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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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52
selfdrive/car/tesla/values.py
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@@ -1,32 +1,33 @@
from collections import namedtuple
from enum import StrEnum
from typing import Dict, List, Union
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarInfo
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarDocs
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CAR(StrEnum):
AP1_MODELS = 'TESLA AP1 MODEL S'
AP2_MODELS = 'TESLA AP2 MODEL S'
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
}
DBC = {
CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
}
class CAR(Platforms):
AP1_MODELS = PlatformConfig(
'TESLA AP1 MODEL S',
[CarDocs("Tesla AP1 Model S", "All")],
CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
)
AP2_MODELS = PlatformConfig(
'TESLA AP2 MODEL S',
[CarDocs("Tesla AP2 Model S", "All")],
AP1_MODELS.specs,
AP1_MODELS.dbc_dict
)
MODELS_RAVEN = PlatformConfig(
'TESLA MODEL S RAVEN',
[CarDocs("Tesla Model S Raven", "All")],
AP1_MODELS.specs,
dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
@@ -37,6 +38,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
rx_offset=0x08,
bus=0,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.eps],
rx_offset=0x08,
bus=0,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
@@ -47,7 +55,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
]
)
class CANBUS:
# Lateral harness
chassis = 0
@@ -89,3 +96,6 @@ class CarControllerParams:
def __init__(self, CP):
pass
DBC = CAR.create_dbc_map()