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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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31
selfdrive/car/chrysler/interface.py
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@@ -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):