wip

2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -3,9 +3,10 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+from openpilot.selfdrive.car.interfaces import CarControllerBase


-class CarController:
+class CarController(CarControllerBase):
  def __init__(self, dbc_name, CP, VM):
    self.CP = CP
    self.apply_steer_last = 0
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -21,10 +21,16 @@ class CarState(CarStateBase):
    else:
      self.shifter_values = can_define.dv["GEAR"]["PRNDL"]

+    self.prev_distance_button = 0
+    self.distance_button = 0
+
  def update(self, cp, cp_cam, frogpilot_variables):

    ret = car.CarState.new_message()

+    self.prev_distance_button = self.distance_button
+    self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]
+
    # lock info
    ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                        cp.vl["BCM_1"]["DOOR_OPEN_FR"],
@@ -95,6 +101,12 @@ class CarState(CarStateBase):
    self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]

+    self.lkas_previously_enabled = self.lkas_enabled
+    if self.CP.carFingerprint in RAM_CARS:
+      self.lkas_enabled = cp.vl["Center_Stack_2"]["LKAS_Button"] or cp.vl["Center_Stack_1"]["LKAS_Button"]
+    else:
+      self.lkas_enabled = cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"] == 1
+
    return ret

  @staticmethod
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -38,6 +38,7 @@ FW_VERSIONS = {
      b'68227902AF',
      b'68227902AG',
      b'68227902AH',
+      b'68227905AG',
      b'68360252AC',
    ],
    (Ecu.srs, 0x744, None): [
@@ -71,6 +72,7 @@ FW_VERSIONS = {
      b'68340762AD ',
      b'68340764AD ',
      b'68352652AE ',
+      b'68352654AE ',
      b'68366851AH ',
      b'68366853AE ',
      b'68372861AF ',
@@ -93,6 +95,7 @@ FW_VERSIONS = {
      b'68405327AC',
      b'68436233AB',
      b'68436233AC',
+      b'68436234AB',
      b'68436250AE',
      b'68529067AA',
      b'68594993AB',
@@ -304,6 +307,7 @@ FW_VERSIONS = {
      b'68402708AB',
      b'68402971AD',
      b'68454144AD',
+      b'68454145AB',
      b'68454152AB',
      b'68454156AB',
      b'68516650AB',
@@ -376,6 +380,7 @@ FW_VERSIONS = {
      b'68434859AC',
      b'68434860AC',
      b'68453483AC',
+      b'68453483AD',
      b'68453487AD',
      b'68453491AC',
      b'68453499AD',
@@ -401,6 +406,7 @@ FW_VERSIONS = {
      b'68527383AD',
      b'68527387AE',
      b'68527403AC',
+      b'68527403AD',
      b'68546047AF',
      b'68631938AA',
      b'68631942AA',
@@ -474,6 +480,7 @@ FW_VERSIONS = {
    ],
    (Ecu.engine, 0x7e0, None): [
      b'05035699AG ',
+      b'05035841AC ',
      b'05036026AB ',
      b'05036065AE ',
      b'05036066AE ',
@@ -506,11 +513,13 @@ FW_VERSIONS = {
      b'68455145AE ',
      b'68455146AC ',
      b'68467915AC ',
+      b'68467916AC ',
      b'68467936AC ',
      b'68500630AD',
      b'68500630AE',
      b'68502719AC ',
      b'68502722AC ',
+      b'68502733AC ',
      b'68502734AF ',
      b'68502740AF ',
      b'68502741AF ',
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,14 +1,17 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 from panda import Panda
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import create_button_events, 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

+ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
+

 class CarInterface(CarInterfaceBase):
  @staticmethod
-  def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
    ret.carName = "chrysler"
    ret.dashcamOnly = candidate in RAM_HD

@@ -24,7 +27,6 @@ class CarInterface(CarInterfaceBase):
    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.
@@ -35,10 +37,6 @@ class CarInterface(CarInterfaceBase):

    # 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]]
@@ -46,9 +44,6 @@ class CarInterface(CarInterfaceBase):

    # 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')
@@ -60,19 +55,12 @@ class CarInterface(CarInterfaceBase):
    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:
@@ -91,8 +79,13 @@ class CarInterface(CarInterfaceBase):
  def _update(self, c, frogpilot_variables):
    ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)

+    ret.buttonEvents = [
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
+      *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
+    ]
+
    # events
-    events = self.create_common_events(ret, frogpilot_variables, extra_gears=[car.CarState.GearShifter.low])
+    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):
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,38 +1,102 @@
-from enum import IntFlag, StrEnum
+from enum import IntFlag
 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 import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16

 Ecu = car.CarParams.Ecu


 class ChryslerFlags(IntFlag):
+  # Detected flags
  HIGHER_MIN_STEERING_SPEED = 1

+@dataclass
+class ChryslerCarDocs(CarDocs):
+  package: str = "Adaptive Cruise Control (ACC)"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))

-class CAR(StrEnum):
+
+@dataclass
+class ChryslerPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'))
+
+
+@dataclass(frozen=True)
+class ChryslerCarSpecs(CarSpecs):
+  minSteerSpeed: float = 3.8  # m/s
+
+
+class CAR(Platforms):
  # 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"
+  PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2017",
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
+    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
+  )
+  PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2018",
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
+    PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA HYBRID 2019",
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
+    PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2018 = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA 2018",
+    [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
+    PACIFICA_2017_HYBRID.specs,
+  )
+  PACIFICA_2020 = ChryslerPlatformConfig(
+    "CHRYSLER PACIFICA 2020",
+    [
+      ChryslerCarDocs("Chrysler Pacifica 2019-20"),
+      ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
+    ],
+    PACIFICA_2017_HYBRID.specs,
+  )

  # Dodge
-  DODGE_DURANGO = "DODGE DURANGO 2021"
+  DODGE_DURANGO = ChryslerPlatformConfig(
+    "DODGE DURANGO 2021",
+    [ChryslerCarDocs("Dodge Durango 2020-21")],
+    PACIFICA_2017_HYBRID.specs,
+  )

  # Jeep
-  JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
-  JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
+  JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig(  # includes 2017 Trailhawk
+    "JEEP GRAND CHEROKEE V6 2018",
+    [ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
+    ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
+  )
+
+  JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig(  # includes 2020 Trailhawk
+    "JEEP GRAND CHEROKEE 2019",
+    [ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
+    JEEP_GRAND_CHEROKEE.specs,
+  )

  # Ram
-  RAM_1500 = "RAM 1500 5TH GEN"
-  RAM_HD = "RAM HD 5TH GEN"
+  RAM_1500 = ChryslerPlatformConfig(
+    "RAM 1500 5TH GEN",
+    [ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
+    ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
+    dbc_dict('chrysler_ram_dt_generated', None),
+  )
+  RAM_HD = ChryslerPlatformConfig(
+    "RAM HD 5TH GEN",
+    [
+      ChryslerCarDocs("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
+      ChryslerCarDocs("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
+    ],
+    ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.),
+    dbc_dict('chrysler_ram_hd_generated', None),
+  )


 class CarControllerParams:
@@ -60,32 +124,6 @@ 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]) + \
@@ -125,16 +163,4 @@ FW_QUERY_CONFIG = FwQueryConfig(
  ],
 )

-
-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),
-}
+DBC = CAR.create_dbc_map()