openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
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FrogAi
140
selfdrive/car/chrysler/values.py
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140
selfdrive/car/chrysler/values.py
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from enum import IntFlag, StrEnum
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from dataclasses import dataclass, field
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from typing import Dict, List, Optional, Union
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from cereal import car
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from panda.python import uds
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from openpilot.selfdrive.car import dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
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Ecu = car.CarParams.Ecu
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class ChryslerFlags(IntFlag):
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HIGHER_MIN_STEERING_SPEED = 1
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class CAR(StrEnum):
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# Chrysler
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PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
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PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
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PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
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PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
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PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
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# Dodge
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DODGE_DURANGO = "DODGE DURANGO 2021"
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# Jeep
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JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
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JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
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# Ram
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RAM_1500 = "RAM 1500 5TH GEN"
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RAM_HD = "RAM HD 5TH GEN"
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class CarControllerParams:
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def __init__(self, CP):
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self.STEER_STEP = 2 # 50 Hz
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self.STEER_ERROR_MAX = 80
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if CP.carFingerprint in RAM_HD:
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self.STEER_DELTA_UP = 14
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self.STEER_DELTA_DOWN = 14
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self.STEER_MAX = 361 # higher than this faults the EPS
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elif CP.carFingerprint in RAM_DT:
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self.STEER_DELTA_UP = 6
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self.STEER_DELTA_DOWN = 6
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self.STEER_MAX = 261 # EPS allows more, up to 350?
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else:
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self.STEER_DELTA_UP = 3
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self.STEER_DELTA_DOWN = 3
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self.STEER_MAX = 261 # higher than this faults the EPS
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STEER_THRESHOLD = 120
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RAM_DT = {CAR.RAM_1500, }
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RAM_HD = {CAR.RAM_HD, }
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RAM_CARS = RAM_DT | RAM_HD
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@dataclass
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class ChryslerCarInfo(CarInfo):
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package: str = "Adaptive Cruise Control (ACC)"
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car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
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CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
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CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"),
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CAR.PACIFICA_2018_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"),
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CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
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CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
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CAR.PACIFICA_2020: [
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ChryslerCarInfo("Chrysler Pacifica 2019-20"),
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ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"),
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],
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CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
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CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
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CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"),
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CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
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CAR.RAM_HD: [
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ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
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ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
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],
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}
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CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(0xf132)
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CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(0xf132)
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CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
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CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
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p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
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CHRYSLER_RX_OFFSET = -0x280
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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Request(
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[CHRYSLER_VERSION_REQUEST],
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[CHRYSLER_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter],
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rx_offset=CHRYSLER_RX_OFFSET,
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bus=0,
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),
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Request(
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[CHRYSLER_VERSION_REQUEST],
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[CHRYSLER_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
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bus=0,
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),
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Request(
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[CHRYSLER_SOFTWARE_VERSION_REQUEST],
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[CHRYSLER_SOFTWARE_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.engine, Ecu.transmission],
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bus=0,
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),
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],
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extra_ecus=[
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(Ecu.abs, 0x7e4, None), # alt address for abs on hybrids, NOTE: not on all hybrid platforms
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],
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)
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DBC = {
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CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
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CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
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CAR.RAM_HD: dbc_dict('chrysler_ram_hd_generated', None),
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}
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