|
||||
b'68503664AC',
|
||||
],
|
||||
},
|
||||
CAR.RAM_1500: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68294051AG',
|
||||
b'68294051AI',
|
||||
b'68294052AG',
|
||||
b'68294052AH',
|
||||
b'68294063AG',
|
||||
b'68294063AH',
|
||||
b'68294063AI',
|
||||
b'68434846AC',
|
||||
b'68434847AC',
|
||||
b'68434849AC',
|
||||
b'68434856AC',
|
||||
b'68434858AC',
|
||||
b'68434859AC',
|
||||
b'68434860AC',
|
||||
b'68453483AC',
|
||||
b'68453487AD',
|
||||
b'68453491AC',
|
||||
b'68453499AD',
|
||||
b'68453503AC',
|
||||
b'68453505AC',
|
||||
b'68453505AD',
|
||||
b'68453511AC',
|
||||
b'68453513AC',
|
||||
b'68453513AD',
|
||||
b'68453514AD',
|
||||
b'68505633AB',
|
||||
b'68510277AG',
|
||||
b'68510277AH',
|
||||
b'68510280AG',
|
||||
b'68510282AG',
|
||||
b'68510282AH',
|
||||
b'68510283AG',
|
||||
b'68527346AE',
|
||||
b'68527361AD',
|
||||
b'68527375AD',
|
||||
b'68527381AE',
|
||||
b'68527382AE',
|
||||
b'68527383AD',
|
||||
b'68527387AE',
|
||||
b'68527403AC',
|
||||
b'68546047AF',
|
||||
b'68631938AA',
|
||||
b'68631942AA',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68428609AB',
|
||||
b'68441329AB',
|
||||
b'68473844AB',
|
||||
b'68490898AA',
|
||||
b'68500728AA',
|
||||
b'68615033AA',
|
||||
b'68615034AA',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68292406AH',
|
||||
b'68432418AB',
|
||||
b'68432418AD',
|
||||
b'68436004AD',
|
||||
b'68436004AE',
|
||||
b'68438454AC',
|
||||
b'68438454AD',
|
||||
b'68438456AE',
|
||||
b'68438456AF',
|
||||
b'68535469AB',
|
||||
b'68535470AC',
|
||||
b'68548900AB',
|
||||
b'68586307AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672892AB',
|
||||
b'04672932AB',
|
||||
b'04672932AC',
|
||||
b'22DTRHD_AA',
|
||||
b'68320950AH',
|
||||
b'68320950AI',
|
||||
b'68320950AJ',
|
||||
b'68320950AL',
|
||||
b'68320950AM',
|
||||
b'68454268AB',
|
||||
b'68475160AE',
|
||||
b'68475160AF',
|
||||
b'68475160AG',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'21590101AA',
|
||||
b'21590101AB',
|
||||
b'68273275AF',
|
||||
b'68273275AG',
|
||||
b'68273275AH',
|
||||
b'68312176AE',
|
||||
b'68312176AG',
|
||||
b'68440789AC',
|
||||
b'68466110AA',
|
||||
b'68466110AB',
|
||||
b'68469901AA',
|
||||
b'68469907AA',
|
||||
b'68522583AA',
|
||||
b'68522583AB',
|
||||
b'68522584AA',
|
||||
b'68522585AB',
|
||||
b'68552788AA',
|
||||
b'68552789AA',
|
||||
b'68552790AA',
|
||||
b'68552791AB',
|
||||
b'68552794AA',
|
||||
b'68585106AB',
|
||||
b'68585107AB',
|
||||
b'68585108AB',
|
||||
b'68585109AB',
|
||||
b'68585112AB',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05035699AG ',
|
||||
b'05036026AB ',
|
||||
b'05036065AE ',
|
||||
b'05036066AE ',
|
||||
b'05149368AA ',
|
||||
b'05149591AD ',
|
||||
b'05149591AE ',
|
||||
b'05149592AE ',
|
||||
b'05149599AE ',
|
||||
b'05149600AD ',
|
||||
b'05149605AE ',
|
||||
b'05149846AA ',
|
||||
b'05149848AA ',
|
||||
b'05149848AC ',
|
||||
b'05190341AD',
|
||||
b'68378695AJ ',
|
||||
b'68378696AJ ',
|
||||
b'68378701AI ',
|
||||
b'68378702AI ',
|
||||
b'68378710AL ',
|
||||
b'68378748AL ',
|
||||
b'68378758AM ',
|
||||
b'68448163AJ',
|
||||
b'68448163AK',
|
||||
b'68448163AL',
|
||||
b'68448165AG',
|
||||
b'68448165AK',
|
||||
b'68455111AC ',
|
||||
b'68455119AC ',
|
||||
b'68455145AC ',
|
||||
b'68455145AE ',
|
||||
b'68455146AC ',
|
||||
b'68467915AC ',
|
||||
b'68467936AC ',
|
||||
b'68500630AD',
|
||||
b'68500630AE',
|
||||
b'68502719AC ',
|
||||
b'68502722AC ',
|
||||
b'68502734AF ',
|
||||
b'68502740AF ',
|
||||
b'68502741AF ',
|
||||
b'68502742AC ',
|
||||
b'68539650AD',
|
||||
b'68539650AF',
|
||||
b'68539651AD',
|
||||
b'68586101AA ',
|
||||
b'68586105AB ',
|
||||
b'68629922AC ',
|
||||
b'68629926AC ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035706AD',
|
||||
b'05035842AB',
|
||||
b'05036069AA',
|
||||
b'05149536AC',
|
||||
b'05149537AC',
|
||||
b'05149543AC',
|
||||
b'68360078AL',
|
||||
b'68360080AL',
|
||||
b'68360080AM',
|
||||
b'68360081AM',
|
||||
b'68360085AJ',
|
||||
b'68360085AL',
|
||||
b'68384328AD',
|
||||
b'68384332AD',
|
||||
b'68445531AC',
|
||||
b'68445533AB',
|
||||
b'68445536AB',
|
||||
b'68445537AB',
|
||||
b'68466081AB',
|
||||
b'68466087AB',
|
||||
b'68484466AC',
|
||||
b'68484467AC',
|
||||
b'68484471AC',
|
||||
b'68502994AD',
|
||||
b'68520867AE',
|
||||
b'68520867AF',
|
||||
b'68520870AC',
|
||||
b'68540431AB',
|
||||
b'68540433AB',
|
||||
b'68629936AC',
|
||||
],
|
||||
},
|
||||
CAR.RAM_HD: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68361606AH',
|
||||
b'68437735AC',
|
||||
b'68492693AD',
|
||||
b'68525485AB',
|
||||
b'68525487AB',
|
||||
b'68525498AB',
|
||||
b'68528791AF',
|
||||
b'68628474AB',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68399794AC',
|
||||
b'68428503AA',
|
||||
b'68428505AA',
|
||||
b'68428507AA',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68334977AH',
|
||||
b'68455481AC',
|
||||
b'68504022AA',
|
||||
b'68504022AB',
|
||||
b'68504022AC',
|
||||
b'68530686AB',
|
||||
b'68530686AC',
|
||||
b'68544596AC',
|
||||
b'68641704AA',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'04672895AB',
|
||||
b'04672934AB',
|
||||
b'56029827AG',
|
||||
b'56029827AH',
|
||||
b'68462657AE',
|
||||
b'68484694AD',
|
||||
b'68484694AE',
|
||||
b'68615489AB',
|
||||
],
|
||||
(Ecu.eps, 0x761, None): [
|
||||
b'68421036AC',
|
||||
b'68507906AB',
|
||||
b'68534023AC',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'52370131AF',
|
||||
b'52370231AF',
|
||||
b'52370231AG',
|
||||
b'52370491AA',
|
||||
b'52370931CT',
|
||||
b'52401032AE',
|
||||
b'52421132AF',
|
||||
b'52421332AF',
|
||||
b'68527616AD ',
|
||||
b'M2370131MB',
|
||||
b'M2421132MB',
|
||||
],
|
||||
},
|
||||
CAR.DODGE_DURANGO: {
|
||||
(Ecu.combinationMeter, 0x742, None): [
|
||||
b'68454261AD',
|
||||
b'68471535AE',
|
||||
],
|
||||
(Ecu.srs, 0x744, None): [
|
||||
b'68355362AB',
|
||||
b'68492238AD',
|
||||
],
|
||||
(Ecu.abs, 0x747, None): [
|
||||
b'68408639AD',
|
||||
b'68499978AB',
|
||||
],
|
||||
(Ecu.fwdRadar, 0x753, None): [
|
||||
b'68440581AE',
|
||||
b'68456722AC',
|
||||
],
|
||||
(Ecu.eps, 0x75a, None): [
|
||||
b'68453435AA',
|
||||
b'68498477AA',
|
||||
],
|
||||
(Ecu.engine, 0x7e0, None): [
|
||||
b'05035786AE ',
|
||||
b'68449476AE ',
|
||||
],
|
||||
(Ecu.transmission, 0x7e1, None): [
|
||||
b'05035826AC',
|
||||
b'68449265AC',
|
||||
],
|
||||
},
|
||||
}
|
||||
110
selfdrive/car/chrysler/interface.py
Executable file
110
selfdrive/car/chrysler/interface.py
Executable file
@@ -0,0 +1,110 @@
|
||||
#!/usr/bin/env python3
|
||||
from cereal import car
|
||||
from panda import Panda
|
||||
from openpilot.selfdrive.car import get_safety_config
|
||||
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase):
|
||||
@staticmethod
|
||||
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
|
||||
ret.carName = "chrysler"
|
||||
ret.dashcamOnly = candidate in RAM_HD
|
||||
|
||||
# radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
|
||||
ret.radarUnavailable = True # DBC[candidate]['radar'] is None
|
||||
ret.steerActuatorDelay = 0.1
|
||||
ret.steerLimitTimer = 0.4
|
||||
|
||||
# safety config
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
|
||||
if candidate in RAM_HD:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
|
||||
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.
|
||||
new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
|
||||
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
|
||||
if new_eps_platform or new_eps_firmware:
|
||||
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
|
||||
|
||||
# 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]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
# 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')
|
||||
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]]
|
||||
ret.lateralTuning.pid.kf = 0.00006
|
||||
|
||||
# Ram
|
||||
elif candidate == CAR.RAM_1500:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.wheelbase = 3.88
|
||||
ret.steerRatio = 16.3
|
||||
ret.mass = 2493.
|
||||
ret.minSteerSpeed = 14.5
|
||||
# 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:
|
||||
raise ValueError(f"Unsupported car: {candidate}")
|
||||
|
||||
if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
|
||||
# TODO: allow these cars to steer down to 13 m/s if already engaged.
|
||||
# TODO: Durango 2020 may be able to steer to zero once above 38 kph
|
||||
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
|
||||
|
||||
ret.centerToFront = ret.wheelbase * 0.44
|
||||
ret.enableBsm = 720 in fingerprint[0]
|
||||
|
||||
return ret
|
||||
|
||||
def _update(self, c):
|
||||
ret = self.CS.update(self.cp, self.cp_cam)
|
||||
|
||||
# events
|
||||
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
|
||||
|
||||
# Low speed steer alert hysteresis logic
|
||||
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
|
||||
self.low_speed_alert = True
|
||||
elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
|
||||
self.low_speed_alert = False
|
||||
if self.low_speed_alert:
|
||||
events.add(car.CarEvent.EventName.belowSteerSpeed)
|
||||
|
||||
ret.events = events.to_msg()
|
||||
|
||||
return ret
|
||||
|
||||
def apply(self, c, now_nanos):
|
||||
return self.CC.update(c, self.CS, now_nanos)
|
||||
86
selfdrive/car/chrysler/radar_interface.py
Executable file
86
selfdrive/car/chrysler/radar_interface.py
Executable file
@@ -0,0 +1,86 @@
|
||||
#!/usr/bin/env python3
|
||||
from opendbc.can.parser import CANParser
|
||||
from cereal import car
|
||||
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
|
||||
from openpilot.selfdrive.car.chrysler.values import DBC
|
||||
|
||||
RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724
|
||||
RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages
|
||||
LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
|
||||
NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
|
||||
|
||||
def _create_radar_can_parser(car_fingerprint):
|
||||
dbc = DBC[car_fingerprint]['radar']
|
||||
if dbc is None:
|
||||
return None
|
||||
|
||||
msg_n = len(RADAR_MSGS_C)
|
||||
# list of [(signal name, message name or number), (...)]
|
||||
# [('RADAR_STATE', 1024),
|
||||
# ('LONG_DIST', 1072),
|
||||
# ('LONG_DIST', 1073),
|
||||
# ('LONG_DIST', 1074),
|
||||
# ('LONG_DIST', 1075),
|
||||
|
||||
messages = list(zip(RADAR_MSGS_C +
|
||||
RADAR_MSGS_D,
|
||||
[20] * msg_n + # 20Hz (0.05s)
|
||||
[20] * msg_n, strict=True)) # 20Hz (0.05s)
|
||||
|
||||
return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
|
||||
|
||||
def _address_to_track(address):
|
||||
if address in RADAR_MSGS_C:
|
||||
return (address - RADAR_MSGS_C[0]) // 2
|
||||
if address in RADAR_MSGS_D:
|
||||
return (address - RADAR_MSGS_D[0]) // 2
|
||||
raise ValueError("radar received unexpected address %d" % address)
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP):
|
||||
super().__init__(CP)
|
||||
self.CP = CP
|
||||
self.rcp = _create_radar_can_parser(CP.carFingerprint)
|
||||
self.updated_messages = set()
|
||||
self.trigger_msg = LAST_MSG
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.rcp is None or self.CP.radarUnavailable:
|
||||
return super().update(None)
|
||||
|
||||
vls = self.rcp.update_strings(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
if self.trigger_msg not in self.updated_messages:
|
||||
return None
|
||||
|
||||
ret = car.RadarData.new_message()
|
||||
errors = []
|
||||
if not self.rcp.can_valid:
|
||||
errors.append("canError")
|
||||
ret.errors = errors
|
||||
|
||||
for ii in self.updated_messages: # ii should be the message ID as a number
|
||||
cpt = self.rcp.vl[ii]
|
||||
trackId = _address_to_track(ii)
|
||||
|
||||
if trackId not in self.pts:
|
||||
self.pts[trackId] = car.RadarData.RadarPoint.new_message()
|
||||
self.pts[trackId].trackId = trackId
|
||||
self.pts[trackId].aRel = float('nan')
|
||||
self.pts[trackId].yvRel = float('nan')
|
||||
self.pts[trackId].measured = True
|
||||
|
||||
if 'LONG_DIST' in cpt: # c_* message
|
||||
self.pts[trackId].dRel = cpt['LONG_DIST'] # from front of car
|
||||
# our lat_dist is positive to the right in car's frame.
|
||||
# TODO what does yRel want?
|
||||
self.pts[trackId].yRel = cpt['LAT_DIST'] # in car frame's y axis, left is positive
|
||||
else: # d_* message
|
||||
self.pts[trackId].vRel = cpt['REL_SPEED']
|
||||
|
||||
# We want a list, not a dictionary. Filter out LONG_DIST==0 because that means it's not valid.
|
||||
ret.points = [x for x in self.pts.values() if x.dRel != 0]
|
||||
|
||||
self.updated_messages.clear()
|
||||
return ret
|
||||
140
selfdrive/car/chrysler/values.py
Normal file
140
selfdrive/car/chrysler/values.py
Normal file
@@ -0,0 +1,140 @@
|
||||
from enum import IntFlag, StrEnum
|
||||
from dataclasses import dataclass, field
|
||||
from typing import Dict, List, Optional, Union
|
||||
|
||||
from cereal import car
|
||||
from panda.python import uds
|
||||
from openpilot.selfdrive.car import dbc_dict
|
||||
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
|
||||
|
||||
class ChryslerFlags(IntFlag):
|
||||
HIGHER_MIN_STEERING_SPEED = 1
|
||||
|
||||
|
||||
class CAR(StrEnum):
|
||||
# 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"
|
||||
|
||||
# Dodge
|
||||
DODGE_DURANGO = "DODGE DURANGO 2021"
|
||||
|
||||
# Jeep
|
||||
JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
|
||||
JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
|
||||
|
||||
# Ram
|
||||
RAM_1500 = "RAM 1500 5TH GEN"
|
||||
RAM_HD = "RAM HD 5TH GEN"
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
def __init__(self, CP):
|
||||
self.STEER_STEP = 2 # 50 Hz
|
||||
self.STEER_ERROR_MAX = 80
|
||||
if CP.carFingerprint in RAM_HD:
|
||||
self.STEER_DELTA_UP = 14
|
||||
self.STEER_DELTA_DOWN = 14
|
||||
self.STEER_MAX = 361 # higher than this faults the EPS
|
||||
elif CP.carFingerprint in RAM_DT:
|
||||
self.STEER_DELTA_UP = 6
|
||||
self.STEER_DELTA_DOWN = 6
|
||||
self.STEER_MAX = 261 # EPS allows more, up to 350?
|
||||
else:
|
||||
self.STEER_DELTA_UP = 3
|
||||
self.STEER_DELTA_DOWN = 3
|
||||
self.STEER_MAX = 261 # higher than this faults the EPS
|
||||
|
||||
|
||||
STEER_THRESHOLD = 120
|
||||
|
||||
RAM_DT = {CAR.RAM_1500, }
|
||||
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, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
|
||||
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]) + \
|
||||
p16(0xf132)
|
||||
|
||||
CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
|
||||
CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
|
||||
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
|
||||
|
||||
CHRYSLER_RX_OFFSET = -0x280
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[
|
||||
Request(
|
||||
[CHRYSLER_VERSION_REQUEST],
|
||||
[CHRYSLER_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
|
||||
rx_offset=CHRYSLER_RX_OFFSET,
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[CHRYSLER_VERSION_REQUEST],
|
||||
[CHRYSLER_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
|
||||
bus=0,
|
||||
),
|
||||
Request(
|
||||
[CHRYSLER_SOFTWARE_VERSION_REQUEST],
|
||||
[CHRYSLER_SOFTWARE_VERSION_RESPONSE],
|
||||
whitelist_ecus=[Ecu.engine, Ecu.transmission],
|
||||
bus=0,
|
||||
),
|
||||
],
|
||||
extra_ecus=[
|
||||
(Ecu.abs, 0x7e4, None), # alt address for abs on hybrids, NOTE: not on all hybrid platforms
|
||||
],
|
||||
)
|
||||
|
||||
|
||||
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),
|
||||
}
|
||||
Reference in New Issue
Block a user