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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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30
selfdrive/car/tesla/carstate.py
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@@ -2,7 +2,7 @@ import copy
from collections import deque
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
@@ -37,13 +37,15 @@ class CarState(CarStateBase):
ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
# Steering wheel
self.hands_on_level = cp.vl["EPAS_sysStatus"]["EPAS_handsOnLevel"]
self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacErrorCode"]), None)
steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacStatus"]), None)
epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
ret.steeringAngleDeg = -cp.vl["EPAS_sysStatus"]["EPAS_internalSAS"]
self.hands_on_level = epas_status["EPAS_handsOnLevel"]
self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"]
ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
ret.steeringPressed = (self.hands_on_level > 0)
ret.steerFaultPermanent = steer_status == "EAC_FAULT"
ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
@@ -85,7 +87,10 @@ class CarState(CarStateBase):
ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
# Seatbelt
ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
if self.CP.carFingerprint == CAR.MODELS_RAVEN:
ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
else:
ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
# TODO: blindspot
@@ -111,9 +116,14 @@ class CarState(CarStateBase):
("DI_state", 10),
("STW_ACTN_RQ", 10),
("GTW_carState", 10),
("SDM1", 10),
("BrakeMessage", 50),
]
if CP.carFingerprint == CAR.MODELS_RAVEN:
messages.append(("DriverSeat", 20))
else:
messages.append(("SDM1", 10))
return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
@staticmethod
@@ -122,4 +132,8 @@ class CarState(CarStateBase):
# sig_address, frequency
("DAS_control", 40),
]
if CP.carFingerprint == CAR.MODELS_RAVEN:
messages.append(("EPAS3P_sysStatus", 100))
return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)