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IQ.Pilot Release Commit @ 4fcea4d

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IQ.Lvbs CI [bot]
2026-07-20 11:06:57 -05:00
commit 7b20edda67
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6
opendbc_repo/opendbc/__init__.py Normal file
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import os
DBC_PATH = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'dbc')
# -I include path for e.g. "#include <opendbc/safety/safety.h>"
INCLUDE_PATH = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

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opendbc_repo/opendbc/can/__init__.py Normal file
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from opendbc.can.packer import CANPacker
from opendbc.can.parser import CANParser, CANDefine
__all__ = [
"CANDefine",
"CANParser",
"CANPacker",
]

217
opendbc_repo/opendbc/can/dbc.py Normal file
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import re
import os
from collections.abc import Callable
from dataclasses import dataclass
from functools import cache
from opendbc import DBC_PATH
# TODO: these should just be passed in along with the DBC file
from opendbc.car.honda.hondacan import honda_checksum
from opendbc.car.toyota.toyotacan import toyota_checksum
from opendbc.car.subaru.subarucan import subaru_checksum
from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
from opendbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, volkswagen_mqb_meb_gen2_checksum, xor_checksum
from opendbc.car.tesla.teslacan import tesla_checksum
from opendbc.car.body.bodycan import body_checksum
from opendbc.car.psa.psacan import psa_checksum
class SignalType:
DEFAULT = 0
COUNTER = 1
HONDA_CHECKSUM = 2
TOYOTA_CHECKSUM = 3
BODY_CHECKSUM = 4
VOLKSWAGEN_MQB_MEB_CHECKSUM = 5
XOR_CHECKSUM = 6
SUBARU_CHECKSUM = 7
CHRYSLER_CHECKSUM = 8
HKG_CAN_FD_CHECKSUM = 9
FCA_GIORGIO_CHECKSUM = 10
TESLA_CHECKSUM = 11
PSA_CHECKSUM = 12
VOLKSWAGEN_MLB_CHECKSUM = 13
VOLKSWAGEN_MQB_MEB_GEN2_CHECKSUM = 14
@dataclass
class Signal:
name: str
start_bit: int
msb: int
lsb: int
size: int
is_signed: bool
factor: float
offset: float
is_little_endian: bool
type: int = SignalType.DEFAULT
calc_checksum: 'Callable[[int, Signal, bytearray], int] | None' = None
@dataclass
class Msg:
name: str
address: int
size: int
sigs: dict[str, Signal]
@dataclass
class Val:
name: str
address: int
def_val: str
sigs: dict[str, Signal] | None = None
BO_RE = re.compile(r"^BO_ (\w+) (\w+) *: (\w+) (\w+)")
SG_RE = re.compile(r"^SG_ (\w+) : (\d+)\|(\d+)@(\d)([+-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[[0-9.+\-eE]+\|[0-9.+\-eE]+\] \".*\" .*")
SGM_RE = re.compile(r"^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d)([+-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[[0-9.+\-eE]+\|[0-9.+\-eE]+\] \".*\" .*")
VAL_RE = re.compile(r"^VAL_ (\w+) (\w+) (.*);")
VAL_SPLIT_RE = re.compile(r'["]+')
@cache
class DBC:
def __init__(self, name: str):
dbc_path = name
if not os.path.exists(dbc_path):
dbc_path = os.path.join(DBC_PATH, name + ".dbc")
self._parse(dbc_path)
def _parse(self, path: str):
self.name = os.path.basename(path).replace(".dbc", "")
with open(path) as f:
lines = f.readlines()
checksum_state = get_checksum_state(self.name)
be_bits = [j + i * 8 for i in range(64) for j in range(7, -1, -1)]
self.msgs: dict[int, Msg] = {}
self.addr_to_msg: dict[int, Msg] = {}
self.name_to_msg: dict[str, Msg] = {}
self.vals: list[Val] = []
address = 0
signals_temp: dict[int, dict[str, Signal]] = {}
for line_num, line in enumerate(lines, 1):
line = line.strip()
if line.startswith("BO_ "):
m = BO_RE.match(line)
if not m:
continue
address = int(m.group(1), 0)
msg_name = m.group(2)
size = int(m.group(3), 0)
sigs = {}
self.msgs[address] = Msg(msg_name, address, size, sigs)
self.addr_to_msg[address] = self.msgs[address]
self.name_to_msg[msg_name] = self.msgs[address]
signals_temp[address] = sigs
elif line.startswith("SG_ "):
m = SG_RE.search(line)
offset = 0
if not m:
m = SGM_RE.search(line)
if not m:
continue
offset = 1
sig_name = m.group(1)
start_bit = int(m.group(2 + offset))
size = int(m.group(3 + offset))
is_little_endian = m.group(4 + offset) == "1"
is_signed = m.group(5 + offset) == "-"
factor = float(m.group(6 + offset))
offset_val = float(m.group(7 + offset))
if is_little_endian:
lsb = start_bit
msb = start_bit + size - 1
else:
idx = be_bits.index(start_bit)
lsb = be_bits[idx + size - 1]
msb = start_bit
sig = Signal(sig_name, start_bit, msb, lsb, size, is_signed, factor, offset_val, is_little_endian)
set_signal_type(sig, checksum_state, self.name, line_num)
signals_temp[address][sig_name] = sig
elif line.startswith("VAL_ "):
m = VAL_RE.search(line)
if not m:
continue
val_addr = int(m.group(1), 0)
sgname = m.group(2)
defs = m.group(3)
words = [w.strip() for w in VAL_SPLIT_RE.split(defs) if w.strip()]
words = [w.upper().replace(" ", "_") for w in words]
val_def = " ".join(words).strip()
self.vals.append(Val(sgname, val_addr, val_def))
for addr, sigs in signals_temp.items():
self.msgs[addr].sigs = sigs
# ***** checksum functions *****
def tesla_setup_signal(sig: Signal, dbc_name: str, line_num: int) -> None:
if sig.name.endswith("Counter"):
sig.type = SignalType.COUNTER
elif sig.name.endswith("Checksum"):
sig.type = SignalType.TESLA_CHECKSUM
sig.calc_checksum = tesla_checksum
@dataclass
class ChecksumState:
checksum_size: int
counter_size: int
checksum_start_bit: int
counter_start_bit: int
little_endian: bool
checksum_type: int
calc_checksum: Callable[[int, Signal, bytearray], int] | None
setup_signal: Callable[[Signal, str, int], None] | None = None
def get_checksum_state(dbc_name: str) -> ChecksumState | None:
if dbc_name.startswith(("honda_", "acura_")):
return ChecksumState(4, 2, 3, 5, False, SignalType.HONDA_CHECKSUM, honda_checksum)
elif dbc_name.startswith(("toyota_", "lexus_")):
return ChecksumState(8, -1, 7, -1, False, SignalType.TOYOTA_CHECKSUM, toyota_checksum)
elif dbc_name.startswith("hyundai_canfd_generated"):
return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
elif dbc_name.startswith("vw_meb_2024"):
return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_GEN2_CHECKSUM, volkswagen_mqb_meb_gen2_checksum)
elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)
elif dbc_name.startswith("vw_mlb"):
return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MLB_CHECKSUM, volkswagen_mlb_checksum)
elif dbc_name.startswith("vw_pq"):
return ChecksumState(8, 4, 0, -1, True, SignalType.XOR_CHECKSUM, xor_checksum)
elif dbc_name.startswith("subaru_global_"):
return ChecksumState(8, -1, 0, -1, True, SignalType.SUBARU_CHECKSUM, subaru_checksum)
elif dbc_name.startswith("chrysler_"):
return ChecksumState(8, -1, 7, -1, False, SignalType.CHRYSLER_CHECKSUM, chrysler_checksum)
elif dbc_name.startswith("fca_giorgio"):
return ChecksumState(8, -1, 7, -1, False, SignalType.FCA_GIORGIO_CHECKSUM, fca_giorgio_checksum)
elif dbc_name.startswith("comma_body"):
return ChecksumState(8, 4, 7, 3, False, SignalType.BODY_CHECKSUM, body_checksum)
elif dbc_name.startswith(("tesla_model3_party", "tesla_model3_vehicle")):
return ChecksumState(8, -1, 0, -1, True, SignalType.TESLA_CHECKSUM, tesla_checksum, tesla_setup_signal)
elif dbc_name.startswith("psa_"):
return ChecksumState(4, 4, 7, 3, False, SignalType.PSA_CHECKSUM, psa_checksum)
return None
def set_signal_type(sig: Signal, chk: ChecksumState | None, dbc_name: str, line_num: int) -> None:
sig.calc_checksum = None
if chk:
if chk.setup_signal:
chk.setup_signal(sig, dbc_name, line_num)
if sig.name == "CHECKSUM":
sig.type = chk.checksum_type
sig.calc_checksum = chk.calc_checksum
elif sig.name == "COUNTER":
sig.type = SignalType.COUNTER

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opendbc_repo/opendbc/can/packer.py Normal file
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import math
from opendbc.car.carlog import carlog
from opendbc.can.dbc import DBC, Signal, SignalType
class CANPacker:
def __init__(self, dbc_name: str):
self.dbc = DBC(dbc_name)
self.counters: dict[int, int] = {}
def pack(self, address: int, values: dict[str, float]) -> bytearray:
msg = self.dbc.addr_to_msg.get(address)
if msg is None:
carlog.error(f"msg not found for {address=}")
return bytearray()
dat = bytearray(msg.size)
counter_set = False
for name, value in values.items():
sig = msg.sigs.get(name)
if sig is None:
carlog.error(f"unknown signal {name=} in {msg.name}")
continue
ival = int(math.floor((value - sig.offset) / sig.factor + 0.5))
if ival < 0:
ival = (1 << sig.size) + ival
set_value(dat, sig, ival)
if sig.type == SignalType.COUNTER or sig.name == "COUNTER":
self.counters[address] = int(value)
counter_set = True
sig_counter = next((s for s in msg.sigs.values() if s.type == SignalType.COUNTER or s.name == "COUNTER"), None)
if sig_counter and not counter_set:
if address not in self.counters:
self.counters[address] = 0
set_value(dat, sig_counter, self.counters[address])
self.counters[address] = (self.counters[address] + 1) % (1 << sig_counter.size)
sig_checksum = next((s for s in msg.sigs.values() if s.type > SignalType.COUNTER), None)
if sig_checksum and sig_checksum.calc_checksum:
checksum = sig_checksum.calc_checksum(address, sig_checksum, dat)
set_value(dat, sig_checksum, checksum)
return dat
def make_can_msg(self, name_or_addr, bus: int, values: dict[str, float]):
if isinstance(name_or_addr, int):
addr = name_or_addr
else:
msg = self.dbc.name_to_msg.get(name_or_addr)
if msg is None:
carlog.error(f"msg not found for {name_or_addr=}")
return 0, b'', bus
addr = msg.address
dat = self.pack(addr, values)
if len(dat) == 0:
return 0, b'', bus
return addr, bytes(dat), bus
def set_value(msg: bytearray, sig: Signal, ival: int) -> None:
i = sig.lsb // 8
bits = sig.size
if sig.size < 64:
ival &= (1 << sig.size) - 1
while 0 <= i < len(msg) and bits > 0:
shift = sig.lsb % 8 if (sig.lsb // 8) == i else 0
size = min(bits, 8 - shift)
mask = ((1 << size) - 1) << shift
msg[i] &= ~mask
msg[i] |= (ival & ((1 << size) - 1)) << shift
bits -= size
ival >>= size
i = i + 1 if sig.is_little_endian else i - 1

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opendbc_repo/opendbc/can/parser.py Normal file
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import math
import numbers
from collections import defaultdict, deque
from dataclasses import dataclass, field
from opendbc.car.carlog import carlog
from opendbc.can.dbc import DBC, Signal
MAX_BAD_COUNTER = 5
CAN_INVALID_CNT = 5
def get_raw_value(dat: bytes | bytearray, sig: Signal) -> int:
ret = 0
i = sig.msb // 8
bits = sig.size
while 0 <= i < len(dat) and bits > 0:
lsb = sig.lsb if (sig.lsb // 8) == i else i * 8
msb = sig.msb if (sig.msb // 8) == i else (i + 1) * 8 - 1
size = msb - lsb + 1
d = (dat[i] >> (lsb - (i * 8))) & ((1 << size) - 1)
ret |= d << (bits - size)
bits -= size
i = i - 1 if sig.is_little_endian else i + 1
return ret
@dataclass
class MessageState:
address: int
name: str
size: int
signals: list[Signal]
ignore_alive: bool = False
ignore_checksum: bool = False
ignore_counter: bool = False
frequency: float = 0.0
timeout_threshold: float = 1e5 # default to 1Hz threshold
vals: list[float] = field(default_factory=list)
all_vals: list[list[float]] = field(default_factory=list)
timestamps: deque[int] = field(default_factory=lambda: deque(maxlen=500))
counter: int = 0
counter_fail: int = 0
first_seen_nanos: int = 0
last_warning_log_nanos: int = 0
def rate_limited_log(self, last_update_nanos: int, msg: str) -> None:
if (last_update_nanos - self.last_warning_log_nanos) >= 1_000_000_000:
carlog.warning(f"CANParser: {hex(self.address)} {self.name} {msg}")
self.last_warning_log_nanos = last_update_nanos
def parse(self, nanos: int, dat: bytes) -> bool:
tmp_vals: list[float] = [0.0] * len(self.signals)
checksum_failed = False
counter_failed = False
if self.first_seen_nanos == 0:
self.first_seen_nanos = nanos
for i, sig in enumerate(self.signals):
tmp = get_raw_value(dat, sig)
if sig.is_signed:
tmp -= ((tmp >> (sig.size - 1)) & 0x1) * (1 << sig.size)
if not self.ignore_checksum and sig.calc_checksum is not None:
expected_checksum = sig.calc_checksum(self.address, sig, bytearray(dat))
if tmp != expected_checksum:
checksum_failed = True
self.rate_limited_log(nanos, f"checksum failed: received {hex(tmp)}, calculated {hex(expected_checksum)}")
if not self.ignore_counter and sig.type == 1: # COUNTER
if not self.update_counter(tmp, sig.size):
counter_failed = True
tmp_vals[i] = tmp * sig.factor + sig.offset
# must have good counter and checksum to update data
if checksum_failed or counter_failed:
return False
if not self.vals:
self.vals = [0.0] * len(self.signals)
self.all_vals = [[] for _ in self.signals]
for i, v in enumerate(tmp_vals):
self.vals[i] = v
self.all_vals[i].append(v)
self.timestamps.append(nanos)
if self.frequency < 1e-5 and len(self.timestamps) >= 3:
dt = (self.timestamps[-1] - self.timestamps[0]) * 1e-9
if (dt > 1.0 or (self.timestamps.maxlen is not None and len(self.timestamps) >= self.timestamps.maxlen)) and dt != 0:
self.frequency = min(len(self.timestamps) / dt, 100.0)
self.timeout_threshold = (1_000_000_000 / self.frequency) * 10
return True
def update_counter(self, cur_count: int, cnt_size: int) -> bool:
if ((self.counter + 1) & ((1 << cnt_size) - 1)) != cur_count:
self.counter_fail = min(self.counter_fail + 1, MAX_BAD_COUNTER)
elif self.counter_fail > 0:
self.counter_fail -= 1
self.counter = cur_count
return self.counter_fail < MAX_BAD_COUNTER
def valid(self, current_nanos: int, bus_timeout: bool) -> bool:
if self.ignore_alive:
return True
if not self.timestamps:
return False
if (current_nanos - self.timestamps[-1]) > self.timeout_threshold:
return False
return True
class VLDict(dict):
def __init__(self, parser):
super().__init__()
self.parser = parser
def __getitem__(self, key):
if key not in self:
self.parser._add_message(key)
return super().__getitem__(key)
class CANParser:
def __init__(self, dbc_name: str, messages: list[tuple[str | int, int]], bus: int):
self.dbc_name: str = dbc_name
self.bus: int = bus
self.dbc: DBC = DBC(dbc_name)
self.vl: dict[int | str, dict[str, float]] = VLDict(self)
self.vl_all: dict[int | str, dict[str, list[float]]] = {}
self.ts_nanos: dict[int | str, dict[str, int]] = {}
self.dat: dict[int | str, bytes] = {}
self.addresses: set[int] = set()
self.message_states: dict[int, MessageState] = {}
for name_or_addr, freq in messages:
if isinstance(name_or_addr, numbers.Number):
msg = self.dbc.addr_to_msg.get(int(name_or_addr))
else:
msg = self.dbc.name_to_msg.get(name_or_addr)
if msg is None:
raise RuntimeError(f"could not find message {name_or_addr!r} in DBC {dbc_name}")
if msg.address in self.addresses:
raise RuntimeError("Duplicate Message Check: %d" % msg.address)
self._add_message(name_or_addr, freq)
self.can_invalid_cnt: int = CAN_INVALID_CNT
self.last_nonempty_nanos: int = 0
self._last_update_nanos: int = 0
def _add_message(self, name_or_addr: str | int, freq: int | None = None) -> None:
if isinstance(name_or_addr, numbers.Number):
msg = self.dbc.addr_to_msg.get(int(name_or_addr))
else:
msg = self.dbc.name_to_msg.get(name_or_addr)
assert msg is not None
assert msg.address not in self.addresses
self.addresses.add(msg.address)
signal_names = list(msg.sigs.keys())
signals_dict = {s: 0.0 for s in signal_names}
dict.__setitem__(self.vl, msg.address, signals_dict)
dict.__setitem__(self.vl, msg.name, signals_dict)
self.vl_all[msg.address] = defaultdict(list)
self.vl_all[msg.name] = self.vl_all[msg.address]
self.ts_nanos[msg.address] = {s: 0 for s in signal_names}
self.ts_nanos[msg.name] = self.ts_nanos[msg.address]
self.dat[msg.address] = b""
self.dat[msg.name] = b""
state = MessageState(
address=msg.address,
name=msg.name,
size=msg.size,
signals=list(msg.sigs.values()),
ignore_alive=freq is not None and math.isnan(freq),
)
if freq is not None and freq > 0:
state.frequency = freq
else:
# if frequency not specified, assume 1Hz until we learn it
freq = 1
state.timeout_threshold = (1_000_000_000 / freq) * 10
self.message_states[msg.address] = state
@property
def bus_timeout(self) -> bool:
ignore_alive = all(s.ignore_alive for s in self.message_states.values())
bus_timeout_threshold = 500 * 1_000_000
for st in self.message_states.values():
if st.timeout_threshold > 0:
bus_timeout_threshold = min(bus_timeout_threshold, st.timeout_threshold)
return ((self._last_update_nanos - self.last_nonempty_nanos) > bus_timeout_threshold) and not ignore_alive
@property
def can_valid(self) -> bool:
valid = True
counters_valid = True
bus_timeout = self.bus_timeout
for state in self.message_states.values():
if state.counter_fail >= MAX_BAD_COUNTER:
counters_valid = False
state.rate_limited_log(self._last_update_nanos, f"counter invalid, {state.counter_fail=} {MAX_BAD_COUNTER=}")
if not state.valid(self._last_update_nanos, bus_timeout):
valid = False
state.rate_limited_log(self._last_update_nanos, "not valid (timeout or missing)")
# TODO: probably only want to increment this once per update() call
self.can_invalid_cnt = 0 if valid else min(self.can_invalid_cnt + 1, CAN_INVALID_CNT)
return self.can_invalid_cnt < CAN_INVALID_CNT and counters_valid
def update(self, strings, sendcan: bool = False):
if strings and not isinstance(strings[0], list | tuple):
strings = [strings]
for addr in self.addresses:
for k in self.vl_all[addr]:
self.vl_all[addr][k].clear()
updated_addrs: set[int] = set()
for entry in strings:
t = entry[0]
frames = entry[1]
bus_empty = True
for address, dat, src in frames:
if src != self.bus:
continue
bus_empty = False
state = self.message_states.get(address)
if state is None or len(dat) > 64:
continue
if state.parse(t, dat):
updated_addrs.add(address)
vl_addr = self.vl[address]
vl_all_addr = self.vl_all[address]
ts_addr = self.ts_nanos[address]
raw_dat = bytes(dat)
self.dat[address] = raw_dat
self.dat[state.name] = raw_dat
for i, sig in enumerate(state.signals):
vl_addr[sig.name] = state.vals[i]
vl_all_addr[sig.name] = state.all_vals[i]
ts_addr[sig.name] = state.timestamps[-1]
if not bus_empty:
self.last_nonempty_nanos = t
self._last_update_nanos = t
return updated_addrs
class CANDefine:
def __init__(self, dbc_name: str):
dbc = DBC(dbc_name)
dv = defaultdict(dict)
for val in dbc.vals:
sgname = val.name
address = val.address
msg = dbc.addr_to_msg.get(address)
if msg is None:
raise KeyError(address)
msgname = msg.name
parts = val.def_val.split()
values = [int(v) for v in parts[::2]]
defs = parts[1::2]
dv[address][sgname] = dict(zip(values, defs, strict=True))
dv[msgname][sgname] = dv[address][sgname]
self.dv = dict(dv)

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opendbc_repo/opendbc/can/tests/.gitignore vendored Normal file
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*.bz2

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opendbc_repo/opendbc/can/tests/__init__.py Normal file
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import glob
import os
from opendbc import DBC_PATH
ALL_DBCS = [os.path.basename(dbc).split('.')[0] for dbc in
glob.glob(f"{DBC_PATH}/*.dbc")]
TEST_DBC = os.path.abspath(os.path.join(os.path.dirname(__file__), "test.dbc"))

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opendbc_repo/opendbc/can/tests/benchmark.py Executable file
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#!/usr/bin/env python3
import time
from opendbc.can import CANPacker, CANParser
def _benchmark(checks, n):
parser = CANParser('toyota_new_mc_pt_generated', checks, 0)
packer = CANPacker('toyota_new_mc_pt_generated')
t1 = time.process_time_ns()
can_msgs = []
for i in range(10000):
values = {"ACC_CONTROL": {"ACC_TYPE": 1, "ALLOW_LONG_PRESS": 3}}
msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
can_msgs.append([int(0.01 * i * 1e9), msgs])
t2 = time.process_time_ns()
pack_dt = t2 - t1
ets = []
for _ in range(25):
if n > 1:
strings = []
for i in range(0, len(can_msgs), n):
strings.append(can_msgs[i:i + n])
t1 = time.process_time_ns()
for m in strings:
parser.update(m)
t2 = time.process_time_ns()
else:
t1 = time.process_time_ns()
for m in can_msgs:
parser.update([m])
t2 = time.process_time_ns()
ets.append(t2 - t1)
et = sum(ets) / len(ets)
avg_nanos = et / len(can_msgs)
print('[%d] %.1fms to pack, %.1fms to parse %s messages, avg: %dns' % (n, pack_dt/1e6, et/1e6, len(can_msgs), avg_nanos))
if __name__ == "__main__":
# python -m cProfile -s cumulative benchmark.py
_benchmark([('ACC_CONTROL', 10)], 1)
_benchmark([('ACC_CONTROL', 10)], 5)
_benchmark([('ACC_CONTROL', 10)], 10)

27
opendbc_repo/opendbc/can/tests/test.dbc Normal file
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@@ -0,0 +1,27 @@
CM_ "This DBC is used for the CAN parser and packer tests.";
BO_ 228 STEERING_CONTROL: 5 EON
SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS
SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS
BO_ 316 Brake_Status: 8 XXX
SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX
SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX
SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX
SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX
SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX
BO_ 245 CAN_FD_MESSAGE: 32 XXX
SG_ COUNTER : 7|8@0+ (1,0) [0|1] "" XXX
SG_ SIGNED : 22|16@0- (1,0) [0|1] "" XXX
SG_ 64_BIT_LE : 159|64@1+ (1,0) [0|1] "" XXX
SG_ 64_BIT_BE : 80|64@0+ (1,0) [0|1] "" XXX
VAL_ 80 NON_EXISTENT_ADDR 0 "test";

556
opendbc_repo/opendbc/can/tests/test_checksums.py Normal file
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@@ -0,0 +1,556 @@
import copy
from opendbc.can import CANPacker, CANParser
class TestCanChecksums:
def verify_checksum(self, subtests, dbc_file: str, msg_name: str, msg_addr: int, test_messages: list[bytes],
checksum_field: str = 'CHECKSUM', counter_field = 'COUNTER'):
"""
Verify that opendbc calculates payload CRCs/checksums matching those received in known-good sample messages
Depends on all non-zero bits in the sample message having a corresponding DBC signal, add UNKNOWN signals if needed
"""
parser = CANParser(dbc_file, [(msg_name, 0)], 0)
packer = CANPacker(dbc_file)
for data in test_messages:
expected_msg = (msg_addr, data, 0)
parser.update([0, [expected_msg]])
expected = copy.deepcopy(parser.vl[msg_name])
modified = copy.deepcopy(expected)
modified.pop(checksum_field, None)
modified_msg = packer.make_can_msg(msg_name, 0, modified)
parser.update([0, [modified_msg]])
tested = parser.vl[msg_name]
with subtests.test(counter=expected[counter_field]):
assert tested[checksum_field] == expected[checksum_field]
def verify_fca_giorgio_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes]):
"""Test modified SAE J1850 CRCs, with special final XOR cases for EPS messages"""
assert len(test_messages) == 3
self.verify_checksum(subtests, "fca_giorgio", msg_name, msg_addr, test_messages)
def test_fca_giorgio_eps_1(self, subtests):
self.verify_fca_giorgio_crc(subtests, "EPS_1", 0xDE, [
b'\x17\x51\x97\xcc\x00\xdf',
b'\x17\x51\x97\xc9\x01\xa3',
b'\x17\x51\x97\xcc\x02\xe5',
])
def test_fca_giorgio_eps_2(self, subtests):
self.verify_fca_giorgio_crc(subtests, "EPS_2", 0x106, [
b'\x7c\x43\x57\x60\x00\x00\xa1',
b'\x7c\x63\x58\xe0\x00\x01\xd5',
b'\x7c\x63\x58\xe0\x00\x02\xf2',
])
def test_fca_giorgio_eps_3(self, subtests):
self.verify_fca_giorgio_crc(subtests, "EPS_3", 0x122, [
b'\x7b\x30\x00\xf8',
b'\x7b\x10\x01\x90',
b'\x7b\xf0\x02\x6e',
])
def test_fca_giorgio_abs_2(self, subtests):
self.verify_fca_giorgio_crc(subtests, "ABS_2", 0xFE, [
b'\x7e\x38\x00\x7d\x10\x31\x80\x32',
b'\x7e\x38\x00\x7d\x10\x31\x81\x2f',
b'\x7e\x38\x00\x7d\x20\x31\x82\x20',
])
def test_honda_checksum(self):
"""Test checksums for Honda standard and extended CAN ids"""
# TODO: refactor to use self.verify_checksum()
dbc_file = "honda_civic_hatchback_ex_2017_can_generated"
msgs = [("LKAS_HUD", 0), ("LKAS_HUD_A", 0)]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
values = {
'LKAS_READY': 1,
'LKAS_STATE_CHANGE': 1,
'STEERING_REQUIRED': 1,
'SOLID_LANES': 1,
'BEEP': 0,
}
# known correct checksums according to the above values
checksum_std = [11, 10, 9, 8]
checksum_ext = [4, 3, 2, 1]
for std, ext in zip(checksum_std, checksum_ext, strict=True):
msgs = [
packer.make_can_msg("LKAS_HUD", 0, values),
packer.make_can_msg("LKAS_HUD_A", 0, values),
]
parser.update([0, msgs])
assert parser.vl['LKAS_HUD']['CHECKSUM'] == std
assert parser.vl['LKAS_HUD_A']['CHECKSUM'] == ext
def verify_volkswagen_mqb_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes], counter_field: str = 'COUNTER'):
"""Test AUTOSAR E2E Profile 2 CRCs"""
assert len(test_messages) == 16 # All counter values must be tested
self.verify_checksum(subtests, "vw_mqb", msg_name, msg_addr, test_messages, counter_field=counter_field)
def test_volkswagen_mqb_crc_lwi_01(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "LWI_01", 0x86, [
b'\x6b\x00\xbd\x00\x00\x00\x00\x00',
b'\xee\x01\x0a\x00\x00\x00\x00\x00',
b'\xd8\x02\xa9\x00\x00\x00\x00\x00',
b'\x03\x03\xbe\xa2\x12\x00\x00\x00',
b'\x7b\x04\x31\x20\x03\x00\x00\x00',
b'\x8b\x05\xe2\x85\x09\x00\x00\x00',
b'\x63\x06\x13\x21\x00\x00\x00\x00',
b'\x66\x07\x05\x00\x00\x00\x00\x00',
b'\x49\x08\x0d\x00\x00\x00\x00\x00',
b'\x5f\x09\x7e\x60\x01\x00\x00\x00',
b'\xaf\x0a\x72\x20\x00\x00\x00\x00',
b'\x59\x0b\x1b\x00\x00\x00\x00\x00',
b'\xa8\x0c\x06\x00\x00\x00\x00\x00',
b'\xbc\x0d\x72\x20\x00\x00\x00\x00',
b'\xf9\x0e\x0f\x00\x00\x00\x00\x00',
b'\x60\x0f\x62\xc0\x00\x00\x00\x00',
])
def test_volkswagen_mqb_crc_airbag_01(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "Airbag_01", 0x40, [
b'\xaf\x00\x00\x80\xc0\x00\x20\x3e',
b'\x54\x01\x00\x80\xc0\x00\x20\x1a',
b'\x54\x02\x00\x80\xc0\x00\x60\x00',
b'\x31\x03\x00\x80\xc0\x00\x60\xf2',
b'\xe0\x04\x00\x80\xc0\x00\x60\xcc',
b'\xb3\x05\x00\x80\xc0\x00\x40\xde',
b'\xa4\x06\x00\x80\xc0\x00\x40\x18',
b'\x94\x07\x00\x80\xc0\x00\x20\x38',
b'\x2d\x08\x00\x80\xc0\x00\x60\xae',
b'\xc2\x09\x00\x80\xc0\x00\x00\x1c',
b'\x1f\x0a\x00\x80\xc0\x00\x60\x2c',
b'\x7f\x0b\x00\x80\xc0\x00\x00\x00',
b'\x03\x0c\x00\x80\xc0\x00\x40\xd6',
b'\x56\x0d\x00\x80\xc0\x00\x20\x50',
b'\x4a\x0e\x00\x80\xc0\x00\x20\xf2',
b'\xe5\x0f\x00\x80\xc0\x00\x40\xf6',
])
def test_volkswagen_mqb_crc_lh_eps_03(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "LH_EPS_03", 0x9F, [
b'\x11\x30\x2e\x00\x05\x1c\x80\x30',
b'\x5b\x31\x8e\x03\x05\x53\x00\x30',
b'\xcb\x32\xd3\x06\x05\x73\x00\x30',
b'\xf2\x33\x28\x00\x05\x26\x00\x30',
b'\x0b\x34\x44\x00\x05\x5b\x80\x30',
b'\xed\x35\x80\x00\x03\x34\x00\x30',
b'\xf0\x36\x88\x00\x05\x3d\x80\x30',
b'\x9e\x37\x44\x03\x05\x41\x00\x30',
b'\x68\x38\x06\x01\x05\x18\x80\x30',
b'\x87\x39\x51\x00\x05\x11\x80\x30',
b'\x8c\x3a\x29\x00\x05\xac\x00\x30',
b'\x08\x3b\xbd\x00\x05\x8e\x00\x30',
b'\xd4\x3c\x19\x00\x05\x05\x80\x30',
b'\x29\x3d\x54\x00\x05\x5b\x00\x30',
b'\xa1\x3e\x49\x01\x03\x04\x80\x30',
b'\xe2\x3f\x05\x00\x05\x0a\x00\x30',
])
def test_volkswagen_mqb_crc_getriebe_11(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "Getriebe_11", 0xAD, [
b'\xf8\xe0\xbf\xff\x5f\x20\x20\x20',
b'\xb0\xe1\xbf\xff\xc6\x98\x21\x80',
b'\xd2\xe2\xbf\xff\x5f\x20\x20\x20',
b'\x00\xe3\xbf\xff\xaa\x20\x20\x10',
b'\xf1\xe4\xbf\xff\x5f\x20\x20\x20',
b'\xc4\xe5\xbf\xff\x5f\x20\x20\x20',
b'\xda\xe6\xbf\xff\x5f\x20\x20\x20',
b'\x85\xe7\xbf\xff\x5f\x20\x20\x20',
b'\x12\xe8\xbf\xff\x5f\x20\x20\x20',
b'\x45\xe9\xbf\xff\xaa\x20\x20\x10',
b'\x03\xea\xbf\xff\xcc\x20\x20\x10',
b'\xfc\xeb\xbf\xff\x5f\x20\x21\x20',
b'\xfe\xec\xbf\xff\xad\x20\x20\x10',
b'\xbd\xed\xbf\xff\xaa\x20\x20\x10',
b'\x67\xee\xbf\xff\xaa\x20\x20\x10',
b'\x36\xef\xbf\xff\xaa\x20\x20\x10',
], counter_field="COUNTER_DISABLED") # see opendbc#1235
def test_volkswagen_mqb_crc_esp_21(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ESP_21", 0xFD, [
b'\x66\xd0\x1f\x80\x45\x05\x00\x00',
b'\x87\xd1\x1f\x80\x52\x05\x00\x00',
b'\xcd\xd2\x1f\x80\x50\x06\x00\x00',
b'\xfd\xd3\x1f\x80\x35\x02\x00\x00',
b'\xfa\xd4\x1f\x80\x22\x05\x00\x00',
b'\xfd\xd5\x1f\x80\x84\x04\x00\x00',
b'\x2e\xd6\x1f\x80\xf0\x03\x00\x00',
b'\x9f\xd7\x1f\x80\x00\x00\x00\x00',
b'\x1e\xd8\x1f\x80\xb3\x03\x00\x00',
b'\x61\xd9\x1f\x80\x6d\x05\x00\x00',
b'\x44\xda\x1f\x80\x47\x02\x00\x00',
b'\x86\xdb\x1f\x80\x3a\x02\x00\x00',
b'\x39\xdc\x1f\x80\xcb\x01\x00\x00',
b'\x19\xdd\x1f\x80\x00\x00\x00\x00',
b'\x8c\xde\x1f\x80\xba\x04\x00\x00',
b'\xfb\xdf\x1f\x80\x46\x00\x00\x00',
])
def test_volkswagen_mqb_crc_esp_02(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ESP_02", 0x101, [
b'\xf2\x00\x7e\xff\xa1\x2a\x40\x00',
b'\xd3\x01\x7d\x00\xa2\x0c\x02\x00',
b'\x03\x02\x7a\x06\xa2\x49\x42\x00',
b'\xfd\x03\x70\xfb\xa1\xde\x00\x00',
b'\x8e\x04\x7b\xf7\xa1\xd2\x01\x00',
b'\x0f\x05\x7d\xfd\xa1\x31\x40\x00',
b'\xb6\x06\x7d\x01\xa2\x0a\x40\x00',
b'\xe8\x07\x7e\xfd\xa1\x12\x40\x00',
b'\x74\x08\x7a\x01\xa2\x40\x01\x00',
b'\xe3\x09\x81\x00\xa2\xb5\x01\x00',
b'\xab\x0a\x74\x09\xa2\x9f\x42\x00',
b'\xf3\x0b\x80\x12\xa2\x94\x00\x00',
b'\x88\x0c\x7f\x07\xa2\x46\x00\x00',
b'\x6f\x0d\x7f\xff\xa1\x53\x40\x00',
b'\x38\x0e\x73\xd6\xa1\x6a\x40\x00',
b'\x49\x0f\x85\x12\xa2\xf6\x01\x00',
])
def test_volkswagen_mqb_crc_esp_05(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ESP_05", 0x106, [
b'\x90\x80\x64\x00\x00\x00\xe7\x10',
b'\xf4\x81\x64\x00\x00\x00\xe7\x10',
b'\x90\x82\x63\x00\x00\x00\xe8\x10',
b'\xa0\x83\x63\x00\x00\x00\xe6\x10',
b'\xe7\x84\x63\x00\x00\x00\xe8\x10',
b'\x2e\x85\x78\x04\x00\x00\xea\x30',
b'\x7b\x86\x63\x00\x00\x00\xe6\x10',
b'\x71\x87\x79\x04\x00\x00\xd0\x30',
b'\x50\x88\x79\x04\x00\x00\xea\x30',
b'\x81\x89\x64\x00\x00\x00\xe1\x10',
b'\x6a\x8a\x68\x00\x00\x04\xd0\x10',
b'\x17\x8b\x6a\x04\x00\x00\xe6\x10',
b'\xc7\x8c\x63\x00\x00\x00\xd1\x10',
b'\x53\x8d\x64\x04\x00\x00\xe2\x10',
b'\x24\x8e\x63\x00\x00\x00\xe7\x10',
b'\x3f\x8f\x82\x04\x00\x00\xe6\x30',
])
def test_volkswagen_mqb_crc_esp_10(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ESP_10", 0x116, [
b'\x2d\x00\xd5\x98\x9f\x26\x25\x0f',
b'\x24\x01\x60\x63\x2c\x5e\x3b\x0f',
b'\x08\x02\xb2\x2f\xee\x9a\x29\x0f',
b'\x7c\x03\x17\x07\x1d\xe5\x8c\x0f',
b'\xaa\x04\xd6\xe3\xeb\x98\xe8\x0f',
b'\x4e\x05\xbb\xd9\x65\x43\xca\x0f',
b'\x59\x06\x78\xbd\x25\xc6\xf2\xff',
b'\xaf\x07\x42\x85\x53\xbe\xbe\x0f',
b'\x2a\x08\xa6\xcd\x95\x8c\x12\x0f',
b'\xce\x09\x6e\x17\x6d\x1b\x2f\x0f',
b'\x60\x0a\xd3\xe6\x3a\x8d\xf0\x0f',
b'\xc5\x0b\xfc\x69\x57\x50\x21\x0f',
b'\x70\x0c\xde\xf3\x9d\xe9\x6b\xff',
b'\x62\x0d\xc4\x1a\xdb\x61\x7a\x0f',
b'\x76\x0e\x79\x69\xe3\x32\x67\x0f',
b'\x15\x0f\x51\x59\x56\x35\xb1\x0f',
])
def test_volkswagen_mqb_crc_acc_10(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ACC_10", 0x117, [
b'\x9b\x00\x00\x40\x68\x00\x00\xff',
b'\xff\x01\x00\x40\x68\x00\x00\xff',
b'\x53\x02\x00\x40\x68\x00\x00\xff',
b'\x37\x03\x00\x40\x68\x00\x00\xff',
b'\x24\x04\x00\x40\x68\x00\x00\xff',
b'\x40\x05\x00\x40\x68\x00\x00\xff',
b'\xec\x06\x00\x40\x68\x00\x00\xff',
b'\x88\x07\x00\x40\x68\x00\x00\xff',
b'\xca\x08\x00\x40\x68\x00\x00\xff',
b'\xae\x09\x00\x40\x68\x00\x00\xff',
b'\x02\x0a\x00\x40\x68\x00\x00\xff',
b'\x66\x0b\x00\x40\x68\x00\x00\xff',
b'\x75\x0c\x00\x40\x68\x00\x00\xff',
b'\x11\x0d\x00\x40\x68\x00\x00\xff',
b'\xbd\x0e\x00\x40\x68\x00\x00\xff',
b'\xd9\x0f\x00\x40\x68\x00\x00\xff',
])
def test_volkswagen_mqb_crc_tsk_06(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "TSK_06", 0x120, [
b'\xc1\x00\x00\x02\x00\x08\xff\x21',
b'\x34\x01\x00\x02\x00\x08\xff\x21',
b'\xcc\x02\x00\x02\x00\x08\xff\x21',
b'\x1e\x03\x00\x02\x00\x08\xff\x21',
b'\x48\x04\x00\x02\x00\x08\xff\x21',
b'\x4a\x05\x00\x02\x00\x08\xff\x21',
b'\xa5\x06\x00\x02\x00\x08\xff\x21',
b'\xa7\x07\x00\x02\x00\x08\xff\x21',
b'\xfe\x08\x00\x02\x00\x08\xff\x21',
b'\xa8\x09\x00\x02\x00\x08\xff\x21',
b'\x73\x0a\x00\x02\x00\x08\xff\x21',
b'\xdf\x0b\x00\x02\x00\x08\xff\x21',
b'\x05\x0c\x00\x02\x00\x08\xff\x21',
b'\xb5\x0d\x00\x02\x00\x08\xff\x21',
b'\xde\x0e\x00\x02\x00\x08\xff\x21',
b'\x0b\x0f\x00\x02\x00\x08\xff\x21',
])
def test_volkswagen_mqb_crc_motor_20(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "Motor_20", 0x121, [
b'\xb9\x00\x00\xc0\x39\x46\x7e\xfe',
b'\x85\x31\x20\x00\x1a\x46\x7e\xfe',
b'\xc7\x12\x00\x40\x1a\x46\x7e\xfe',
b'\x53\x93\x00\x00\x19\x46\x7e\xfe',
b'\xa4\x34\x00\x80\x1a\x46\x7e\xfe',
b'\x0e\x55\x20\x60\x18\x46\x7e\xfe',
b'\x3f\x06\x00\xc0\x37\x4c\x7e\xfe',
b'\x0c\x07\x00\x40\x39\x46\x7e\xfe',
b'\x2a\x08\x00\x00\x3a\x46\x7e\xfe',
b'\x7f\x49\x20\x80\x1a\x46\x7e\xfe',
b'\x2f\x0a\x00\xc0\x39\x46\x7e\xfe',
b'\x70\xbb\x00\x00\x17\x46\x7e\xfe',
b'\x06\x0c\x00\x00\x39\x46\x7e\xfe',
b'\x4b\x9d\x20\xe0\x16\x4c\x7e\xfe',
b'\x73\xfe\x00\x40\x16\x46\x7e\xfe',
b'\xaf\x0f\x20\x80\x39\x4c\x7e\xfe',
])
def test_volkswagen_mqb_crc_acc_06(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ACC_06", 0x122, [
b'\x14\x80\x00\xfe\x07\x00\x00\x18',
b'\x9f\x81\x00\xfe\x07\x00\x00\x18',
b'\x0a\x82\x00\xfe\x07\x00\x00\x28',
b'\x40\x83\x00\xfe\x07\x00\x00\x18',
b'\x2d\x84\x00\xfe\x07\x00\x00\x28',
b'\xdb\x85\x00\xfe\x07\x00\x00\x18',
b'\x4d\x86\x00\xfe\x07\x00\x00\x28',
b'\x35\x87\x00\xfe\x07\x00\x00\x18',
b'\x23\x88\x00\xfe\x07\x00\x00\x28',
b'\x4a\x89\x00\xfe\x07\x00\x00\x28',
b'\xe1\x8a\x00\xfe\x07\x00\x00\x28',
b'\x30\x8b\x00\xfe\x07\x00\x00\x28',
b'\x60\x8c\x00\xfe\x07\x00\x00\x28',
b'\x0d\x8d\x00\xfe\x07\x00\x00\x18',
b'\x8c\x8e\x00\xfe\x07\x00\x00\x18',
b'\x6f\x8f\x00\xfe\x07\x00\x00\x28',
])
def test_volkswagen_mqb_crc_hca_01(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "HCA_01", 0x126, [
b'\x00\x30\x0d\xc0\x05\xfe\x07\x00',
b'\x3e\x31\x54\xc0\x05\xfe\x07\x00',
b'\xa7\x32\xbb\x40\x05\xfe\x07\x00',
b'\x96\x33\x29\xc0\x05\xfe\x07\x00',
b'\x5f\x34\x00\x00\x03\xfe\x07\x00',
b'\x3b\x35\xae\x40\x05\xfe\x07\x00',
b'\xc7\x36\x7a\x40\x05\xfe\x07\x00',
b'\x6f\x37\x76\x40\x05\xfe\x07\x00',
b'\xb1\x38\x00\x00\x03\xfe\x07\x00',
b'\xd5\x39\x00\x00\x03\xfe\x07\x00',
b'\xba\x3a\x69\xc0\x05\xfe\x07\x00',
b'\x65\x3b\x10\x40\x05\xfe\x07\x00',
b'\x49\x3c\x72\xc0\x05\xfe\x07\x00',
b'\xc6\x3d\xdf\x40\x05\xfe\x07\x00',
b'\x1d\x3e\x2c\xc1\x05\xfe\x07\x00',
b'\x9b\x3f\x20\x40\x05\xfe\x07\x00',
])
def test_volkswagen_mqb_crc_gra_acc_01(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "GRA_ACC_01", 0x12B, [
b'\x86\x40\x80\x2a\x00\x00\x00\x00',
b'\xf4\x41\x80\x2a\x00\x00\x00\x00',
b'\x50\x42\x80\x2a\x00\x00\x00\x00',
b'\x08\x43\x80\x2a\x00\x00\x00\x00',
b'\x88\x44\x80\x2a\x00\x00\x00\x00',
b'\x2d\x45\x80\x2a\x00\x00\x00\x00',
b'\x34\x46\x80\x2a\x00\x00\x00\x00',
b'\x11\x47\x80\x2a\x00\x00\x00\x00',
b'\xc4\x48\x80\x2a\x00\x00\x00\x00',
b'\xcc\x49\x80\x2a\x00\x00\x00\x00',
b'\xdc\x4a\x80\x2a\x00\x00\x00\x00',
b'\x79\x4b\x80\x2a\x00\x00\x00\x00',
b'\x3c\x4c\x80\x2a\x00\x00\x00\x00',
b'\x68\x4d\x80\x2a\x00\x00\x00\x00',
b'\x27\x4e\x80\x2a\x00\x00\x00\x00',
b'\x0d\x4f\x80\x2a\x00\x00\x00\x00',
])
def test_volkswagen_mqb_crc_acc_07(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ACC_07", 0x12E, [
b'\xac\xe0\x7f\x00\xfe\x00\xc0\xff',
b'\xa2\xe1\x7f\x00\xfe\x00\xc0\xff',
b'\x6b\xe2\x7f\x00\xfe\x00\xc0\xff',
b'\xf2\xe3\x7f\x00\xfe\x00\xc0\xff',
b'\xd5\xe4\x7f\x00\xfe\x00\xc0\xff',
b'\x35\xe5\x7f\x00\xfe\x00\xc0\xff',
b'\x7f\xe6\x7f\x00\xfe\x00\xc0\xff',
b'\x6c\xe7\x7f\x00\xfe\x00\xc0\xff',
b'\x05\xe8\x7f\x00\xfe\x00\xc0\xff',
b'\x79\xe9\x7f\x00\xfe\x00\xc0\xff',
b'\x25\xea\x7f\x00\xfe\x00\xc0\xff',
b'\xd1\xeb\x7f\x00\xfe\x00\xc0\xff',
b'\x72\xec\x7f\x00\xfe\x00\xc0\xff',
b'\x58\xed\x7f\x00\xfe\x00\xc0\xff',
b'\x82\xee\x7f\x00\xfe\x00\xc0\xff',
b'\x85\xef\x7f\x00\xfe\x00\xc0\xff',
])
def test_volkswagen_mqb_crc_motor_ev_01(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "Motor_EV_01", 0x187, [
b'\x70\x80\x15\x00\x00\x00\x00\xF0',
b'\x07\x81\x15\x00\x00\x00\x00\xF0',
b'\x7A\x82\x15\x00\x00\x00\x00\xF0',
b'\x26\x83\x15\x00\x00\x00\x00\xF0',
b'\xBE\x84\x15\x00\x00\x00\x00\xF0',
b'\x5A\x85\x15\x00\x00\x00\x00\xF0',
b'\xFC\x86\x15\x00\x00\x00\x00\xF0',
b'\x9E\x87\x15\x00\x00\x00\x00\xF0',
b'\xAF\x88\x15\x00\x00\x00\x00\xF0',
b'\x35\x89\x15\x00\x00\x00\x00\xF0',
b'\xC5\x8A\x15\x00\x00\x00\x00\xF0',
b'\x11\x8B\x15\x00\x00\x00\x00\xF0',
b'\xD0\x8C\x15\x00\x00\x00\x00\xF0',
b'\xE8\x8D\x15\x00\x00\x00\x00\xF0',
b'\xF5\x8E\x15\x00\x00\x00\x00\xF0',
b'\x00\x8F\x15\x00\x00\x00\x00\xF0',
])
def test_volkswagen_mqb_crc_esp_33(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ESP_33", 0x1AB, [
b'\x64\x00\x80\x02\x00\x00\x00\x00',
b'\x19\x01\x00\x00\x00\x00\x00\x00',
b'\xfc\x02\x00\x10\x01\x00\x00\x00',
b'\x8b\x03\x80\x02\x00\x00\x00\x00',
b'\xa4\x04\x00\x10\x01\x00\x00\x00',
b'\x97\x05\x00\x02\x00\x00\x01\x00',
b'\xd5\x06\x80\x02\x00\x00\x01\x00',
b'\xa0\x07\x80\x02\x00\x00\x01\x00',
b'\x89\x08\x00\x00\x00\x00\x00\x00',
b'\xe3\x09\x00\x00\x00\x00\x00\x00',
b'\x0e\x0a\x00\x00\x00\x00\x00\x00',
b'\x90\x0b\x00\x00\x00\x00\x00\x00',
b'\x32\x0c\x00\x10\x01\x00\x00\x00',
b'\x30\x0d\x00\x00\x00\x00\x00\x00',
b'\xc2\x0e\x00\x10\x01\x00\x00\x00',
b'\x68\x0f\x80\x02\x00\x00\x00\x00',
])
def test_volkswagen_mqb_crc_acc_02(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ACC_02", 0x30C, [
b'\x82\xf0\x3f\x00\x40\x30\x00\x40',
b'\xe6\xf1\x3f\x00\x40\x30\x00\x40',
b'\x4a\xf2\x3f\x00\x40\x30\x00\x40',
b'\x2e\xf3\x3f\x00\x40\x30\x00\x40',
b'\x3d\xf4\x3f\x00\x40\x30\x00\x40',
b'\x59\xf5\x3f\x00\x40\x30\x00\x40',
b'\xf5\xf6\x3f\x00\x40\x30\x00\x40',
b'\x91\xf7\x3f\x00\x40\x30\x00\x40',
b'\xd3\xf8\x3f\x00\x40\x30\x00\x40',
b'\xb7\xf9\x3f\x00\x40\x30\x00\x40',
b'\x1b\xfa\x3f\x00\x40\x30\x00\x40',
b'\x7f\xfb\x3f\x00\x40\x30\x00\x40',
b'\x6c\xfc\x3f\x00\x40\x30\x00\x40',
b'\x08\xfd\x3f\x00\x40\x30\x00\x40',
b'\xa4\xfe\x3f\x00\x40\x30\x00\x40',
b'\xc0\xff\x3f\x00\x40\x30\x00\x40',
])
def test_volkswagen_mqb_crc_swa_01(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "SWA_01", 0x30F, [
b'\x10\x00\x10\x00\x00\x00\x00\x00',
b'\x74\x01\x10\x00\x00\x00\x00\x00',
b'\xD8\x02\x10\x00\x00\x00\x00\x00',
b'\xBC\x03\x10\x00\x00\x00\x00\x00',
b'\xAF\x04\x10\x00\x00\x00\x00\x00',
b'\xCB\x05\x10\x00\x00\x00\x00\x00',
b'\x67\x06\x10\x00\x00\x00\x00\x00',
b'\x03\x07\x10\x00\x00\x00\x00\x00',
b'\x41\x08\x10\x00\x00\x00\x00\x00',
b'\x25\x09\x10\x00\x00\x00\x00\x00',
b'\x89\x0A\x10\x00\x00\x00\x00\x00',
b'\xED\x0B\x10\x00\x00\x00\x00\x00',
b'\xFE\x0C\x10\x00\x00\x00\x00\x00',
b'\x9A\x0D\x10\x00\x00\x00\x00\x00',
b'\x36\x0E\x10\x00\x00\x00\x00\x00',
b'\x52\x0F\x10\x00\x00\x00\x00\x00',
])
def test_volkswagen_mqb_crc_acc_04(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ACC_04", 0x324, [
b'\xba\x00\x00\x00\x00\x00\x00\x10',
b'\xde\x01\x00\x00\x00\x00\x00\x10',
b'\x72\x02\x00\x00\x00\x00\x00\x10',
b'\x16\x03\x00\x00\x00\x00\x00\x10',
b'\x05\x04\x00\x00\x00\x00\x00\x10',
b'\x44\x05\x00\x00\x00\x00\x00\x00',
b'\xe8\x06\x00\x00\x00\x00\x00\x00',
b'\xa9\x07\x00\x00\x00\x00\x00\x10',
b'\xeb\x08\x00\x00\x00\x00\x00\x10',
b'\x8f\x09\x00\x00\x00\x00\x00\x10',
b'\x06\x0a\x00\x00\x00\x00\x00\x00',
b'\x47\x0b\x00\x00\x00\x00\x00\x10',
b'\x71\x0c\x00\x00\x00\x00\x00\x00',
b'\x15\x0d\x00\x00\x00\x00\x00\x00',
b'\xb9\x0e\x00\x00\x00\x00\x00\x00',
b'\xdd\x0f\x00\x00\x00\x00\x00\x00',
])
def test_volkswagen_mqb_crc_klemmen_status_01(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "Klemmen_Status_01", 0x3C0, [
b'\x74\x00\x03\x00',
b'\xc1\x01\x03\x00',
b'\x31\x02\x03\x00',
b'\x84\x03\x03\x00',
b'\xfe\x04\x03\x00',
b'\x4b\x05\x03\x00',
b'\xbb\x06\x03\x00',
b'\x0e\x07\x03\x00',
b'\x4f\x08\x03\x00',
b'\xfa\x09\x03\x00',
b'\x0a\x0a\x03\x00',
b'\xbf\x0b\x03\x00',
b'\xc5\x0c\x03\x00',
b'\x70\x0d\x03\x00',
b'\x80\x0e\x03\x00',
b'\x35\x0f\x03\x00',
])
def test_volkswagen_mqb_crc_licht_anf_01(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "Licht_Anf_01", 0x3D5, [
b'\xc8\x00\x00\x04\x00\x00\x00\x00',
b'\x9f\x01\x00\x04\x00\x00\x00\x00',
b'\x5e\x02\x00\x04\x00\x00\x00\x00',
b'\x52\x03\x00\x04\x00\x00\x00\x00',
b'\xf2\x04\x00\x04\x00\x00\x00\x00',
b'\x79\x05\x00\x04\x00\x00\x00\x00',
b'\xe6\x06\x00\x04\x00\x00\x00\x00',
b'\xfd\x07\x00\x04\x00\x00\x00\x00',
b'\xf8\x08\x00\x04\x00\x00\x00\x00',
b'\xc6\x09\x00\x04\x00\x00\x00\x00',
b'\xf5\x0a\x00\x04\x00\x00\x00\x00',
b'\x1a\x0b\x00\x04\x00\x00\x00\x00',
b'\x65\x0c\x00\x04\x00\x00\x00\x00',
b'\x41\x0d\x00\x04\x00\x00\x00\x00',
b'\x7f\x0e\x00\x04\x00\x00\x00\x00',
b'\x98\x0f\x00\x04\x00\x00\x00\x00',
])
def test_volkswagen_mqb_crc_esp_20(self, subtests):
self.verify_volkswagen_mqb_crc(subtests, "ESP_20", 0x65D, [
b'\x98\x30\x2b\x10\x00\x00\x22\x81',
b'\xc8\x31\x2b\x10\x00\x00\x22\x81',
b'\x9d\x32\x2b\x10\x00\x00\x22\x81',
b'\x1f\x33\x2b\x10\x00\x00\x22\x81',
b'\x6e\x34\x2b\x10\x00\x00\x22\x81',
b'\x61\x35\x2b\x10\x00\x00\x22\x81',
b'\x6f\x36\x2b\x10\x00\x00\x22\x81',
b'\xe5\x37\x2b\x10\x00\x00\x22\x81',
b'\xf8\x38\x2b\x10\x00\x00\x22\x81',
b'\xe1\x39\x2b\x10\x00\x00\x22\x81',
b'\xaa\x3a\x2b\x10\x00\x00\x22\x81',
b'\xe6\x3b\x2b\x10\x00\x00\x22\x81',
b'\xef\x3c\x2b\x10\x00\x00\x22\x81',
b'\xbb\x3d\x2b\x10\x00\x00\x22\x81',
b'\x9b\x3e\x2b\x10\x00\x00\x22\x81',
b'\x72\x3f\x2b\x10\x00\x00\x22\x81',
])

29
opendbc_repo/opendbc/can/tests/test_dbc_exceptions.py Normal file
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@@ -0,0 +1,29 @@
import pytest
from opendbc.can import CANDefine, CANPacker, CANParser
from opendbc.can.tests import TEST_DBC
class TestCanParserPackerExceptions:
def test_civic_exceptions(self):
dbc_file = "honda_civic_touring_2016_can_generated"
dbc_invalid = dbc_file + "abcdef"
msgs = [("STEERING_CONTROL", 50)]
with pytest.raises(FileNotFoundError):
CANParser(dbc_invalid, msgs, 0)
with pytest.raises(FileNotFoundError):
CANPacker(dbc_invalid)
with pytest.raises(FileNotFoundError):
CANDefine(dbc_invalid)
with pytest.raises(KeyError):
CANDefine(TEST_DBC)
parser = CANParser(dbc_file, msgs, 0)
with pytest.raises(IndexError):
parser.update([b''])
# Everything is supposed to work below
CANParser(dbc_file, msgs, 0)
CANParser(dbc_file, [], 0)
CANPacker(dbc_file)
CANDefine(dbc_file)

21
opendbc_repo/opendbc/can/tests/test_dbc_parser.py Normal file
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@@ -0,0 +1,21 @@
from opendbc.can import CANParser
from opendbc.can.tests import ALL_DBCS
class TestDBCParser:
def test_enough_dbcs(self):
# sanity check that we're running on the real DBCs
assert len(ALL_DBCS) > 20
def test_parse_all_dbcs(self, subtests):
"""
Dynamic DBC parser checks:
- Checksum and counter length, start bit, endianness
- Duplicate message addresses and names
- Signal out of bounds
- All BO_, SG_, VAL_ lines for syntax errors
"""
for dbc in ALL_DBCS:
with subtests.test(dbc=dbc):
CANParser(dbc, [], 0)

27
opendbc_repo/opendbc/can/tests/test_define.py Normal file
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from opendbc.can import CANDefine
from opendbc.can.tests import ALL_DBCS
class TestCANDefine:
def test_civic(self):
dbc_file = "honda_civic_touring_2016_can_generated"
defs = CANDefine(dbc_file)
assert defs.dv[399] == defs.dv['STEER_STATUS']
assert defs.dv[399] == {'STEER_STATUS':
{7: 'PERMANENT_FAULT',
6: 'TMP_FAULT',
5: 'FAULT_1',
4: 'NO_TORQUE_ALERT_2',
3: 'LOW_SPEED_LOCKOUT',
2: 'NO_TORQUE_ALERT_1',
1: 'DRIVER_STEERING',
0: 'NORMAL'}
}
def test_all_dbcs(self, subtests):
# Asserts no exceptions on all DBCs
for dbc in ALL_DBCS:
with subtests.test(dbc=dbc):
CANDefine(dbc)

394
opendbc_repo/opendbc/can/tests/test_packer_parser.py Normal file
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import pytest
import random
from opendbc.can import CANPacker, CANParser
from opendbc.can.tests import TEST_DBC
MAX_BAD_COUNTER = 5
class TestCanParserPacker:
def test_packer(self):
packer = CANPacker(TEST_DBC)
for b in range(6):
for i in range(256):
values = {"COUNTER": i}
addr, dat, bus = packer.make_can_msg("CAN_FD_MESSAGE", b, values)
assert addr == 245
assert bus == b
assert dat[0] == i
def test_packer_counter(self):
msgs = [("CAN_FD_MESSAGE", 0), ]
packer = CANPacker(TEST_DBC)
parser = CANParser(TEST_DBC, msgs, 0)
# packer should increment the counter
for i in range(1000):
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
parser.update([0, [msg]])
assert parser.vl["CAN_FD_MESSAGE"]["COUNTER"] == (i % 256)
# setting COUNTER should override
for _ in range(100):
cnt = random.randint(0, 255)
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {
"COUNTER": cnt,
"SIGNED": 0
})
parser.update([0, [msg]])
assert parser.vl["CAN_FD_MESSAGE"]["COUNTER"] == cnt
# then, should resume counting from the override value
cnt = parser.vl["CAN_FD_MESSAGE"]["COUNTER"]
for i in range(100):
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
parser.update([0, [msg]])
assert parser.vl["CAN_FD_MESSAGE"]["COUNTER"] == ((cnt + i) % 256)
def test_parser_can_valid(self):
msgs = [("CAN_FD_MESSAGE", 10), ]
packer = CANPacker(TEST_DBC)
parser = CANParser(TEST_DBC, msgs, 0)
# shouldn't be valid initially
assert not parser.can_valid
# not valid until the message is seen
for _ in range(100):
parser.update([0, []])
assert not parser.can_valid
# valid once seen
for i in range(1, 100):
t = int(0.01 * i * 1e9)
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
parser.update([t, [msg]])
assert parser.can_valid
def test_lazy_add_not_ignore_alive(self):
"""
Accessing an undeclared message via parser.vl[...] lazily adds it via
_add_message(key) with the default freq=None, which is NOT the same as
declaring it with math.nan (ignore_alive=True). It's treated as "assume
~1Hz, must be seen within ~10s" — so if that message is never fed, the
parser is permanently invalid. Declaring an optional/rarely-sent message
with math.nan (or gating the .vl[...] read entirely) is required to avoid
this; see opendbc/car/volkswagen/carstate.py's Diagnose_1/EPB_1 bugs.
"""
parser = CANParser(TEST_DBC, [], 0)
assert parser.can_valid
# lazily add STEERING_CONTROL by reading it, without ever declaring it
# or feeding any CAN data for it
_ = parser.vl["STEERING_CONTROL"]
state = parser.message_states[parser.dbc.name_to_msg["STEERING_CONTROL"].address]
assert not state.ignore_alive
# never becomes valid again, no matter how many times it's checked
# (can_valid debounces over MAX_BAD_COUNTER reads before flipping false)
for _ in range(MAX_BAD_COUNTER):
parser.can_valid
for _ in range(20):
assert not parser.can_valid
def test_parser_updated_list(self):
msgs = [("CAN_FD_MESSAGE", 10), ]
parser = CANParser(TEST_DBC, msgs, 0)
packer = CANPacker(TEST_DBC)
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
ret = parser.update([0, [msg]])
assert ret == {245}
ret = parser.update([])
assert len(ret) == 0
def test_parser_counter_can_valid(self):
"""
Tests number of allowed bad counters + ensures CAN stays invalid
while receiving invalid messages + that we can recover
"""
msgs = [
("STEERING_CONTROL", 0),
]
packer = CANPacker("honda_civic_touring_2016_can_generated")
parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 0})
# bad static counter, invalid once it's seen MAX_BAD_COUNTER messages
for idx in range(0x1000):
parser.update([0, [msg]])
assert ((idx + 1) < MAX_BAD_COUNTER) == parser.can_valid
# one to recover
msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 1})
parser.update([0, [msg]])
assert parser.can_valid
def test_parser_no_partial_update(self):
"""
Ensure that the CANParser doesn't partially update messages with invalid signals (COUNTER/CHECKSUM).
Previously, the signal update loop would only break once it got to one of these invalid signals,
after already updating most/all of the signals.
"""
msgs = [
("STEERING_CONTROL", 0),
]
packer = CANPacker("honda_civic_touring_2016_can_generated")
parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0)
def rx_steering_msg(values, bad_checksum=False):
msg = packer.make_can_msg("STEERING_CONTROL", 0, values)
if bad_checksum:
# add 1 to checksum
dat = bytearray(msg[1])
dat[4] = (dat[4] & 0xF0) | ((dat[4] & 0x0F) + 1)
msg = (msg[0], bytes(dat), msg[2])
parser.update([0, [msg]])
rx_steering_msg({"STEER_TORQUE": 100}, bad_checksum=False)
assert parser.vl["STEERING_CONTROL"]["STEER_TORQUE"] == 100
assert parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"] == [100]
for _ in range(5):
rx_steering_msg({"STEER_TORQUE": 200}, bad_checksum=True)
assert parser.vl["STEERING_CONTROL"]["STEER_TORQUE"] == 100
assert parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"] == []
# Even if CANParser doesn't update instantaneous vl, make sure it didn't add invalid values to vl_all
rx_steering_msg({"STEER_TORQUE": 300}, bad_checksum=False)
assert parser.vl["STEERING_CONTROL"]["STEER_TORQUE"] == 300
assert parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"] == [300]
def test_packer_parser(self):
msgs = [
("Brake_Status", 0),
("CAN_FD_MESSAGE", 0),
("STEERING_CONTROL", 0),
]
packer = CANPacker(TEST_DBC)
parser = CANParser(TEST_DBC, msgs, 0)
for steer in range(-256, 255):
for active in (1, 0):
values = {
"STEERING_CONTROL": {
"STEER_TORQUE": steer,
"STEER_TORQUE_REQUEST": active,
},
"Brake_Status": {
"Signal1": 61042322657536.0,
},
"CAN_FD_MESSAGE": {
"SIGNED": steer,
"64_BIT_LE": random.randint(0, 100),
"64_BIT_BE": random.randint(0, 100),
},
}
msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()]
parser.update([0, msgs])
for k, v in values.items():
for key, val in v.items():
assert parser.vl[k][key] == pytest.approx(val)
# also check address
for sig in ("STEER_TORQUE", "STEER_TORQUE_REQUEST", "COUNTER", "CHECKSUM"):
assert parser.vl["STEERING_CONTROL"][sig] == parser.vl[228][sig]
def test_scale_offset(self):
"""Test that both scale and offset are correctly preserved"""
dbc_file = "honda_civic_touring_2016_can_generated"
msgs = [("VSA_STATUS", 50)]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
for brake in range(100):
values = {"USER_BRAKE": brake}
msgs = packer.make_can_msg("VSA_STATUS", 0, values)
parser.update([0, [msgs]])
assert parser.vl["VSA_STATUS"]["USER_BRAKE"] == pytest.approx(brake)
def test_subaru(self):
# Subaru is little endian
dbc_file = "subaru_global_2017_generated"
msgs = [("ES_LKAS", 50)]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
idx = 0
for steer in range(-256, 255):
for active in [1, 0]:
values = {
"LKAS_Output": steer,
"LKAS_Request": active,
"SET_1": 1
}
msgs = packer.make_can_msg("ES_LKAS", 0, values)
parser.update([0, [msgs]])
assert parser.vl["ES_LKAS"]["LKAS_Output"] == pytest.approx(steer)
assert parser.vl["ES_LKAS"]["LKAS_Request"] == pytest.approx(active)
assert parser.vl["ES_LKAS"]["SET_1"] == pytest.approx(1)
assert parser.vl["ES_LKAS"]["COUNTER"] == pytest.approx(idx % 16)
idx += 1
def test_bus_timeout(self):
"""Test CAN bus timeout detection"""
dbc_file = "honda_civic_touring_2016_can_generated"
freq = 100
msgs = [("VSA_STATUS", freq), ("STEER_MOTOR_TORQUE", freq/2)]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
i = 0
def send_msg(blank=False):
nonlocal i
i += 1
t = i*((1 / freq) * 1e9)
if blank:
msgs = []
else:
msgs = [packer.make_can_msg("VSA_STATUS", 0, {}), ]
parser.update([t, msgs])
# all good, no timeout
for _ in range(1000):
send_msg()
assert not parser.bus_timeout, str(_)
# timeout after 10 blank msgs
for n in range(200):
send_msg(blank=True)
assert (n >= 10) == parser.bus_timeout
# no timeout immediately after seen again
send_msg()
assert not parser.bus_timeout
def test_updated(self):
"""Test updated value dict"""
dbc_file = "honda_civic_touring_2016_can_generated"
msgs = [("VSA_STATUS", 50)]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
# Make sure nothing is updated
assert len(parser.vl_all["VSA_STATUS"]["USER_BRAKE"]) == 0
idx = 0
for _ in range(10):
# Ensure CANParser holds the values of any duplicate messages over multiple frames
user_brake_vals = [random.randrange(100) for _ in range(random.randrange(5, 10))]
half_idx = len(user_brake_vals) // 2
can_msgs = [[], []]
for frame, brake_vals in enumerate((user_brake_vals[:half_idx], user_brake_vals[half_idx:])):
for user_brake in brake_vals:
values = {"USER_BRAKE": user_brake}
can_msgs[frame].append(packer.make_can_msg("VSA_STATUS", 0, values))
idx += 1
parser.update([[0, m] for m in can_msgs])
vl_all = parser.vl_all["VSA_STATUS"]["USER_BRAKE"]
assert vl_all == user_brake_vals
if len(user_brake_vals):
assert vl_all[-1] == parser.vl["VSA_STATUS"]["USER_BRAKE"]
def test_timestamp_nanos(self):
"""Test message timestamp dict"""
dbc_file = "honda_civic_touring_2016_can_generated"
msgs = [
("VSA_STATUS", 50),
("POWERTRAIN_DATA", 100),
]
parser = CANParser(dbc_file, msgs, 0)
packer = CANPacker(dbc_file)
# Check the default timestamp is zero
for msg in ("VSA_STATUS", "POWERTRAIN_DATA"):
ts_nanos = parser.ts_nanos[msg].values()
assert set(ts_nanos) == {0}
# Check:
# - timestamp is only updated for correct messages
# - timestamp is correct for multiple runs
# - timestamp is from the latest message if updating multiple strings
for _ in range(10):
can_strings = []
log_mono_time = 0
for i in range(10):
log_mono_time = int(0.01 * i * 1e+9)
can_msg = packer.make_can_msg("VSA_STATUS", 0, {})
can_strings.append((log_mono_time, [can_msg]))
parser.update(can_strings)
ts_nanos = parser.ts_nanos["VSA_STATUS"].values()
assert set(ts_nanos) == {log_mono_time}
ts_nanos = parser.ts_nanos["POWERTRAIN_DATA"].values()
assert set(ts_nanos) == {0}
def test_nonexistent_messages(self):
# Ensure we don't allow messages not in the DBC
existing_messages = ("STEERING_CONTROL", 228, "CAN_FD_MESSAGE", 245)
for msg in existing_messages:
CANParser(TEST_DBC, [(msg, 0)], 0)
with pytest.raises(RuntimeError):
new_msg = msg + "1" if isinstance(msg, str) else msg + 1
CANParser(TEST_DBC, [(new_msg, 0)], 0)
def test_track_all_signals(self):
parser = CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 0)], 0)
assert parser.vl["ACC_CONTROL"] == {
"ACCEL_CMD": 0,
"ALLOW_LONG_PRESS": 0,
"ACC_MALFUNCTION": 0,
"RADAR_DIRTY": 0,
"DISTANCE": 0,
"MINI_CAR": 0,
"ACC_TYPE": 0,
"CANCEL_REQ": 0,
"ACC_CUT_IN": 0,
"LEAD_VEHICLE_STOPPED": 0,
"PERMIT_BRAKING": 0,
"RELEASE_STANDSTILL": 0,
"ITS_CONNECT_LEAD": 0,
"ACCEL_CMD_ALT": 0,
"CHECKSUM": 0,
}
def test_disallow_duplicate_messages(self):
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5)], 0)
with pytest.raises(RuntimeError):
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5), ("ACC_CONTROL", 10)], 0)
with pytest.raises(RuntimeError):
CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 10), ("ACC_CONTROL", 10)], 0)
def test_allow_undefined_msgs(self):
# TODO: we should throw an exception for these, but we need good
# discovery tests in openpilot first
packer = CANPacker("toyota_nodsu_pt_generated")
assert packer.make_can_msg("ACC_CONTROL", 0, {"UNKNOWN_SIGNAL": 0}) == (835, b'\x00\x00\x00\x00\x00\x00\x00N', 0)
assert packer.make_can_msg("UNKNOWN_MESSAGE", 0, {"UNKNOWN_SIGNAL": 0}) == (0, b'', 0)
assert packer.make_can_msg(0, 0, {"UNKNOWN_SIGNAL": 0}) == (0, b'', 0)

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opendbc_repo/opendbc/car/__init__.py Normal file
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# functions common among cars
import numpy as np
from dataclasses import dataclass, field
from enum import IntFlag, ReprEnum, StrEnum, EnumType, auto
from dataclasses import replace
from opendbc.car import structs, uds
from opendbc.car.can_definitions import CanData
from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs
DT_CTRL = 0.01 # car state and control loop timestep (s)
# kg of standard extra cargo to count for drive, gas, etc...
STD_CARGO_KG = 136.
ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2
ButtonType = structs.CarState.ButtonEvent.Type
def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
if val > val_steady + hyst_gap:
val_steady = val - hyst_gap
elif val < val_steady - hyst_gap:
val_steady = val + hyst_gap
return val_steady
def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, structs.CarState.ButtonEvent.Type],
unpressed_btn: int = 0) -> list[structs.CarState.ButtonEvent]:
events: list[structs.CarState.ButtonEvent] = []
if cur_btn == prev_btn:
return events
# Add events for button presses, multiple when a button switches without going to unpressed
for pressed, btn in ((False, prev_btn), (True, cur_btn)):
if btn != unpressed_btn:
events.append(structs.CarState.ButtonEvent(pressed=pressed,
type=buttons_dict.get(btn, ButtonType.unknown)))
return events
def gen_empty_fingerprint():
return {i: {} for i in range(8)}
# these params were derived for the Civic and used to calculate params for other cars
class VehicleDynamicsParams:
MASS = 1326. + STD_CARGO_KG
WHEELBASE = 2.70
CENTER_TO_FRONT = WHEELBASE * 0.4
CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
ROTATIONAL_INERTIA = 2500
TIRE_STIFFNESS_FRONT = 192150
TIRE_STIFFNESS_REAR = 202500
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
def scale_rot_inertia(mass, wheelbase):
return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
center_to_rear = wheelbase - center_to_front
tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
(center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE)
tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
(center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE)
return tire_stiffness_front, tire_stiffness_rear
DbcDict = dict[StrEnum, str]
class Bus(StrEnum):
pt = auto()
aux = auto()
cam = auto()
radar = auto()
adas = auto()
alt = auto()
body = auto()
chassis = auto()
loopback = auto()
main = auto()
party = auto()
ap_party = auto()
def rate_limit(new_value, last_value, dw_step, up_step):
return float(np.clip(new_value, last_value + dw_step, last_value + up_step))
def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False):
dat = [0x02, uds.SERVICE_TYPE.TESTER_PRESENT]
if subaddr is not None:
dat.insert(0, subaddr)
dat.append(0x80 if suppress_response else 0x0) # sub-function
dat.extend([0x0] * (8 - len(dat)))
return CanData(addr, bytes(dat), bus)
def get_safety_config(safety_model: structs.CarParams.SafetyModel, safety_param: int | None = None) -> structs.CarParams.SafetyConfig:
ret = structs.CarParams.SafetyConfig()
ret.safetyModel = safety_model
if safety_param is not None:
ret.safetyParam = safety_param
return ret
class CanBusBase:
offset: int
def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None:
if CP is None:
assert fingerprint is not None
num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
else:
num = len(CP.safetyConfigs)
self.offset = 4 * (num - 1)
class CanSignalRateCalculator:
"""
Calculates the instantaneous rate of a CAN signal by using the counter
variable and the known frequency of the CAN message that contains it.
"""
def __init__(self, frequency: int):
self.frequency = frequency
self.previous_value = 0
self.rate = 0
def update(self, current_value: float, updated: bool):
if updated:
self.rate = (current_value - self.previous_value) * self.frequency
self.previous_value = current_value
return self.rate
@dataclass(frozen=True, kw_only=True)
class CarSpecs:
mass: float # kg, curb weight
wheelbase: float # meters
steerRatio: float
centerToFrontRatio: float = 0.5
minSteerSpeed: float = 0.0 # m/s
minEnableSpeed: float = -1.0 # m/s
tireStiffnessFactor: float = 1.0
def override(self, **kwargs):
return replace(self, **kwargs)
class Freezable:
_frozen: bool = False
def freeze(self):
if not self._frozen:
self._frozen = True
def __setattr__(self, *args, **kwargs):
if self._frozen:
raise Exception("cannot modify frozen object")
super().__setattr__(*args, **kwargs)
@dataclass(order=True)
class PlatformConfigBase(Freezable):
car_docs: list[CarDocs] | list[ExtraCarDocs]
specs: CarSpecs
dbc_dict: DbcDict
flags: int = 0
iq_flags: int = 0
platform_str: str | None = None
origin_car_docs: list[CarDocs] | list[ExtraCarDocs] = field(init=False)
def __hash__(self) -> int:
return hash(self.platform_str)
def override(self, **kwargs):
return replace(self, **kwargs)
def init(self):
pass
def __post_init__(self):
self.origin_car_docs = self.car_docs
self.init()
def get_all_docs(self):
return self.origin_car_docs
@dataclass(order=True)
class PlatformConfig(PlatformConfigBase):
car_docs: list[CarDocs]
specs: CarSpecs
dbc_dict: DbcDict
@dataclass(order=True)
class ExtraPlatformConfig(PlatformConfigBase):
car_docs: list[ExtraCarDocs]
specs: CarSpecs = CarSpecs(mass=0., wheelbase=0., steerRatio=0.)
dbc_dict: DbcDict = field(default_factory=lambda: dict())
class PlatformsType(EnumType):
def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
for key in classdict._member_names.keys():
cfg: PlatformConfig = classdict[key]
cfg.platform_str = key
cfg.freeze()
return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)
class Platforms(str, ReprEnum, metaclass=PlatformsType):
config: PlatformConfigBase
def __new__(cls, platform_config: PlatformConfig):
member = str.__new__(cls, platform_config.platform_str)
member.config = platform_config
member._value_ = platform_config.platform_str
return member
def __repr__(self):
return f"<{self.__class__.__name__}.{self.name}>"
@classmethod
def create_dbc_map(cls) -> dict[str, DbcDict]:
return {p: p.config.dbc_dict for p in cls}
@classmethod
def with_flags(cls, flags: IntFlag) -> set['Platforms']:
return {p for p in cls if p.config.flags & flags}
@classmethod
def with_iq_flags(cls, iq_flags: IntFlag) -> set['Platforms']:
return {p for p in cls if p.config.iq_flags & iq_flags}

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opendbc_repo/opendbc/car/body/__init__.py Normal file
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opendbc_repo/opendbc/car/body/bodycan.py Normal file
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from opendbc.car.crc import CRC8BODY
def create_control(packer, torque_l, torque_r):
values = {
"TORQUE_L": torque_l,
"TORQUE_R": torque_r,
}
return packer.make_can_msg("TORQUE_CMD", 0, values)
def body_checksum(address: int, sig, d: bytearray) -> int:
crc = 0xFF
for i in range(len(d) - 2, -1, -1):
crc = CRC8BODY[crc ^ d[i]]
return crc

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opendbc_repo/opendbc/car/body/carcontroller.py Normal file
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import numpy as np
from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL
from opendbc.car.common.pid import PIDController
from opendbc.car.body import bodycan
from opendbc.car.body.values import SPEED_FROM_RPM
from opendbc.car.interfaces import CarControllerBase
MAX_TORQUE = 500
MAX_TORQUE_RATE = 50
MAX_ANGLE_ERROR = np.radians(7)
MAX_POS_INTEGRATOR = 0.2 # meters
MAX_TURN_INTEGRATOR = 0.1 # meters
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP, CP_IQ):
super().__init__(dbc_names, CP, CP_IQ)
self.packer = CANPacker(dbc_names[Bus.main])
# PIDs
self.turn_pid = PIDController(110, k_i=11.5, rate=1 / DT_CTRL)
self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1 / DT_CTRL)
self.torque_r_filtered = 0.
self.torque_l_filtered = 0.
@staticmethod
def deadband_filter(torque, deadband):
if torque > 0:
torque += deadband
else:
torque -= deadband
return torque
def update(self, CC, CC_IQ, CS, now_nanos):
torque_l = 0
torque_r = 0
if CC.enabled:
# Read these from the joystick
# TODO: this isn't acceleration, okay?
speed_desired = CC.actuators.accel / 5.
speed_diff_desired = -CC.actuators.torque / 2.
speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
speed_error = speed_desired - speed_measured
torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
turn_error = speed_diff_measured - speed_diff_desired
freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
(turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
# Combine 2 PIDs outputs
torque_r = torque + torque_diff
torque_l = torque - torque_diff
# Torque rate limits
self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10),
self.torque_r_filtered - MAX_TORQUE_RATE,
self.torque_r_filtered + MAX_TORQUE_RATE)
self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10),
self.torque_l_filtered - MAX_TORQUE_RATE,
self.torque_l_filtered + MAX_TORQUE_RATE)
torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE))
torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
can_sends = []
can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
new_actuators = CC.actuators.as_builder()
new_actuators.accel = torque_l
new_actuators.torque = torque_r
new_actuators.torqueOutputCan = torque_r
self.frame += 1
return new_actuators, can_sends

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opendbc_repo/opendbc/car/body/carstate.py Normal file
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from opendbc.can import CANParser
from opendbc.car import Bus, structs
from opendbc.car.interfaces import CarStateBase
from opendbc.car.body.values import DBC
class CarState(CarStateBase):
def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
cp = can_parsers[Bus.main]
ret = structs.CarState()
ret_iq = structs.IQCarState()
ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = False
ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
cp.vl['VAR_VALUES']['FAULT']])
ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
# irrelevant for non-car
ret.gearShifter = structs.CarState.GearShifter.drive
ret.cruiseState.enabled = True
ret.cruiseState.available = True
return ret, ret_iq
@staticmethod
def get_can_parsers(CP, CP_IQ):
return {Bus.main: CANParser(DBC[CP.carFingerprint][Bus.main], [], 0)}

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opendbc_repo/opendbc/car/body/fingerprints.py Normal file
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""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
from opendbc.car.structs import CarParams
from opendbc.car.body.values import CAR
Ecu = CarParams.Ecu
# debug ecu fw version is the git hash of the firmware
FINGERPRINTS = {
CAR.COMMA_BODY: [{
513: 8, 516: 8, 514: 3, 515: 4
}],
}
FW_VERSIONS = {
CAR.COMMA_BODY: {
(Ecu.engine, 0x720, None): [
b'0.0.01',
b'0.3.00a',
b'02/27/2022',
],
(Ecu.debug, 0x721, None): [
b'166bd860',
b'dc780f85',
],
},
}

30
opendbc_repo/opendbc/car/body/interface.py Normal file
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import math
from opendbc.car import get_safety_config, structs
from opendbc.car.body.carcontroller import CarController
from opendbc.car.body.carstate import CarState
from opendbc.car.body.values import SPEED_FROM_RPM
from opendbc.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
CarState = CarState
CarController = CarController
@staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
ret.notCar = True
ret.brand = "body"
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.body)]
ret.minSteerSpeed = -math.inf
ret.maxLateralAccel = math.inf # TODO: set to a reasonable value
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.
ret.wheelSpeedFactor = SPEED_FROM_RPM
ret.radarUnavailable = True
ret.openpilotLongitudinalControl = True
ret.steerControlType = structs.CarParams.SteerControlType.angle
return ret

40
opendbc_repo/opendbc/car/body/values.py Normal file
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from opendbc.car import Bus, CarSpecs, PlatformConfig, Platforms
from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarDocs
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = CarParams.Ecu
SPEED_FROM_RPM = 0.008587
class CarControllerParams:
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0
def __init__(self, CP):
pass
class CAR(Platforms):
COMMA_BODY = PlatformConfig(
[CarDocs("comma body", package="All", video="https://youtu.be/VT-i3yRsX2s?t=2736")],
CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
{Bus.main: 'comma_body'},
)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
bus=0,
),
],
)
DBC = CAR.create_dbc_map()

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opendbc_repo/opendbc/car/can_definitions.py Normal file
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from collections.abc import Callable
from typing import NamedTuple, Protocol
class CanData(NamedTuple):
address: int
dat: bytes
src: int
CanSendCallable = Callable[[list[CanData]], None]
class CanRecvCallable(Protocol):
def __call__(self, wait_for_one: bool = False) -> list[list[CanData]]: ...

775
opendbc_repo/opendbc/car/car.capnp Normal file
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using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
@0x8e2af1e708af8b8d;
# ******* events causing controls state machine transition *******
# IMPORTANT: This struct is to not be modified so old logs can be parsed
struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 {
name @0 :EventName;
# event types
enable @1 :Bool;
noEntry @2 :Bool;
warning @3 :Bool; # alerts presented only when enabled or soft disabling
userDisable @4 :Bool;
softDisable @5 :Bool;
immediateDisable @6 :Bool;
preEnable @7 :Bool;
permanent @8 :Bool; # alerts presented regardless of openpilot state
overrideLateral @10 :Bool;
overrideLongitudinal @9 :Bool;
enum EventName @0xbaa8c5d505f727de {
canError @0;
steerUnavailable @1;
wrongGear @4;
doorOpen @5;
seatbeltNotLatched @6;
espDisabled @7;
wrongCarMode @8;
steerTempUnavailable @9;
reverseGear @10;
buttonCancel @11;
buttonEnable @12;
pedalPressed @13; # exits active state
preEnableStandstill @73; # added during pre-enable state with brake
gasPressedOverride @108; # added when user is pressing gas with no disengage on gas
steerOverride @114;
cruiseDisabled @14;
speedTooLow @17;
outOfSpace @18;
overheat @19;
calibrationIncomplete @20;
calibrationInvalid @21;
calibrationRecalibrating @117;
controlsMismatch @22;
pcmEnable @23;
pcmDisable @24;
radarFault @26;
brakeHold @28;
parkBrake @29;
manualRestart @30;
joystickDebug @34;
longitudinalManeuver @124;
steerTempUnavailableSilent @35;
resumeRequired @36;
preDriverDistracted @37;
promptDriverDistracted @38;
driverDistracted @39;
preDriverUnresponsive @43;
promptDriverUnresponsive @44;
driverUnresponsive @45;
belowSteerSpeed @46;
lowBattery @48;
accFaulted @51;
sensorDataInvalid @52;
commIssue @53;
commIssueAvgFreq @109;
tooDistracted @54;
posenetInvalid @55;
preLaneChangeLeft @57;
preLaneChangeRight @58;
laneChange @59;
lowMemory @63;
stockAeb @64;
ldw @65;
carUnrecognized @66;
invalidLkasSetting @69;
speedTooHigh @70;
laneChangeBlocked @71;
relayMalfunction @72;
stockFcw @74;
startup @75;
startupNoCar @76;
startupNoControl @77;
startupNoSecOcKey @125;
startupMaster @78;
fcw @79;
steerSaturated @80;
belowEngageSpeed @84;
noGps @85;
wrongCruiseMode @87;
modeldLagging @89;
deviceFalling @90;
fanMalfunction @91;
cameraMalfunction @92;
cameraFrameRate @110;
processNotRunning @95;
dashcamMode @96;
selfdriveInitializing @98;
usbError @99;
cruiseMismatch @106;
canBusMissing @111;
selfdrivedLagging @112;
resumeBlocked @113;
steerTimeLimit @115;
vehicleSensorsInvalid @116;
locationdTemporaryError @103;
locationdPermanentError @118;
paramsdTemporaryError @50;
paramsdPermanentError @119;
actuatorsApiUnavailable @120;
espActive @121;
personalityChanged @122;
aeb @123;
radarCanErrorDEPRECATED @15;
communityFeatureDisallowedDEPRECATED @62;
radarCommIssueDEPRECATED @67;
driverMonitorLowAccDEPRECATED @68;
gasUnavailableDEPRECATED @3;
dataNeededDEPRECATED @16;
modelCommIssueDEPRECATED @27;
ipasOverrideDEPRECATED @33;
geofenceDEPRECATED @40;
driverMonitorOnDEPRECATED @41;
driverMonitorOffDEPRECATED @42;
calibrationProgressDEPRECATED @47;
invalidGiraffeHondaDEPRECATED @49;
invalidGiraffeToyotaDEPRECATED @60;
internetConnectivityNeededDEPRECATED @61;
whitePandaUnsupportedDEPRECATED @81;
commIssueWarningDEPRECATED @83;
focusRecoverActiveDEPRECATED @86;
neosUpdateRequiredDEPRECATED @88;
modelLagWarningDEPRECATED @93;
startupOneplusDEPRECATED @82;
startupFuzzyFingerprintDEPRECATED @97;
noTargetDEPRECATED @25;
brakeUnavailableDEPRECATED @2;
plannerErrorDEPRECATED @32;
gpsMalfunctionDEPRECATED @94;
roadCameraErrorDEPRECATED @100;
driverCameraErrorDEPRECATED @101;
wideRoadCameraErrorDEPRECATED @102;
highCpuUsageDEPRECATED @105;
startupNoFwDEPRECATED @104;
lowSpeedLockoutDEPRECATED @31;
lkasDisabledDEPRECATED @107;
soundsUnavailableDEPRECATED @56;
}
}
struct CarState {
# CAN health
canValid @26 :Bool; # invalid counter/checksums
canTimeout @40 :Bool; # CAN bus dropped out
canErrorCounter @48 :UInt32;
# process meta
cumLagMs @50 :Float32;
# car speed
vEgo @1 :Float32; # best estimate of speed
aEgo @16 :Float32; # best estimate of aCAN cceleration
vEgoRaw @17 :Float32; # unfiltered speed from wheel speed sensors
vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI
vCruise @53 :Float32; # actual set speed
vCruiseCluster @54 :Float32; # set speed to display in the UI
yawRate @22 :Float32; # best estimate of yaw rate
standstill @18 :Bool;
wheelSpeeds @2 :WheelSpeeds;
gasPressed @4 :Bool; # this is user pedal only
# brake pedal, 0.0-1.0
brake @5 :Float32; # this is user pedal only
brakePressed @6 :Bool; # this is user pedal only
regenBraking @45 :Bool; # this is user pedal only
parkingBrake @39 :Bool;
brakeHoldActive @38 :Bool;
# steering wheel
steeringAngleDeg @7 :Float32;
steeringAngleOffsetDeg @37 :Float32; # Offset between sensors in case there multiple
steeringRateDeg @15 :Float32; # optional
steeringTorque @8 :Float32; # Native CAN units, only needed on cars where it's used for control
steeringTorqueEps @27 :Float32; # Native CAN units, only needed on cars where it's used for control
steeringPressed @9 :Bool; # is the user overring the steering wheel?
steeringDisengage @58 :Bool; # more force than steeringPressed, disengages for applicable brands
steerFaultTemporary @35 :Bool;
steerFaultPermanent @36 :Bool;
steeringCurvature @64 :Float32;
invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off)
stockAeb @30 :Bool;
stockLkas @59 :Bool;
stockFcw @31 :Bool;
espDisabled @32 :Bool;
accFaulted @42 :Bool;
carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable
espActive @51 :Bool;
vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc.
lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed
blockPcmEnable @60 :Bool; # whether to allow PCM to enable this frame
lateralAvailable @61 :Bool; # lateral control is available even if cruise is faulted
cruiseFaultLateralMode @62 :Bool; # cruise is faulted but lateral control is still active
radarDisableFailed @66 :Bool;
# cruise state
cruiseState @10 :CruiseState;
# gear
gearShifter @14 :GearShifter;
# button presses
buttonEvents @11 :List(ButtonEvent);
buttonEnable @57 :Bool; # user is requesting enable, usually one frame. set if pcmCruise=False
leftBlinker @20 :Bool;
rightBlinker @21 :Bool;
genericToggle @23 :Bool;
# lock info
doorOpen @24 :Bool; # ideally includes all doors
seatbeltUnlatched @25 :Bool; # driver seatbelt
# blindspot sensors
leftBlindspot @33 :Bool; # Is there something blocking the left lane change
rightBlindspot @34 :Bool; # Is there something blocking the right lane change
fuelGauge @41 :Float32; # battery or fuel tank level from [0.0, 1.0]
charging @43 :Bool;
fuelTankLevelL @63 :Float32; # raw fuel tank level in liters (konn3kt: VW PQ Kombi_1.Tankinhalt)
batteryDetails @65 :BatteryDetails;
struct BatteryDetails {
capacity @0 :Float32;
charge @1 :Float32;
soc @2 :Float32;
temperature @3 :Float32;
heaterActive @4 :Bool;
voltage @5 :Float32;
current @6 :Float32;
power @7 :Float32;
chargingMode @8 :UInt8;
}
struct WheelSpeeds {
# optional wheel speeds
fl @0 :Float32;
fr @1 :Float32;
rl @2 :Float32;
rr @3 :Float32;
}
struct CruiseState {
enabled @0 :Bool;
speed @1 :Float32;
speedCluster @6 :Float32; # Set speed as shown on instrument cluster
available @2 :Bool;
standstill @4 :Bool;
nonAdaptive @5 :Bool;
speedLimit @7 :Float32;
speedLimitPredicative @8 :Float32;
speedOffsetDEPRECATED @3 :Float32;
}
enum GearShifter {
unknown @0;
park @1;
drive @2;
neutral @3;
reverse @4;
sport @5;
low @6;
brake @7;
eco @8;
manumatic @9;
}
# send on change
struct ButtonEvent {
pressed @0 :Bool;
type @1 :Type;
enum Type {
unknown @0;
leftBlinker @1;
rightBlinker @2;
accelCruise @3;
decelCruise @4;
cancel @5;
lkas @6;
altButton2 @7;
mainCruise @8;
setCruise @9;
resumeCruise @10;
gapAdjustCruise @11;
}
}
# deprecated
errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
gasDEPRECATED @3 :Float32; # this is user pedal only
brakeLightsDEPRECATED @19 :Bool;
steeringRateLimitedDEPRECATED @29 :Bool;
canMonoTimesDEPRECATED @12: List(UInt64);
canRcvTimeoutDEPRECATED @49 :Bool;
eventsDEPRECATED @13 :List(OnroadEventDEPRECATED);
clutchPressedDEPRECATED @28 :Bool;
engineRpmDEPRECATED @46 :Float32;
}
# ******* radar state @ 20hz *******
struct RadarData @0x888ad6581cf0aacb {
errors @3 :Error;
points @1 :List(RadarPoint);
struct Error {
canError @0 :Bool;
radarFault @1 :Bool;
wrongConfig @2 :Bool;
radarUnavailableTemporary @3 :Bool; # radar data is temporarily unavailable due to conditions the car sets
}
# similar to LiveTracks
# is one timestamp valid for all? I think so
struct RadarPoint {
trackId @0 :UInt64; # no trackId reuse
# these 3 are the minimum required
dRel @1 :Float32; # m from the front bumper of the car
yRel @2 :Float32; # m
vRel @3 :Float32; # m/s
# these are optional and valid if they are not NaN
aRel @4 :Float32; # m/s^2
yvRel @5 :Float32; # m/s
# some radars flag measurements VS estimates
measured @6 :Bool;
}
enum ErrorDEPRECATED {
canError @0;
fault @1;
wrongConfig @2;
}
# deprecated
canMonoTimesDEPRECATED @2 :List(UInt64);
errorsDEPRECATED @0 :List(ErrorDEPRECATED);
}
# ******* car controls @ 100hz *******
struct CarControl {
# must be true for any actuator commands to work
enabled @0 :Bool;
latActive @11: Bool;
longActive @12: Bool;
# Final actuator commands
actuators @6 :Actuators;
# Blinker controls
leftBlinker @15: Bool;
rightBlinker @16: Bool;
orientationNED @13 :List(Float32);
angularVelocity @14 :List(Float32);
currentCurvature @17 :Float32; # From vehicle model
curvatureControllerActive @18: Bool;
rollCompensation @19 :Float32;
steerLimited @20: Bool;
forceRHDForBSM @21: Bool;
longComfortMode @22: Bool;
cruiseControl @4 :CruiseControl;
hudControl @5 :HUDControl;
struct Actuators {
# lateral commands, mutually exclusive
torque @2: Float32; # [0.0, 1.0]
steeringAngleDeg @3: Float32;
curvature @7: Float32;
# longitudinal commands
accel @4: Float32; # m/s^2
longControlState @5: LongControlState;
# these are only for logging the actual values sent to the car over CAN
gas @0: Float32; # [0.0, 1.0]
brake @1: Float32; # [0.0, 1.0]
torqueOutputCan @8: Float32; # value sent over can to the car
speed @6: Float32; # m/s
enum LongControlState @0xe40f3a917d908282{
off @0;
pid @1;
stopping @2;
starting @3;
}
}
struct CruiseControl {
cancel @0: Bool;
resume @1: Bool;
override @4: Bool;
speedLimit @5: Bool;
speedLimitPredicative @6: Bool;
speedLimitPredReactToSL @7: Bool;
speedLimitPredReactToCurves @8: Bool;
speedOverrideDEPRECATED @2: Float32;
accelOverrideDEPRECATED @3: Float32;
}
struct HUDControl {
speedVisible @0: Bool;
setSpeed @1: Float32;
lanesVisible @2: Bool;
leadVisible @3: Bool;
visualAlert @4: VisualAlert;
rightLaneVisible @6: Bool;
leftLaneVisible @7: Bool;
rightLaneDepart @8: Bool;
leftLaneDepart @9: Bool;
leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
leadFollowTime @11: Float32;
leadDistance @12: Float32;
driverUnresponsive @13: Bool;
# not used with the dash, TODO: separate structs for dash UI and device UI
audibleAlert @5: AudibleAlert;
enum VisualAlert {
# these are the choices from the Honda
# map as good as you can for your car
none @0;
fcw @1;
steerRequired @2;
brakePressed @3;
wrongGear @4;
seatbeltUnbuckled @5;
speedTooHigh @6;
ldw @7;
}
enum AudibleAlert {
none @0;
engage @1;
disengage @2;
refuse @3;
warningSoft @4;
warningImmediate @5;
prompt @6;
promptRepeat @7;
promptDistracted @8;
}
}
gasDEPRECATED @1 :Float32;
brakeDEPRECATED @2 :Float32;
steeringTorqueDEPRECATED @3 :Float32;
activeDEPRECATED @7 :Bool;
rollDEPRECATED @8 :Float32;
pitchDEPRECATED @9 :Float32;
actuatorsOutputDEPRECATED @10 :Actuators;
}
struct CarOutput {
# Any car specific rate limits or quirks applied by
# the CarController are reflected in actuatorsOutput
# and matches what is sent to the car
actuatorsOutput @0 :CarControl.Actuators;
}
# ****** car param ******
struct CarParams {
brand @0 :Text; # Designates which group a platform falls under. Each folder in opendbc/car is assigned one brand string
carFingerprint @1 :Text;
fuzzyFingerprint @55 :Bool;
notCar @66 :Bool; # flag for non-car robotics platforms
pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state?
enableBsm @56 :Bool; # blind spot monitoring
flags @64 :UInt32; # flags for car specific quirks
alphaLongitudinalAvailable @71 :Bool;
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
steerAtStandstill @77 :Bool; # is steering available at standstill? just check if it faults
safetyConfigs @62 :List(SafetyConfig);
alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
# Car docs fields, not used for control
maxLateralAccel @68 :Float32;
autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically
# things about the car in the manual
mass @17 :Float32; # [kg] curb weight: all fluids no cargo
wheelbase @18 :Float32; # [m] distance from rear axle to front axle
centerToFront @19 :Float32; # [m] distance from center of mass to front axle
steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle
steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (usually 0)
# things we can derive
rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia
tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear]
tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
longitudinalTuning @25 :LongitudinalPIDTuning;
lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indiDEPRECATED @27 :LateralINDITuning;
lqrDEPRECATED @40 :LateralLQRTuning;
torque @67 :LateralTorqueTuning;
}
steerLimitAlert @28 :Bool;
steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued
vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
steerControlType @34 :SteerControlType;
radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
startAccel @32 :Float32; # Required acceleration to get car moving
startingState @70 :Bool; # Does this car make use of special starting state
steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
dashcamOnly @41: Bool;
dashcamOnlyReason @78 :DashcamOnlyReason;
passive @73: Bool; # is openpilot in control?
transmissionType @43 :TransmissionType;
carFw @44 :List(CarFw);
radarDelay @74 :Float32;
fingerprintSource @49: FingerprintSource;
networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
secOcRequired @75 :Bool; # Car requires SecOC message authentication to operate
secOcKeyAvailable @76 :Bool; # Stored SecOC key loaded from params
struct SafetyConfig {
safetyModel @0 :SafetyModel;
safetyParam @3 :UInt16;
safetyParamDEPRECATED @1 :Int16;
safetyParam2DEPRECATED @2 :UInt32;
}
struct LateralParams {
torqueBP @0 :List(Int32);
torqueV @1 :List(Int32);
}
struct LateralPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @4 :Float32;
}
struct LateralTorqueTuning {
friction @3 :Float32;
steeringAngleDeadzoneDeg @5 :Float32;
latAccelFactor @6 :Float32;
latAccelOffset @7 :Float32;
useSteeringAngleDEPRECATED @0 :Bool;
kpDEPRECATED @1 :Float32;
kiDEPRECATED @2 :Float32;
kfDEPRECATED @4 :Float32;
kdDEPRECATED @8 : Float32;
}
struct LongitudinalPIDTuning {
kpBP @0 :List(Float32);
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kfDEPRECATED @6 :Float32;
deadzoneBPDEPRECATED @4 :List(Float32);
deadzoneVDEPRECATED @5 :List(Float32);
}
struct LateralINDITuning {
outerLoopGainBP @4 :List(Float32);
outerLoopGainV @5 :List(Float32);
innerLoopGainBP @6 :List(Float32);
innerLoopGainV @7 :List(Float32);
timeConstantBP @8 :List(Float32);
timeConstantV @9 :List(Float32);
actuatorEffectivenessBP @10 :List(Float32);
actuatorEffectivenessV @11 :List(Float32);
outerLoopGainDEPRECATED @0 :Float32;
innerLoopGainDEPRECATED @1 :Float32;
timeConstantDEPRECATED @2 :Float32;
actuatorEffectivenessDEPRECATED @3 :Float32;
}
struct LateralLQRTuning {
scale @0 :Float32;
ki @1 :Float32;
dcGain @2 :Float32;
# State space system
a @3 :List(Float32);
b @4 :List(Float32);
c @5 :List(Float32);
k @6 :List(Float32); # LQR gain
l @7 :List(Float32); # Kalman gain
}
enum SafetyModel {
silent @0;
hondaNidec @1;
toyota @2;
elm327 @3;
gm @4;
hondaBoschGiraffe @5;
ford @6;
cadillac @7;
hyundai @8;
chrysler @9;
tesla @10;
subaru @11;
gmPassive @12;
mazda @13;
nissan @14;
volkswagen @15;
toyotaIpas @16;
allOutput @17;
gmAscm @18;
noOutput @19; # like silent but without silent CAN TXs
hondaBosch @20;
volkswagenPq @21;
subaruPreglobal @22; # pre-Global platform
hyundaiLegacy @23;
hyundaiCommunity @24;
volkswagenMlb @25;
hongqi @26;
body @27;
hyundaiCanfd @28;
volkswagenMqbEvo @29;
chryslerCusw @30;
psa @31;
fcaGiorgio @32;
rivian @33;
volkswagenMeb @34;
}
enum SteerControlType {
torque @0;
angle @1;
curvatureDEPRECATED @2;
}
enum TransmissionType {
unknown @0;
automatic @1; # Traditional auto, including DSG
manual @2; # True "stick shift" only
direct @3; # Electric vehicle or other direct drive
cvt @4;
}
enum DashcamOnlyReason {
unknown @0;
radarDisableEngineOn @1;
}
struct CarFw {
ecu @0 :Ecu;
fwVersion @1 :Data;
address @2 :UInt32;
subAddress @3 :UInt8;
responseAddress @4 :UInt32;
request @5 :List(Data);
brand @6 :Text;
bus @7 :UInt8;
logging @8 :Bool;
obdMultiplexing @9 :Bool;
}
enum Ecu {
eps @0;
abs @1;
fwdRadar @2;
fwdCamera @3;
engine @4;
unknown @5;
transmission @8; # Transmission Control Module
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer
inverter @25; # inverter for electric engine
srs @9; # airbag
gateway @10; # can gateway
hud @11; # heads up display
combinationMeter @12; # instrument cluster
electricBrakeBooster @15;
shiftByWire @16;
adas @19;
cornerRadar @21;
hvac @20;
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.
epb @22; # electronic parking brake
telematics @23;
body @24; # body control module
# Toyota only
dsu @6;
# Honda only
vsa @13; # Vehicle Stability Assist
programmedFuelInjection @14;
debug @17;
}
enum FingerprintSource {
can @0;
fw @1;
fixed @2;
}
enum NetworkLocation {
fwdCamera @0; # Standard/default integration at LKAS camera
gateway @1; # Integration at vehicle's CAN gateway
}
enableGasInterceptorDEPRECATED @2 :Bool;
enableCameraDEPRECATED @4 :Bool;
enableApgsDEPRECATED @6 :Bool;
steerRateCostDEPRECATED @33 :Float32;
isPandaBlackDEPRECATED @39 :Bool;
hasStockCameraDEPRECATED @57 :Bool;
safetyParamDEPRECATED @10 :Int16;
safetyModelDEPRECATED @9 :SafetyModel;
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
minSpeedCanDEPRECATED @51 :Float32;
communityFeatureDEPRECATED @46: Bool;
startingAccelRateDEPRECATED @53 :Float32;
steerMaxBPDEPRECATED @11 :List(Float32);
steerMaxVDEPRECATED @12 :List(Float32);
gasMaxBPDEPRECATED @13 :List(Float32);
gasMaxVDEPRECATED @14 :List(Float32);
brakeMaxBPDEPRECATED @15 :List(Float32);
brakeMaxVDEPRECATED @16 :List(Float32);
directAccelControlDEPRECATED @30 :Bool;
maxSteeringAngleDegDEPRECATED @54 :Float32;
longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32;
stoppingControlDEPRECATED @31 :Bool; # Does the car allow full control even at lows speeds when stopping
radarTimeStepDEPRECATED @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
enableDsuDEPRECATED @5 :Bool; # driving support unit
}

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opendbc_repo/opendbc/car/car_helpers.py Normal file
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import os
import time
from opendbc.car import gen_empty_fingerprint
from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
from opendbc.car.carlog import carlog
from opendbc.car.structs import CarParams, CarParamsT
from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from opendbc.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
from opendbc.car.mock.values import CAR as MOCK
from opendbc.car.values import BRANDS
from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
from opendbc.iqpilot.car.interfaces import setup_interfaces as iqpilot_interfaces
FRAME_FINGERPRINT = 100 # 1s
def load_interfaces(brand_names):
ret = {}
for brand_name in brand_names:
path = f'opendbc.car.{brand_name}'
CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
for model_name in brand_names[brand_name]:
ret[model_name] = CarInterface
return ret
def _get_interface_names() -> dict[str, list[str]]:
# returns a dict of brand name and its respective models
brand_names = {}
for brand in BRANDS:
brand_name = brand.__module__.split('.')[-2]
brand_names[brand_name] = [model.value for model in brand]
return brand_names
# imports from directory opendbc/car/<name>/
interface_names = _get_interface_names()
interfaces = load_interfaces(interface_names)
def can_fingerprint(can_recv: CanRecvCallable) -> tuple[str | None, dict[int, dict]]:
finger = gen_empty_fingerprint()
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
frame = 0
car_fingerprint = None
done = False
while not done:
# can_recv(wait_for_one=True) may return zero or multiple packets, so we increment frame for each one we receive
can_packets = can_recv(wait_for_one=True)
for can_packet in can_packets:
for can in can_packet:
# The fingerprint dict is generated for all buses, this way the car interface
# can use it to detect a (valid) multipanda setup and initialize accordingly
if can.src < 128:
if can.src not in finger:
finger[can.src] = {}
finger[can.src][can.address] = len(can.dat)
for b in candidate_cars:
# Ignore extended messages and VIN query response.
if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
# if we only have one car choice and the time since we got our first
# message has elapsed, exit
for b in candidate_cars:
if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
# fingerprint done
car_fingerprint = candidate_cars[b][0]
# bail if no cars left or we've been waiting for more than 2s
failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
succeeded = car_fingerprint is not None
done = failed or succeeded
frame += 1
return car_fingerprint, finger
# **** for use live only ****
def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int,
cached_params: CarParamsT | None,
fixed_fingerprint: str | None) -> tuple[str | None, dict, str, list[CarParams.CarFw], CarParams.FingerprintSource, bool]:
fixed_fingerprint = fixed_fingerprint or os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) or bool(fixed_fingerprint)
disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
ecu_rx_addrs = set()
start_time = time.monotonic()
if not skip_fw_query:
if cached_params is not None and cached_params.brand != "mock" and len(cached_params.carFw) > 0 and \
cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
carlog.warning("Using cached CarParams")
vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
car_fw = list(cached_params.carFw)
cached = True
else:
carlog.warning("Getting VIN & FW versions")
# enable OBD multiplexing for VIN query
# NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
set_obd_multiplexing(True)
# VIN query only reliably works through OBDII
vin_rx_addr, vin_rx_bus, vin = get_vin(can_recv, can_send, (0, 1))
ecu_rx_addrs = get_present_ecus(can_recv, can_send, set_obd_multiplexing, num_pandas=num_pandas)
car_fw = get_fw_versions_ordered(can_recv, can_send, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
cached = False
exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
else:
vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
exact_fw_match, fw_candidates, car_fw = True, set(), []
cached = False
if not is_valid_vin(vin):
carlog.error({"event": "Malformed VIN", "vin": vin})
vin = VIN_UNKNOWN
carlog.warning("VIN %s", vin)
# disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
set_obd_multiplexing(False)
fw_query_time = time.monotonic() - start_time
# CAN fingerprint
# drain CAN socket so we get the latest messages
can_recv()
car_fingerprint, finger = can_fingerprint(can_recv)
exact_match = True
source = CarParams.FingerprintSource.can
# If FW query returns exactly 1 candidate, use it
if len(fw_candidates) == 1:
car_fingerprint = list(fw_candidates)[0]
source = CarParams.FingerprintSource.fw
exact_match = exact_fw_match
if fixed_fingerprint:
car_fingerprint = fixed_fingerprint
source = CarParams.FingerprintSource.fixed
carlog.error({"event": "fingerprinted", "car_fingerprint": str(car_fingerprint), "source": source, "fuzzy": not exact_match,
"cached": cached, "fw_count": len(car_fw), "ecu_responses": list(ecu_rx_addrs), "vin_rx_addr": vin_rx_addr,
"vin_rx_bus": vin_rx_bus, "fingerprints": repr(finger), "fw_query_time": fw_query_time})
return car_fingerprint, finger, vin, car_fw, source, exact_match
def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool,
is_release: bool, num_pandas: int = 1, cached_params: CarParamsT | None = None,
fixed_fingerprint: str | None = None, init_params_list_iq: list[dict[str, str]] | None = None, is_release_iq: bool = False):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params,
fixed_fingerprint)
if candidate is None:
carlog.error({"event": "car doesn't match any fingerprints", "fingerprints": repr(fingerprints)})
candidate = "MOCK"
CarInterface = interfaces[candidate]
CP: CarParams = CarInterface.get_params(candidate, fingerprints, car_fw, alpha_long_allowed, is_release, docs=False)
CP.carVin = vin
CP.carFw = car_fw
CP.fingerprintSource = source
CP.fuzzyFingerprint = not exact_match
CP_IQ = CarInterface.get_params_iq(CP, candidate, fingerprints, car_fw, alpha_long_allowed, is_release_iq, docs=False)
iqpilot_interfaces(CarInterface, CP, CP_IQ, init_params_list_iq, can_recv, can_send)
return interfaces[CP.carFingerprint](CP, CP_IQ)
def get_demo_car_params():
platform = MOCK.MOCK
CarInterface = interfaces[platform]
CP = CarInterface.get_non_essential_params(platform)
return CP

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opendbc_repo/opendbc/car/carlog.py Normal file
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import os
import logging
# set up logging
LOGPRINT = os.environ.get('LOGPRINT', 'INFO').upper()
carlog = logging.getLogger('carlog')
carlog.setLevel(LOGPRINT)
carlog.propagate = False
handler = logging.StreamHandler()
handler.setFormatter(logging.Formatter('%(message)s'))
carlog.addHandler(handler)

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opendbc_repo/opendbc/car/ccp.py Normal file
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import sys
import time
import struct
from enum import IntEnum, Enum
from dataclasses import dataclass
@dataclass
class ExchangeStationIdsReturn:
id_length: int
data_type: int
available: int
protected: int
@dataclass
class GetDaqListSizeReturn:
list_size: int
first_pid: int
@dataclass
class GetSessionStatusReturn:
status: int
info: int | None
@dataclass
class DiagnosticServiceReturn:
length: int
type: int
@dataclass
class ActionServiceReturn:
length: int
type: int
class COMMAND_CODE(IntEnum):
CONNECT = 0x01
SET_MTA = 0x02
DNLOAD = 0x03
UPLOAD = 0x04
TEST = 0x05
START_STOP = 0x06
DISCONNECT = 0x07
START_STOP_ALL = 0x08
GET_ACTIVE_CAL_PAGE = 0x09
SET_S_STATUS = 0x0C
GET_S_STATUS = 0x0D
BUILD_CHKSUM = 0x0E
SHORT_UP = 0x0F
CLEAR_MEMORY = 0x10
SELECT_CAL_PAGE = 0x11
GET_SEED = 0x12
UNLOCK = 0x13
GET_DAQ_SIZE = 0x14
SET_DAQ_PTR = 0x15
WRITE_DAQ = 0x16
EXCHANGE_ID = 0x17
PROGRAM = 0x18
MOVE = 0x19
GET_CCP_VERSION = 0x1B
DIAG_SERVICE = 0x20
ACTION_SERVICE = 0x21
PROGRAM_6 = 0x22
DNLOAD_6 = 0x23
COMMAND_RETURN_CODES = {
0x00: "acknowledge / no error",
0x01: "DAQ processor overload",
0x10: "command processor busy",
0x11: "DAQ processor busy",
0x12: "internal timeout",
0x18: "key request",
0x19: "session status request",
0x20: "cold start request",
0x21: "cal. data init. request",
0x22: "DAQ list init. request",
0x23: "code update request",
0x30: "unknown command",
0x31: "command syntax",
0x32: "parameter(s) out of range",
0x33: "access denied",
0x34: "overload",
0x35: "access locked",
0x36: "resource/function not available",
}
class BYTE_ORDER(Enum):
LITTLE_ENDIAN = '<'
BIG_ENDIAN = '>'
class CommandTimeoutError(Exception):
pass
class CommandCounterError(Exception):
pass
class CommandResponseError(Exception):
def __init__(self, message, return_code):
super().__init__()
self.message = message
self.return_code = return_code
def __str__(self):
return self.message
class CcpClient:
def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int=0, byte_order: BYTE_ORDER=BYTE_ORDER.BIG_ENDIAN, debug=False):
self.tx_addr = tx_addr
self.rx_addr = rx_addr
self.can_bus = bus
self.byte_order = byte_order
self.debug = debug
self._panda = panda
self._command_counter = -1
def _send_cro(self, cmd: int, dat: bytes = b"") -> None:
self._command_counter = (self._command_counter + 1) & 0xFF
tx_data = (bytes([cmd, self._command_counter]) + dat).ljust(8, b"\x00")
if self.debug:
print(f"CAN-TX: {hex(self.tx_addr)} - 0x{bytes.hex(tx_data)}")
assert len(tx_data) == 8, "data is not 8 bytes"
self._panda.can_clear(self.can_bus)
self._panda.can_clear(0xFFFF)
self._panda.can_send(self.tx_addr, tx_data, self.can_bus)
def _recv_dto(self, timeout: float) -> bytes:
start_time = time.time()
while time.time() - start_time < timeout:
msgs = self._panda.can_recv() or []
if len(msgs) >= 256:
print("CAN RX buffer overflow!!!", file=sys.stderr)
for rx_addr, rx_data_bytearray, rx_bus in msgs:
if rx_bus == self.can_bus and rx_addr == self.rx_addr:
rx_data = bytes(rx_data_bytearray)
if self.debug:
print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
assert len(rx_data) == 8, f"message length not 8: {len(rx_data)}"
pid = rx_data[0]
if pid == 0xFF or pid == 0xFE:
err = rx_data[1]
err_desc = COMMAND_RETURN_CODES.get(err, "unknown error")
ctr = rx_data[2]
dat = rx_data[3:]
if pid == 0xFF and self._command_counter != ctr:
raise CommandCounterError(f"counter invalid: {ctr} != {self._command_counter}")
if err >= 0x10 and err <= 0x12:
if self.debug:
print(f"CCP-WAIT: {hex(err)} - {err_desc}")
start_time = time.time()
continue
if err >= 0x30:
raise CommandResponseError(f"{hex(err)} - {err_desc}", err)
else:
dat = rx_data[1:]
return dat
time.sleep(0.001)
raise CommandTimeoutError("timeout waiting for response")
# commands
def connect(self, station_addr: int) -> None:
if station_addr > 65535:
raise ValueError("station address must be less than 65536")
# NOTE: station address is always little endian
self._send_cro(COMMAND_CODE.CONNECT, struct.pack("<H", station_addr))
self._recv_dto(0.025)
def exchange_station_ids(self, device_id_info: bytes = b"") -> ExchangeStationIdsReturn:
self._send_cro(COMMAND_CODE.EXCHANGE_ID, device_id_info)
resp = self._recv_dto(0.025)
return ExchangeStationIdsReturn(id_length=resp[0], data_type=resp[1], available=resp[2], protected=resp[3])
def get_seed(self, resource_mask: int) -> bytes:
if resource_mask > 255:
raise ValueError("resource mask must be less than 256")
self._send_cro(COMMAND_CODE.GET_SEED, bytes([resource_mask]))
resp = self._recv_dto(0.025)
# protected = resp[0] == 0
seed = resp[1:]
return seed
def unlock(self, key: bytes) -> int:
if len(key) > 6:
raise ValueError("max key size is 6 bytes")
self._send_cro(COMMAND_CODE.UNLOCK, key)
resp = self._recv_dto(0.025)
status = resp[0]
return status
def set_memory_transfer_address(self, mta_num: int, addr_ext: int, addr: int) -> None:
if mta_num > 255:
raise ValueError("MTA number must be less than 256")
if addr_ext > 255:
raise ValueError("address extension must be less than 256")
self._send_cro(COMMAND_CODE.SET_MTA, bytes([mta_num, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
self._recv_dto(0.025)
def download(self, data: bytes) -> int:
if len(data) > 5:
raise ValueError("max data size is 5 bytes")
self._send_cro(COMMAND_CODE.DNLOAD, bytes([len(data)]) + data)
resp = self._recv_dto(0.025)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
def download_6_bytes(self, data: bytes) -> int:
if len(data) != 6:
raise ValueError("data size must be 6 bytes")
self._send_cro(COMMAND_CODE.DNLOAD_6, data)
resp = self._recv_dto(0.025)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
def upload(self, size: int) -> bytes:
if size > 5:
raise ValueError("size must be less than 6")
self._send_cro(COMMAND_CODE.UPLOAD, bytes([size]))
return self._recv_dto(0.025)[:size]
def short_upload(self, size: int, addr_ext: int, addr: int) -> bytes:
if size > 5:
raise ValueError("size must be less than 6")
if addr_ext > 255:
raise ValueError("address extension must be less than 256")
self._send_cro(COMMAND_CODE.SHORT_UP, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
return self._recv_dto(0.025)[:size]
def select_calibration_page(self) -> None:
self._send_cro(COMMAND_CODE.SELECT_CAL_PAGE)
self._recv_dto(0.025)
def get_daq_list_size(self, list_num: int, can_id: int = 0) -> GetDaqListSizeReturn:
if list_num > 255:
raise ValueError("list number must be less than 256")
self._send_cro(COMMAND_CODE.GET_DAQ_SIZE, bytes([list_num, 0]) + struct.pack(f"{self.byte_order.value}I", can_id))
resp = self._recv_dto(0.025)
return GetDaqListSizeReturn(list_size=resp[0], first_pid=resp[1])
def set_daq_list_pointer(self, list_num: int, odt_num: int, element_num: int) -> None:
if list_num > 255:
raise ValueError("list number must be less than 256")
if odt_num > 255:
raise ValueError("ODT number must be less than 256")
if element_num > 255:
raise ValueError("element number must be less than 256")
self._send_cro(COMMAND_CODE.SET_DAQ_PTR, bytes([list_num, odt_num, element_num]))
self._recv_dto(0.025)
def write_daq_list_entry(self, size: int, addr_ext: int, addr: int) -> None:
if size > 255:
raise ValueError("size must be less than 256")
if addr_ext > 255:
raise ValueError("address extension must be less than 256")
self._send_cro(COMMAND_CODE.WRITE_DAQ, bytes([size, addr_ext]) + struct.pack(f"{self.byte_order.value}I", addr))
self._recv_dto(0.025)
def start_stop_transmission(self, mode: int, list_num: int, odt_num: int, channel_num: int, rate_prescaler: int = 0) -> None:
if mode > 255:
raise ValueError("mode must be less than 256")
if list_num > 255:
raise ValueError("list number must be less than 256")
if odt_num > 255:
raise ValueError("ODT number must be less than 256")
if channel_num > 255:
raise ValueError("channel number must be less than 256")
if rate_prescaler > 65535:
raise ValueError("rate prescaler must be less than 65536")
self._send_cro(COMMAND_CODE.START_STOP, bytes([mode, list_num, odt_num, channel_num]) + struct.pack(f"{self.byte_order.value}H", rate_prescaler))
self._recv_dto(0.025)
def disconnect(self, station_addr: int, temporary: bool = False) -> None:
if station_addr > 65535:
raise ValueError("station address must be less than 65536")
# NOTE: station address is always little endian
self._send_cro(COMMAND_CODE.DISCONNECT, bytes([int(not temporary), 0x00]) + struct.pack("<H", station_addr))
self._recv_dto(0.025)
def set_session_status(self, status: int) -> None:
if status > 255:
raise ValueError("status must be less than 256")
self._send_cro(COMMAND_CODE.SET_S_STATUS, bytes([status]))
self._recv_dto(0.025)
def get_session_status(self) -> GetSessionStatusReturn:
self._send_cro(COMMAND_CODE.GET_S_STATUS)
resp = self._recv_dto(0.025)
info = resp[2] if resp[1] else None
return GetSessionStatusReturn(status=resp[0], info=info)
def build_checksum(self, size: int) -> bytes:
self._send_cro(COMMAND_CODE.BUILD_CHKSUM, struct.pack(f"{self.byte_order.value}I", size))
resp = self._recv_dto(30.0)
chksum_size = resp[0]
assert chksum_size <= 4, "checksum more than 4 bytes"
chksum = resp[1:1+chksum_size]
return chksum
def clear_memory(self, size: int) -> None:
self._send_cro(COMMAND_CODE.CLEAR_MEMORY, struct.pack(f"{self.byte_order.value}I", size))
self._recv_dto(30.0)
def program(self, size: int, data: bytes) -> int:
if size > 5:
raise ValueError("size must be less than 6")
if len(data) > 5:
raise ValueError("max data size is 5 bytes")
self._send_cro(COMMAND_CODE.PROGRAM, bytes([size]) + data)
resp = self._recv_dto(0.1)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
def program_6_bytes(self, data: bytes) -> int:
if len(data) != 6:
raise ValueError("data size must be 6 bytes")
self._send_cro(COMMAND_CODE.PROGRAM_6, data)
resp = self._recv_dto(0.1)
# mta_addr_ext = resp[0]
mta_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return mta_addr
def move_memory_block(self, size: int) -> None:
self._send_cro(COMMAND_CODE.MOVE, struct.pack(f"{self.byte_order.value}I", size))
self._recv_dto(0.025)
def diagnostic_service(self, service_num: int, data: bytes = b"") -> DiagnosticServiceReturn:
if service_num > 65535:
raise ValueError("service number must be less than 65536")
if len(data) > 4:
raise ValueError("max data size is 4 bytes")
self._send_cro(COMMAND_CODE.DIAG_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data)
resp = self._recv_dto(0.025)
return DiagnosticServiceReturn(length=resp[0], type=resp[1])
def action_service(self, service_num: int, data: bytes = b"") -> ActionServiceReturn:
if service_num > 65535:
raise ValueError("service number must be less than 65536")
if len(data) > 4:
raise ValueError("max data size is 4 bytes")
self._send_cro(COMMAND_CODE.ACTION_SERVICE, struct.pack(f"{self.byte_order.value}H", service_num) + data)
resp = self._recv_dto(0.025)
return ActionServiceReturn(length=resp[0], type=resp[1])
def test_availability(self, station_addr: int) -> None:
if station_addr > 65535:
raise ValueError("station address must be less than 65536")
# NOTE: station address is always little endian
self._send_cro(COMMAND_CODE.TEST, struct.pack("<H", station_addr))
self._recv_dto(0.025)
def start_stop_synchronised_transmission(self, mode: int) -> None:
if mode > 255:
raise ValueError("mode must be less than 256")
self._send_cro(COMMAND_CODE.START_STOP_ALL, bytes([mode]))
self._recv_dto(0.025)
def get_active_calibration_page(self):
self._send_cro(COMMAND_CODE.GET_ACTIVE_CAL_PAGE)
resp = self._recv_dto(0.025)
# cal_addr_ext = resp[0]
cal_addr = struct.unpack(f"{self.byte_order.value}I", resp[1:5])[0]
return cal_addr
def get_version(self, desired_version: float = 2.1) -> float:
major, minor = map(int, str(desired_version).split("."))
self._send_cro(COMMAND_CODE.GET_CCP_VERSION, bytes([major, minor]))
resp = self._recv_dto(0.025)
return float(f"{resp[0]}.{resp[1]}")

0
opendbc_repo/opendbc/car/chrysler/__init__.py Normal file
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96
opendbc_repo/opendbc/car/chrysler/carcontroller.py Normal file
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from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL
from opendbc.car.lateral import apply_meas_steer_torque_limits
from opendbc.car.chrysler import chryslercan
from opendbc.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags, RAM_DT
from opendbc.car.interfaces import CarControllerBase
from opendbc.iqpilot.car.chrysler.carcontroller_ext import CarControllerExt
from opendbc.iqpilot.car.chrysler.aol import AolCarController
from opendbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
class CarController(CarControllerBase, AolCarController, CarControllerExt):
def __init__(self, dbc_names, CP, CP_IQ):
CarControllerBase.__init__(self, dbc_names, CP, CP_IQ)
AolCarController.__init__(self)
CarControllerExt.__init__(self, CP, CP_IQ)
self.apply_torque_last = 0
self.hud_count = 0
self.last_lkas_falling_edge = 0
self.lkas_control_bit_prev = False
self.last_button_frame = 0
self.packer = CANPacker(dbc_names[Bus.pt])
self.params = CarControllerParams(CP)
def update(self, CC, CC_IQ, CS, now_nanos):
AolCarController.update(self, CC, CC_IQ, CS)
can_sends = []
lkas_active = CC.latActive and self.lkas_control_bit_prev
# cruise buttons
if (self.frame - self.last_button_frame) * DT_CTRL > 0.05:
das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
# ACC cancellation
if CC.cruiseControl.cancel:
self.last_button_frame = self.frame
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
# ACC resume from standstill
elif CC.cruiseControl.resume:
self.last_button_frame = self.frame
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
# HUD alerts
if self.frame % 25 == 0:
if CS.lkas_car_model != -1:
can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
self.hud_count, CS.lkas_car_model, CS.auto_high_beam, self.aol))
self.hud_count += 1
# steering
if self.frame % self.params.STEER_STEP == 0:
# TODO: can we make this more sane? why is it different for all the cars?
lkas_control_bit = self.lkas_control_bit_prev
if self.CP_IQ.flags & ChryslerFlagsIQ.NO_MIN_STEERING_SPEED or self.CP.carFingerprint in RAM_DT:
lkas_control_bit = CarControllerExt.get_lkas_control_bit(self, CS, CC, lkas_control_bit)
elif CS.out.vEgo > self.CP.minSteerSpeed:
lkas_control_bit = True
elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
lkas_control_bit = False
elif self.CP.carFingerprint in RAM_CARS:
if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
lkas_control_bit = False
# EPS faults if LKAS re-enables too quickly
lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
if not lkas_control_bit and self.lkas_control_bit_prev:
self.last_lkas_falling_edge = self.frame
self.lkas_control_bit_prev = lkas_control_bit
# steer torque
new_torque = int(round(CC.actuators.torque * self.params.STEER_MAX))
apply_torque = apply_meas_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorqueEps, self.params)
if not lkas_active or not lkas_control_bit:
apply_torque = 0
self.apply_torque_last = apply_torque
can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_torque), lkas_control_bit))
if self.frame % 10 == 0 and self.CP.carFingerprint not in RAM_CARS:
can_sends.append(AolCarController.create_lkas_heartbit(self.packer, CS.lkas_heartbit, self.aol))
self.frame += 1
new_actuators = CC.actuators.as_builder()
new_actuators.torque = self.apply_torque_last / self.params.STEER_MAX
new_actuators.torqueOutputCan = self.apply_torque_last
return new_actuators, can_sends

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opendbc_repo/opendbc/car/chrysler/carstate.py Normal file
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from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs
from opendbc.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.interfaces import CarStateBase
from opendbc.iqpilot.car.chrysler.carstate_ext import CarStateExt
from opendbc.iqpilot.car.chrysler.aol import AolCarState
ButtonType = structs.CarState.ButtonEvent.Type
class CarState(CarStateBase, AolCarState, CarStateExt):
def __init__(self, CP, CP_IQ):
CarStateBase.__init__(self, CP, CP_IQ)
AolCarState.__init__(self, CP, CP_IQ)
CarStateExt.__init__(self, CP, CP_IQ)
self.CP = CP
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
self.auto_high_beam = 0
self.button_counter = 0
self.lkas_car_model = -1
if CP.carFingerprint in RAM_CARS:
self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
else:
self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
self.distance_button = 0
def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
ret = structs.CarState()
ret_iq = structs.IQCarState()
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"],
cp.vl["BCM_1"]["DOOR_OPEN_RL"],
cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
# brake pedal
ret.brake = 0
ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch
# gas pedal
ret.gasPressed = cp.vl["ECM_5"]["Accelerator_Position"] > 1e-5
# car speed
if self.CP.carFingerprint in RAM_CARS:
ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
else:
ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = not ret.vEgoRaw > 0.001
# button presses
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
# steering wheel
ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
# cruise state
cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2) # 1 NormalCCOn and 2 NormalCCSet
ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
if self.CP.carFingerprint in RAM_CARS:
# Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
else:
ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
# blindspot sensors
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
AolCarState.update_aol(self, ret, can_parsers)
CarStateExt.update(self, ret, ret_iq, can_parsers)
ret.buttonEvents = [
*create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
*create_button_events(self.lkas_button, self.prev_lkas_button, {1: ButtonType.lkas}),
*self.button_events,
]
return ret, ret_iq
@staticmethod
def get_can_parsers(CP, CP_IQ):
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
}

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opendbc_repo/opendbc/car/chrysler/chryslercan.py Normal file
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from opendbc.car import structs
from opendbc.car.crc import CRC8J1850
from opendbc.car.chrysler.values import RAM_CARS
GearShifter = structs.CarState.GearShifter
VisualAlert = structs.CarControl.HUDControl.VisualAlert
def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam, aol):
# LKAS_HUD - Controls what lane-keeping icon is displayed
# == Color ==
# 0 hidden?
# 1 white
# 2 green
# 3 ldw
# == Lines ==
# 03 white Lines
# 04 grey lines
# 09 left lane close
# 0A right lane close
# 0B left Lane very close
# 0C right Lane very close
# 0D left cross cross
# 0E right lane cross
# == Alerts ==
# 7 Normal
# 6 lane departure place hands on wheel
if aol.enable_aol:
color = 2 if lkas_active else 1 if aol.paused else 0
else:
color = 2 if lkas_active else 1
lines = 3 if lkas_active else 0
alerts = 7 if lkas_active else 0
if hud_count < (1 * 4): # first 3 seconds, 4Hz
alerts = 1
if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
color = 4
lines = 0
alerts = 6
values = {
"LKAS_ICON_COLOR": color,
"CAR_MODEL": car_model,
"LKAS_LANE_LINES": lines,
"LKAS_ALERTS": alerts,
}
if CP.carFingerprint in RAM_CARS:
values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
return packer.make_can_msg("DAS_6", 0, values)
def create_lkas_command(packer, CP, apply_torque, lkas_control_bit):
# LKAS_COMMAND Lane-keeping signal to turn the wheel
enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
values = {
"STEERING_TORQUE": apply_torque,
"LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
}
return packer.make_can_msg("LKAS_COMMAND", 0, values)
def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False, accel=False, decel=False):
values = {
"ACC_Cancel": cancel,
"ACC_Resume": resume,
"ACC_Accel": accel,
"ACC_Decel": decel,
"COUNTER": frame % 0x10,
}
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
def chrysler_checksum(address: int, sig, d: bytearray) -> int:
checksum = 0xFF
for j in range(len(d) - 1):
curr = d[j]
shift = 0x80
for _ in range(8):
bit_sum = curr & shift
temp_chk = checksum & 0x80
if bit_sum:
bit_sum = 0x1C
if temp_chk:
bit_sum = 1
checksum = (checksum << 1) & 0xFF
temp_chk = checksum | 1
bit_sum ^= temp_chk
else:
if temp_chk:
bit_sum = 0x1D
checksum = (checksum << 1) & 0xFF
bit_sum ^= checksum
checksum = bit_sum & 0xFF
shift >>= 1
return (~checksum) & 0xFF
def fca_giorgio_checksum(address: int, sig, d: bytearray) -> int:
crc = 0
for i in range(len(d) - 1):
crc ^= d[i]
crc = CRC8J1850[crc]
if address == 0xDE:
return crc ^ 0x10
elif address == 0x106:
return crc ^ 0xF6
elif address == 0x122:
return crc ^ 0xF1
else:
return crc ^ 0x0A

792
opendbc_repo/opendbc/car/chrysler/fingerprints.py Normal file
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""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
from opendbc.car.structs import CarParams
from opendbc.car.chrysler.values import CAR
from opendbc.iqpilot.car.fingerprints_ext import merge_fw_versions
from opendbc.iqpilot.car.chrysler.fingerprints_ext import FW_VERSIONS_EXT
Ecu = CarParams.Ecu
FW_VERSIONS = {
CAR.CHRYSLER_PACIFICA_2018: {
(Ecu.combinationMeter, 0x742, None): [
b'68227902AF',
b'68227902AG',
b'68227902AH',
b'68227905AG',
b'68360252AC',
],
(Ecu.srs, 0x744, None): [
b'68211617AF',
b'68211617AG',
b'68358974AC',
b'68405937AA',
],
(Ecu.abs, 0x747, None): [
b'68222747AG',
b'68330876AA',
b'68330876AB',
b'68352227AA',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672758AA',
b'04672758AB',
b'68226356AF',
b'68226356AH',
b'68226356AI',
],
(Ecu.eps, 0x75a, None): [
b'68288891AE',
b'68378884AA',
b'68525338AA',
b'68525338AB',
],
(Ecu.engine, 0x7e0, None): [
b'68267018AO ',
b'68267020AJ ',
b'68303534AG ',
b'68303534AJ ',
b'68340762AD ',
b'68340764AD ',
b'68352652AE ',
b'68352654AE ',
b'68366851AH ',
b'68366853AE ',
b'68366853AG ',
b'68372861AF ',
],
(Ecu.transmission, 0x7e1, None): [
b'68277370AJ',
b'68277370AM',
b'68277372AD',
b'68277372AE',
b'68277372AN',
b'68277374AA',
b'68277374AB',
b'68277374AD',
b'68277374AN',
b'68367471AC',
b'68367471AD',
b'68380571AB',
],
},
CAR.CHRYSLER_PACIFICA_2020: {
(Ecu.combinationMeter, 0x742, None): [
b'68405327AC',
b'68436233AB',
b'68436233AC',
b'68436234AB',
b'68436250AE',
b'68529067AA',
b'68594993AB',
b'68594994AB',
],
(Ecu.srs, 0x744, None): [
b'68405565AB',
b'68405565AC',
b'68444299AC',
b'68480707AC',
b'68480708AC',
b'68526663AB',
],
(Ecu.abs, 0x747, None): [
b'68397394AA',
b'68433480AB',
b'68453575AF',
b'68577676AA',
b'68593395AA',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672758AA',
b'04672758AB',
b'68417813AF',
b'68540436AA',
b'68540436AB',
b'68540436AC',
b'68540436AD',
b'68598670AB',
b'68598670AC',
],
(Ecu.eps, 0x75a, None): [
b'68416742AA',
b'68460393AA',
b'68460393AB',
b'68494461AB',
b'68494461AC',
b'68524936AA',
b'68524936AB',
b'68525338AB',
b'68594337AB',
b'68594340AB',
],
(Ecu.engine, 0x7e0, None): [
b'68413871AD ',
b'68413871AE ',
b'68413871AH ',
b'68413871AI ',
b'68413871AJ ',
b'68413873AH ',
b'68413873AI ',
b'68443120AE ',
b'68443123AC ',
b'68443125AC ',
b'68496647AI ',
b'68496647AJ ',
b'68496650AH ',
b'68496650AI ',
b'68496650AL ',
b'68496652AH ',
b'68526752AD ',
b'68526752AE ',
b'68526754AD ',
b'68526754AE ',
b'68536264AE ',
b'68700304AB ',
b'68700306AB ',
],
(Ecu.transmission, 0x7e1, None): [
b'68414271AC',
b'68414271AD',
b'68414275AC',
b'68414275AD',
b'68443154AB',
b'68443154AC',
b'68443155AC',
b'68443158AB',
b'68501050AD',
b'68501051AD',
b'68501055AD',
b'68527221AB',
b'68527223AB',
b'68586231AD',
b'68586233AD',
],
},
CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [
b'68239262AH',
b'68239262AI',
b'68239262AJ',
b'68239263AH',
b'68239263AJ',
b'68358439AE',
b'68358439AG',
],
(Ecu.srs, 0x744, None): [
b'68238840AH',
b'68358990AC',
b'68405939AA',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672758AA',
b'68226356AI',
],
(Ecu.eps, 0x75a, None): [
b'68288309AC',
b'68288309AD',
b'68525339AA',
],
(Ecu.engine, 0x7e0, None): [
b'68277480AV ',
b'68277480AX ',
b'68277480AZ ',
b'68366580AI ',
b'68366580AK ',
b'68366580AM ',
],
(Ecu.hybrid, 0x7e2, None): [
b'05190175BF',
b'05190175BH',
b'05190226AI',
b'05190226AK',
b'05190226AM',
],
},
CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [
b'68405292AC',
b'68434956AC',
b'68434956AD',
b'68434960AE',
b'68434960AF',
b'68529064AB',
b'68594990AB',
b'68594990AD',
b'68594990AE',
b'68594991AB',
],
(Ecu.srs, 0x744, None): [
b'68405567AB',
b'68405567AC',
b'68453076AD',
b'68480710AC',
b'68526665AB',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672758AB',
b'68417813AF',
b'68540436AA',
b'68540436AB',
b'68540436AC',
b'68540436AD',
b'68598670AB',
b'68598670AC',
b'68645752AA',
],
(Ecu.eps, 0x75a, None): [
b'68416741AA',
b'68460392AA',
b'68525339AA',
b'68525339AB',
b'68594341AB',
b'68594341AC',
],
(Ecu.engine, 0x7e0, None): [
b'05190392AB ',
b'68416680AD ',
b'68416680AE ',
b'68416680AF ',
b'68416680AG ',
b'68444228AC ',
b'68444228AD ',
b'68444228AE ',
b'68444228AF ',
b'68499122AD ',
b'68499122AE ',
b'68499122AF ',
b'68526772AD ',
b'68526772AH ',
b'68599493AC ',
b'68657433AA ',
b'68700317AC ',
],
(Ecu.hybrid, 0x7e2, None): [
b'05185116AF',
b'05185116AJ',
b'05185116AK',
b'05185116AL',
b'05190240AP',
b'05190240AQ',
b'05190240AR',
b'05190265AG',
b'05190265AH',
b'05190289AE',
b'68540977AH',
b'68540977AK',
b'68540977AL',
b'68597647AE',
b'68597647AF',
b'68632416AB',
b'68632416AC',
b'68676877AB',
],
},
CAR.JEEP_GRAND_CHEROKEE: {
(Ecu.combinationMeter, 0x742, None): [
b'68243549AG',
b'68302211AC',
b'68302212AD',
b'68302214AC',
b'68302223AC',
b'68302246AC',
b'68331511AC',
b'68331574AC',
b'68331687AC',
b'68331690AC',
b'68340272AD',
],
(Ecu.srs, 0x744, None): [
b'68309533AA',
b'68316742AB',
b'68355363AB',
],
(Ecu.abs, 0x747, None): [
b'68252642AG',
b'68306178AD',
b'68336275AB',
b'68336276AB',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672627AB',
b'68251506AF',
b'68332015AB',
],
(Ecu.eps, 0x75a, None): [
b'68276201AG',
b'68321644AB',
b'68321644AC',
b'68321646AC',
b'68321648AC',
b'68321650AC',
],
(Ecu.engine, 0x7e0, None): [
b'05035920AE ',
b'68252272AG ',
b'68284455AI ',
b'68284456AI ',
b'68284456AJ ',
b'68284477AF ',
b'68325564AH ',
b'68325564AI ',
b'68325565AH ',
b'68325565AI ',
b'68325565AJ ',
b'68325618AD ',
],
(Ecu.transmission, 0x7e1, None): [
b'05035517AH',
b'68253222AF',
b'68311218AC',
b'68311218AD',
b'68311223AF',
b'68311223AG',
b'68361911AE',
b'68361911AF',
b'68361911AH',
b'68361914AE',
b'68361916AD',
],
},
CAR.JEEP_GRAND_CHEROKEE_2019: {
(Ecu.combinationMeter, 0x742, None): [
b'68402703AB',
b'68402704AB',
b'68402707AB',
b'68402708AB',
b'68402714AB',
b'68402736AB',
b'68402971AD',
b'68454144AD',
b'68454145AB',
b'68454152AB',
b'68454156AB',
b'68516650AB',
b'68516651AB',
b'68516669AB',
b'68516671AB',
b'68516683AB',
],
(Ecu.srs, 0x744, None): [
b'68355363AB',
b'68355364AB',
],
(Ecu.abs, 0x747, None): [
b'68408639AC',
b'68408639AD',
b'68499978AB',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672788AA',
b'68456722AC',
],
(Ecu.eps, 0x75a, None): [
b'68417279AA',
b'68417280AA',
b'68417281AA',
b'68417283AA',
b'68453431AA',
b'68453433AA',
b'68453435AA',
b'68499171AA',
b'68499171AB',
b'68501183AA',
b'68501186AA',
],
(Ecu.engine, 0x7e0, None): [
b'05035674AB ',
b'68412635AE ',
b'68412635AG ',
b'68412635AH ',
b'68412660AD ',
b'68412660AF ',
b'68422860AB',
b'68449435AE ',
b'68496223AA ',
b'68504959AD ',
b'68504959AE ',
b'68504960AD ',
b'68504993AC ',
],
(Ecu.transmission, 0x7e1, None): [
b'05035707AA',
b'68419672AC',
b'68419675AC',
b'68419678AB',
b'68423905AB',
b'68449258AC',
b'68495807AA',
b'68495807AB',
b'68503641AC',
b'68503644AC',
b'68503664AC',
],
},
CAR.RAM_1500_5TH_GEN: {
(Ecu.combinationMeter, 0x742, None): [
b'68294051AG',
b'68294051AI',
b'68294052AG',
b'68294052AH',
b'68294059AI',
b'68294063AG',
b'68294063AH',
b'68294063AI',
b'68434846AC',
b'68434847AC',
b'68434849AC',
b'68434850AC',
b'68434855AC',
b'68434856AC',
b'68434858AC',
b'68434859AC',
b'68434860AC',
b'68453471AD',
b'68453483AC',
b'68453483AD',
b'68453487AD',
b'68453491AC',
b'68453491AD',
b'68453499AD',
b'68453502AC',
b'68453503AC',
b'68453503AD',
b'68453505AC',
b'68453505AD',
b'68453511AC',
b'68453513AC',
b'68453513AD',
b'68453514AD',
b'68505633AB',
b'68510277AG',
b'68510277AH',
b'68510280AG',
b'68510280AH',
b'68510282AG',
b'68510282AH',
b'68510283AG',
b'68527346AE',
b'68527361AD',
b'68527375AD',
b'68527381AD',
b'68527381AE',
b'68527382AE',
b'68527383AD',
b'68527383AE',
b'68527387AE',
b'68527397AD',
b'68527403AC',
b'68527403AD',
b'68527404AD',
b'68546047AF',
b'68631938AA',
b'68631939AA',
b'68631940AA',
b'68631940AB',
b'68631941AB',
b'68631942AA',
b'68631943AB',
],
(Ecu.srs, 0x744, None): [
b'68428609AB',
b'68441329AA',
b'68441329AB',
b'68473844AB',
b'68490898AA',
b'68500728AA',
b'68615033AA',
b'68615034AA',
],
(Ecu.abs, 0x747, None): [
b'68292406AG',
b'68292406AH',
b'68432418AB',
b'68432418AC',
b'68432418AD',
b'68436004AD',
b'68436004AE',
b'68438454AC',
b'68438454AD',
b'68438456AE',
b'68438456AF',
b'68535469AB',
b'68535470AC',
b'68548900AB',
b'68548900AC',
b'68586307AB',
b'68586307AC',
b'68728724AA',
b'68728727AA',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672892AB',
b'04672932AB',
b'04672932AC',
b'22DTRHD_AA',
b'68320950AH',
b'68320950AI',
b'68320950AJ',
b'68320950AL',
b'68320950AM',
b'68454268AB',
b'68454268AC',
b'68475160AE',
b'68475160AF',
b'68475160AG',
],
(Ecu.eps, 0x75a, None): [
b'21590101AA',
b'21590101AB',
b'22490101AB',
b'68273275AF',
b'68273275AG',
b'68273275AH',
b'68312176AE',
b'68312176AF',
b'68312176AG',
b'68440789AC',
b'68466110AA',
b'68466110AB',
b'68466113AA',
b'68466116AA',
b'68469901AA',
b'68469904AA',
b'68469907AA',
b'68522583AA',
b'68522583AB',
b'68522584AA',
b'68522585AB',
b'68552788AA',
b'68552789AA',
b'68552790AA',
b'68552791AB',
b'68552794AA',
b'68552794AD',
b'68585106AB',
b'68585107AB',
b'68585108AB',
b'68585109AB',
b'68585112AB',
],
(Ecu.engine, 0x7e0, None): [
b'05035699AG ',
b'05035841AC ',
b'05035841AD ',
b'05036026AB ',
b'05036030AC ',
b'05036065AE ',
b'05036066AE ',
b'05036067AE ',
b'05036193AA ',
b'05149368AA ',
b'05149374AA ',
b'05149591AD ',
b'05149591AE ',
b'05149592AE ',
b'05149599AE ',
b'05149600AD ',
b'05149600AE ',
b'05149605AE ',
b'05149846AA ',
b'05149848AA ',
b'05149848AC ',
b'05190341AD',
b'05190346AD',
b'68378695AI ',
b'68378695AJ ',
b'68378695AK ',
b'68378696AJ ',
b'68378696AK ',
b'68378701AI ',
b'68378702AI ',
b'68378710AL ',
b'68378742AI ',
b'68378742AK ',
b'68378743AI ',
b'68378743AM ',
b'68378748AL ',
b'68378758AM ',
b'68378759AM ',
b'68448163AJ',
b'68448163AK',
b'68448163AL',
b'68448165AG',
b'68448165AK',
b'68455111AC ',
b'68455119AC ',
b'68455137AC ',
b'68455142AC ',
b'68455142AE ',
b'68455145AC ',
b'68455145AE ',
b'68455146AC ',
b'68460927AA ',
b'68467909AB ',
b'68467909AC ',
b'68467915AC ',
b'68467916AC ',
b'68467936AC ',
b'68500630AD',
b'68500630AE',
b'68500630AF',
b'68500631AE',
b'68502719AC ',
b'68502722AC ',
b'68502733AC ',
b'68502734AF ',
b'68502737AF ',
b'68502740AF ',
b'68502741AF ',
b'68502742AC ',
b'68502742AF ',
b'68539650AD',
b'68539650AF',
b'68539651AD',
b'68586101AA ',
b'68586102AA ',
b'68586105AB ',
b'68629917AC ',
b'68629919AC ',
b'68629919AD ',
b'68629922AC ',
b'68629925AC ',
b'68629926AC ',
],
(Ecu.transmission, 0x7e1, None): [
b'05035706AD',
b'05035842AB',
b'05036069AA',
b'05036181AA',
b'05149536AC',
b'05149537AC',
b'05149543AC',
b'68360078AL',
b'68360080AL',
b'68360080AM',
b'68360081AM',
b'68360081AN',
b'68360085AH',
b'68360085AJ',
b'68360085AK',
b'68360085AL',
b'68360085AO',
b'68360086AH',
b'68360086AK',
b'68360086AN',
b'68384328AD',
b'68384332AD',
b'68445531AC',
b'68445532AB',
b'68445533AB',
b'68445536AB',
b'68445537AB',
b'68466081AB',
b'68466086AB',
b'68466087AB',
b'68484466AC',
b'68484467AC',
b'68484471AC',
b'68502994AC',
b'68502994AD',
b'68502996AD',
b'68520867AE',
b'68520867AF',
b'68520870AC',
b'68520871AC',
b'68528325AE',
b'68540431AB',
b'68540433AB',
b'68551676AA',
b'68629935AB',
b'68629936AC',
],
},
CAR.RAM_HD_5TH_GEN: {
(Ecu.combinationMeter, 0x742, None): [
b'68361606AH',
b'68437735AC',
b'68492693AD',
b'68525485AB',
b'68525487AB',
b'68525498AB',
b'68528791AF',
b'68628474AB',
],
(Ecu.srs, 0x744, None): [
b'68399794AC',
b'68428503AA',
b'68428505AA',
b'68428507AA',
],
(Ecu.abs, 0x747, None): [
b'68334977AH',
b'68455481AC',
b'68504022AA',
b'68504022AB',
b'68504022AC',
b'68530686AB',
b'68530686AC',
b'68544596AC',
b'68641704AA',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672895AB',
b'04672934AB',
b'56029827AG',
b'56029827AH',
b'68462657AE',
b'68484694AD',
b'68484694AE',
b'68615489AB',
],
(Ecu.eps, 0x761, None): [
b'68421036AC',
b'68507906AB',
b'68534023AC',
],
(Ecu.engine, 0x7e0, None): [
b'52370131AF',
b'52370231AF',
b'52370231AG',
b'52370491AA',
b'52370931CT',
b'52401032AE',
b'52421132AF',
b'52421332AF',
b'68527616AD ',
b'M2370131MB',
b'M2421132MB',
],
},
CAR.DODGE_DURANGO: {
(Ecu.combinationMeter, 0x742, None): [
b'68454261AD',
b'68471535AE',
],
(Ecu.srs, 0x744, None): [
b'68355362AB',
b'68492238AD',
],
(Ecu.abs, 0x747, None): [
b'68408639AD',
b'68499978AB',
],
(Ecu.fwdRadar, 0x753, None): [
b'68440581AE',
b'68456722AC',
],
(Ecu.eps, 0x75a, None): [
b'68453435AA',
b'68498477AA',
],
(Ecu.engine, 0x7e0, None): [
b'05035786AE ',
b'68449476AE ',
],
(Ecu.transmission, 0x7e1, None): [
b'05035826AC',
b'68449265AC',
],
},
}
FW_VERSIONS = merge_fw_versions(FW_VERSIONS, FW_VERSIONS_EXT)

108
opendbc_repo/opendbc/car/chrysler/interface.py Executable file
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#!/usr/bin/env python3
from opendbc.car import get_safety_config, structs
from opendbc.car.chrysler.carcontroller import CarController
from opendbc.car.chrysler.carstate import CarState
from opendbc.car.chrysler.radar_interface import RadarInterface
from opendbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.iqpilot.car.chrysler.values_ext import ChryslerFlagsIQ
class CarInterface(CarInterfaceBase):
CarState = CarState
CarController = CarController
RadarInterface = RadarInterface
DRIVABLE_GEARS = (structs.CarState.GearShifter.low,)
@staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
ret.brand = "chrysler"
ret.dashcamOnly = candidate in RAM_HD
# radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
ret.radarUnavailable = True # Bus.radar not in DBC[candidate][Bus.radar]
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
# safety config
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
if candidate in RAM_HD:
ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_HD.value
elif candidate in RAM_DT:
ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_DT.value
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.
new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
if new_eps_platform or new_eps_firmware:
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
# Chrysler
if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
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]]
ret.lateralTuning.pid.kf = 0.00006
# Jeep
elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
ret.steerActuatorDelay = 0.2
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]]
ret.lateralTuning.pid.kf = 0.00006
# Ram
elif candidate == CAR.RAM_1500_5TH_GEN:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88
# 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_5TH_GEN:
ret.steerActuatorDelay = 0.2
else:
raise ValueError(f"Unsupported car: {candidate}")
if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
# TODO: allow these cars to steer down to 13 m/s if already engaged.
# TODO: Durango 2020 may be able to steer to zero once above 38 kph
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
ret.centerToFront = ret.wheelbase * 0.44
ret.enableBsm = 720 in fingerprint[0]
return ret
@staticmethod
def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
if candidate == CAR.RAM_1500_5TH_GEN:
if stock_cp.minSteerSpeed != 0.:
stock_cp.minSteerSpeed = 0.5
stock_cp.minEnableSpeed = 14.5
if any(fw.ecu == 'eps' and fw.fwVersion in (b"68273275AF", b"68273275AG", b"68312176AE", b"68312176AG",) for fw in car_fw):
stock_cp.minEnableSpeed = 0.
if candidate == CAR.RAM_HD_5TH_GEN:
stock_cp.dashcamOnly = False
# https://github.com/commaai/openpilot/issues/25389
stock_cp.tireStiffnessFactor = 1.0
stock_cp.tireStiffnessFront = 65155.
stock_cp.tireStiffnessRear = 80926.
stock_cp.wheelbase = 3.79
stock_cp.steerRatio = 19.
if 0x4FF in fingerprint[0]:
ret.flags |= ChryslerFlagsIQ.NO_MIN_STEERING_SPEED.value
stock_cp.minSteerSpeed = 0.
return ret

85
opendbc_repo/opendbc/car/chrysler/radar_interface.py Executable file
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#!/usr/bin/env python3
from opendbc.can import CANParser
from opendbc.car import Bus, structs
from opendbc.car.interfaces import RadarInterfaceBase
from opendbc.car.chrysler.values import DBC
RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724
RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages
LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
def _create_radar_can_parser(car_fingerprint):
if Bus.radar not in DBC[car_fingerprint]:
return None
msg_n = len(RADAR_MSGS_C)
# list of [(signal name, message name or number), (...)]
# [('RADAR_STATE', 1024),
# ('LONG_DIST', 1072),
# ('LONG_DIST', 1073),
# ('LONG_DIST', 1074),
# ('LONG_DIST', 1075),
messages = list(zip(RADAR_MSGS_C +
RADAR_MSGS_D,
[20] * msg_n + # 20Hz (0.05s)
[20] * msg_n, strict=True)) # 20Hz (0.05s)
return CANParser(DBC[car_fingerprint][Bus.radar], messages, 1)
def _address_to_track(address):
if address in RADAR_MSGS_C:
return (address - RADAR_MSGS_C[0]) // 2
if address in RADAR_MSGS_D:
return (address - RADAR_MSGS_D[0]) // 2
raise ValueError("radar received unexpected address %d" % address)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP, CP_IQ):
super().__init__(CP, CP_IQ)
self.rcp = _create_radar_can_parser(CP.carFingerprint)
self.updated_messages = set()
self.trigger_msg = LAST_MSG
def update(self, can_strings):
if self.rcp is None or self.CP.radarUnavailable:
return super().update(None)
vls = self.rcp.update(can_strings)
self.updated_messages.update(vls)
if self.trigger_msg not in self.updated_messages:
return None
ret = structs.RadarData()
if not self.rcp.can_valid:
ret.errors.canError = True
for ii in self.updated_messages: # ii should be the message ID as a number
cpt = self.rcp.vl[ii]
trackId = _address_to_track(ii)
if trackId not in self.pts:
self.pts[trackId] = structs.RadarData.RadarPoint()
self.pts[trackId].trackId = trackId
self.pts[trackId].aRel = float('nan')
self.pts[trackId].yvRel = float('nan')
self.pts[trackId].measured = True
if 'LONG_DIST' in cpt: # c_* message
self.pts[trackId].dRel = cpt['LONG_DIST'] # from front of car
# our lat_dist is positive to the right in car's frame.
# LAT_DIST is right-positive, yRel is left-positive
self.pts[trackId].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
else: # d_* message
self.pts[trackId].vRel = cpt['REL_SPEED']
# We want a list, not a dictionary. Filter out LONG_DIST==0 because that means it's not valid.
ret.points = [x for x in self.pts.values() if x.dRel != 0]
self.updated_messages.clear()
return ret

160
opendbc_repo/opendbc/car/chrysler/values.py Normal file
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from enum import IntFlag
from dataclasses import dataclass, field
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = CarParams.Ecu
class ChryslerSafetyFlags(IntFlag):
RAM_DT = 1
RAM_HD = 2
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]))
@dataclass
class ChryslerPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {
Bus.pt: 'chrysler_pacifica_2017_hybrid_generated',
Bus.radar: 'chrysler_pacifica_2017_hybrid_private_fusion',
})
@dataclass(frozen=True)
class ChryslerCarSpecs(CarSpecs):
minSteerSpeed: float = 3.8 # m/s
class CAR(Platforms):
# Chrysler
CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
)
CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-25")],
CHRYSLER_PACIFICA_2018_HYBRID.specs,
)
CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica 2017-18")],
CHRYSLER_PACIFICA_2018_HYBRID.specs,
)
CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
[
ChryslerCarDocs("Chrysler Pacifica 2019-20"),
ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
],
CHRYSLER_PACIFICA_2018_HYBRID.specs,
)
# Dodge
DODGE_DURANGO = ChryslerPlatformConfig(
[ChryslerCarDocs("Dodge Durango 2020-21")],
CHRYSLER_PACIFICA_2018_HYBRID.specs,
)
# Jeep
JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk
[ChryslerCarDocs("Jeep Grand Cherokee 2016-18", video="https://www.youtube.com/watch?v=eLR9o2JkuRk")],
ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7),
)
JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk
[ChryslerCarDocs("Jeep Grand Cherokee 2019-21", video="https://www.youtube.com/watch?v=jBe4lWnRSu4")],
JEEP_GRAND_CHEROKEE.specs,
)
# Ram
RAM_1500_5TH_GEN = ChryslerPlatformConfig(
[ChryslerCarDocs("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram]))],
ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5),
{Bus.pt: 'chrysler_ram_dt_generated'},
)
RAM_HD_5TH_GEN = ChryslerPlatformConfig(
[
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.),
{Bus.pt: 'chrysler_ram_hd_generated'},
)
class CarControllerParams:
def __init__(self, CP):
self.STEER_STEP = 2 # 50 Hz
self.STEER_ERROR_MAX = 80
if CP.carFingerprint in RAM_HD:
self.STEER_DELTA_UP = 14
self.STEER_DELTA_DOWN = 14
self.STEER_MAX = 361 # higher than this faults the EPS
elif CP.carFingerprint in RAM_DT:
self.STEER_DELTA_UP = 6
self.STEER_DELTA_DOWN = 6
self.STEER_MAX = 350 # EPS allows more, up to 350?
else:
self.STEER_DELTA_UP = 3
self.STEER_DELTA_DOWN = 3
self.STEER_MAX = 261 # higher than this faults the EPS
STEER_THRESHOLD = 120
RAM_DT = {CAR.RAM_1500_5TH_GEN, }
RAM_HD = {CAR.RAM_HD_5TH_GEN, }
RAM_CARS = RAM_DT | RAM_HD
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]) + \
p16(0xf132)
CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER)
CHRYSLER_RX_OFFSET = -0x280
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[CHRYSLER_VERSION_REQUEST],
[CHRYSLER_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.combinationMeter],
rx_offset=CHRYSLER_RX_OFFSET,
bus=0,
),
Request(
[CHRYSLER_VERSION_REQUEST],
[CHRYSLER_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
bus=0,
),
Request(
[CHRYSLER_SOFTWARE_VERSION_REQUEST],
[CHRYSLER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission],
bus=0,
),
],
extra_ecus=[
(Ecu.abs, 0x7e4, None), # alt address for abs on hybrids, NOTE: not on all hybrid platforms
],
)
DBC = CAR.create_dbc_map()

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opendbc_repo/opendbc/car/common/__init__.py Normal file
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opendbc_repo/opendbc/car/common/basedir.py Normal file
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import os
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

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opendbc_repo/opendbc/car/common/conversions.py Normal file
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import numpy as np
class Conversions:
# Speed
MPH_TO_KPH = 1.609344
KPH_TO_MPH = 1. / MPH_TO_KPH
MS_TO_KPH = 3.6
KPH_TO_MS = 1. / MS_TO_KPH
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
MS_TO_KNOTS = 1.9438
KNOTS_TO_MS = 1. / MS_TO_KNOTS
# Angle
DEG_TO_RAD = np.pi / 180.
RAD_TO_DEG = 1. / DEG_TO_RAD
# Mass
LB_TO_KG = 0.453592

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opendbc_repo/opendbc/car/common/filter_simple.py Normal file
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class FirstOrderFilter:
# first order filter
def __init__(self, x0, rc, dt, initialized=True):
self.x = x0
self._dt = dt
self.update_alpha(rc)
self.initialized = initialized
def update_dt(self, dt):
self._dt = dt
self.update_alpha(self._rc)
def update_alpha(self, rc):
self._rc = rc
self._alpha = self._dt / (self._rc + self._dt)
def update(self, x):
if self.initialized:
self.x = (1. - self._alpha) * self.x + self._alpha * x
else:
self.initialized = True
self.x = x
return self.x
class HighPassFilter:
# technically a band-pass filter
def __init__(self, x0, rc1, rc2, dt, initialized=True):
self.x = x0
self._f1 = FirstOrderFilter(x0, rc1, dt, initialized)
self._f2 = FirstOrderFilter(x0, rc2, dt, initialized)
assert rc2 > rc1, "rc2 must be greater than rc1"
def update_dt(self, dt):
self._f1.update_dt(dt)
self._f2.update_dt(dt)
def update_alpha(self, rc1, rc2):
self._f1.update_alpha(rc1)
self._f2.update_alpha(rc2)
def update(self, x):
self.x = self._f1.update(x) - self._f2.update(x)
return self.x

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opendbc_repo/opendbc/car/common/numpy_fast.py Normal file
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def clip(x, lo, hi):
return max(lo, min(hi, x))
def interp(x, xp, fp):
N = len(xp)
def get_interp(xv):
hi = 0
while hi < N and xv > xp[hi]:
hi += 1
low = hi - 1
return fp[-1] if hi == N and xv > xp[low] else (
fp[0] if hi == 0 else
(xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
def mean(x):
return sum(x) / len(x)

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opendbc_repo/opendbc/car/common/pid.py Normal file
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import numpy as np
from numbers import Number
class PIDController:
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
self._k_p = k_p
self._k_i = k_i
self._k_d = k_d
self.k_f = k_f # feedforward gain
if isinstance(self._k_p, Number):
self._k_p = [[0], [self._k_p]]
if isinstance(self._k_i, Number):
self._k_i = [[0], [self._k_i]]
if isinstance(self._k_d, Number):
self._k_d = [[0], [self._k_d]]
self.pos_limit = pos_limit
self.neg_limit = neg_limit
self.i_unwind_rate = 0.3 / rate
self.i_rate = 1.0 / rate
self.speed = 0.0
self.reset()
@property
def k_p(self):
return np.interp(self.speed, self._k_p[0], self._k_p[1])
@property
def k_i(self):
return np.interp(self.speed, self._k_i[0], self._k_i[1])
@property
def k_d(self):
return np.interp(self.speed, self._k_d[0], self._k_d[1])
@property
def error_integral(self):
return self.i/self.k_i
def reset(self):
self.p = 0.0
self.i = 0.0
self.d = 0.0
self.f = 0.0
self.control = 0
def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
self.speed = speed
self.p = float(error) * self.k_p
self.f = feedforward * self.k_f
self.d = error_rate * self.k_d
if override:
self.i -= self.i_unwind_rate * float(np.sign(self.i))
else:
if not freeze_integrator:
self.i = self.i + error * self.k_i * self.i_rate
# Clip i to prevent exceeding control limits
control_no_i = self.p + self.d + self.f
control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
control = self.p + self.i + self.d + self.f
self.control = np.clip(control, self.neg_limit, self.pos_limit)
return self.control

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opendbc_repo/opendbc/car/common/simple_kalman.py Normal file
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import numpy as np
def get_kalman_gain(dt, A, C, Q, R, iterations=100):
P = np.zeros_like(Q)
for _ in range(iterations):
P = A.dot(P).dot(A.T) + dt * Q
S = C.dot(P).dot(C.T) + R
K = P.dot(C.T).dot(np.linalg.inv(S))
P = (np.eye(len(P)) - K.dot(C)).dot(P)
return K
class KF1D:
# this EKF assumes constant covariance matrix, so calculations are much simpler
# the Kalman gain also needs to be precomputed using the control module
def __init__(self, x0, A, C, K):
self.x0_0 = x0[0][0]
self.x1_0 = x0[1][0]
self.A0_0 = A[0][0]
self.A0_1 = A[0][1]
self.A1_0 = A[1][0]
self.A1_1 = A[1][1]
self.C0_0 = C[0]
self.C0_1 = C[1]
self.K0_0 = K[0][0]
self.K1_0 = K[1][0]
self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
# K matrix needs to be pre-computed as follow:
# import control
# (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
# self.K = np.transpose(K)
def update(self, meas):
#self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
self.x0_0 = x0_0
self.x1_0 = x1_0
return [self.x0_0, self.x1_0]
@property
def x(self):
return [[self.x0_0], [self.x1_0]]
def set_x(self, x):
self.x0_0 = x[0][0]
self.x1_0 = x[1][0]

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opendbc_repo/opendbc/car/crc.py Normal file
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def _gen_crc8_table(poly: int) -> list[int]:
table = []
for i in range(256):
crc = i
for _ in range(8):
if crc & 0x80:
crc = ((crc << 1) ^ poly) & 0xFF
else:
crc = (crc << 1) & 0xFF
table.append(crc)
return table
def _gen_crc16_table(poly: int) -> list[int]:
table = []
for i in range(256):
crc = i << 8
for _ in range(8):
if crc & 0x8000:
crc = ((crc << 1) ^ poly) & 0xFFFF
else:
crc = (crc << 1) & 0xFFFF
table.append(crc)
return table
CRC8H2F = _gen_crc8_table(0x2F)
CRC8J1850 = _gen_crc8_table(0x1D)
CRC8BODY = _gen_crc8_table(0xD5)
CRC16_XMODEM = _gen_crc16_table(0x1021)

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opendbc_repo/opendbc/car/debug/format_fingerprints.py Executable file
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#!/usr/bin/env python3
import jinja2
import os
from opendbc.car.common.basedir import BASEDIR
from opendbc.car.interfaces import get_interface_attr
from opendbc.car.structs import CarParams
Ecu = CarParams.Ecu
CARS = get_interface_attr('CAR')
FW_VERSIONS = get_interface_attr('FW_VERSIONS')
FINGERPRINTS = get_interface_attr('FINGERPRINTS')
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
FINGERPRINTS_PY_TEMPLATE = jinja2.Template("""
{%- if FINGERPRINTS[brand] and brand != 'body' %}
# ruff: noqa: E501
{% endif %}
\"\"\" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE.\"\"\"
{% if FW_VERSIONS[brand] %}
from opendbc.car.structs import CarParams
{% endif %}
from opendbc.car.{{brand}}.values import CAR
{% if FW_VERSIONS[brand] %}
Ecu = CarParams.Ecu
{% endif %}
{% if comments +%}
{{ comments | join() }}
{% endif %}
{% if FINGERPRINTS[brand] %}
FINGERPRINTS = {
{% for car, fingerprints in FINGERPRINTS[brand].items() %}
CAR.{{car.name}}: [{
{% for fingerprint in fingerprints %}
{% if not loop.first %}
{{ "{" }}
{% endif %}
{% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %}
}{% if loop.last %}]{% endif %},
{% endfor %}
{% endfor %}
}
{% endif %}
FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = {
{% for car, _ in FW_VERSIONS[brand].items() %}
CAR.{{car.name}}: {
{% for key, fw_versions in FW_VERSIONS[brand][car].items() %}
(Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \
{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [
{% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %}
{{fw_version}},
{% endfor %}
],
{% endfor %}
},
{% endfor %}
}
""", trim_blocks=True)
def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None):
extra_fw_versions = extra_fw_versions or {}
fingerprints_file = os.path.join(BASEDIR, f"{brand}/fingerprints.py")
with open(fingerprints_file) as f:
comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
with open(fingerprints_file, "w") as f:
f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME,
FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS,
extra_fw_versions=extra_fw_versions))
if __name__ == "__main__":
for brand in FW_VERSIONS.keys():
format_brand_fw_versions(brand)

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opendbc_repo/opendbc/car/disable_ecu.py Normal file
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from opendbc.car.carlog import carlog
from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
EXT_DIAG_REQUEST = b'\x10\x03'
EXT_DIAG_RESPONSE = b'\x50\x03'
COM_CONT_RESPONSE = b''
def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01',
timeout=0.1, retry=10, response_offset: int = 0x8):
"""Silence an ECU by disabling sending and receiving messages using UDS 0x28.
The ECU will stay silent as long as openpilot keeps sending Tester Present.
This is used to disable the radar in some cars. Openpilot will emulate the radar.
WARNING: THIS DISABLES AEB!"""
carlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
for i in range(retry):
try:
query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], response_offset)
for _, _ in query.get_data(timeout).items():
carlog.warning("communication control disable tx/rx ...")
query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], response_offset)
query.get_data(0)
carlog.warning("ecu disabled")
return True
except Exception:
carlog.exception("ecu disable exception")
carlog.error(f"ecu disable retry ({i + 1}) ...")
carlog.error("ecu disable failed")
return False

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opendbc_repo/opendbc/car/docs.py Executable file
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#!/usr/bin/env python3
import re
import os
import jinja2
import argparse
import unicodedata
from typing import get_args
from enum import Enum
from collections import defaultdict
from opendbc.car.common.basedir import BASEDIR
from opendbc.car import gen_empty_fingerprint
from opendbc.car.structs import CarParams, IQCarParams
from opendbc.car.docs_definitions import BaseCarHarness, CarDocs, Device, ExtraCarDocs, Column, ExtraCarsColumn, CommonFootnote, PartType, SupportType
from opendbc.car.car_helpers import interfaces
from opendbc.car.interfaces import get_interface_attr
from opendbc.car.values import Platform
from opendbc.car.mock.values import CAR as MOCK
from opendbc.car.extra_cars import CAR as EXTRA
EXTRA_CARS_MD_OUT = os.path.join(BASEDIR, "../", "../", "docs", "CARS.md")
# TODO: merge these platforms into normal car ports with SupportType flag
ExtraPlatform = Platform | EXTRA
EXTRA_BRANDS = get_args(ExtraPlatform)
EXTRA_PLATFORMS: dict[str, ExtraPlatform] = {str(platform): platform for brand in EXTRA_BRANDS for platform in brand}
def get_params_for_docs(platform) -> tuple[CarParams, IQCarParams]:
cp_platform = platform if platform in interfaces else MOCK.MOCK
CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
alpha_long=True, is_release=True, docs=True)
CP_IQ: IQCarParams = interfaces[cp_platform].get_params_iq(CP, cp_platform, fingerprint=gen_empty_fingerprint(),
car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
alpha_long=True, is_release_iq=True, docs=True)
return CP, CP_IQ
def get_all_footnotes() -> dict[Enum, int]:
all_footnotes = list(CommonFootnote)
for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
all_footnotes.extend(footnotes)
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
def _natural_sort_key(s):
# NFKD normalization ensures accented characters sort with their base letter (e.g., Š sorts with S)
normalized = unicodedata.normalize('NFKD', s)
return [int(t) if t.isdigit() else t.lower() for t in re.split(r'(\d+)', normalized) if t]
def build_sorted_car_docs_list(platforms, footnotes=None):
collected_car_docs: list[CarDocs | ExtraCarDocs] = []
for platform in platforms.values():
car_docs = platform.config.car_docs
CP, CP_IQ = get_params_for_docs(platform)
if not len(car_docs):
continue
# A platform can include multiple car models
for _car_docs in car_docs:
if not hasattr(_car_docs, "row"):
_car_docs.init_make(CP)
_car_docs.init(CP, footnotes)
collected_car_docs.append(_car_docs)
# Sort cars by make and model + year
sorted_cars = sorted(collected_car_docs, key=lambda car: _natural_sort_key(car.name))
return sorted_cars
# CAUTION: This function is imported by shop.comma.ai and comma.ai/vehicles, test changes carefully
def get_all_car_docs() -> list[CarDocs]:
collected_footnotes = get_all_footnotes()
sorted_list: list[CarDocs] = build_sorted_car_docs_list(EXTRA_PLATFORMS, footnotes=collected_footnotes)
return sorted_list
def group_by_make(all_car_docs: list[CarDocs]) -> dict[str, list[CarDocs]]:
sorted_car_docs = defaultdict(list)
for car_docs in all_car_docs:
sorted_car_docs[car_docs.make].append(car_docs)
return dict(sorted_car_docs)
def generate_cars_md(all_car_docs: list[CarDocs], template_fn: str, **kwargs) -> str:
with open(template_fn) as f:
template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
footnotes = [fn.value.text for fn in get_all_footnotes()]
cars_md: str = template.render(all_car_docs=all_car_docs, PartType=PartType,
group_by_make=group_by_make, footnotes=footnotes,
Device=Device, Column=Column, ExtraCarsColumn=ExtraCarsColumn,
BaseCarHarness=BaseCarHarness, SupportType=SupportType,
**kwargs)
return cars_md
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Auto generates supportability info docs for all known cars",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--out", default=EXTRA_CARS_MD_OUT, help="Override default generated filename")
args = parser.parse_args()
with open(args.out, 'w') as f:
f.write(generate_cars_md(get_all_car_docs(), args.template))
print(f"Generated and written to {args.out}")

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opendbc_repo/opendbc/car/docs_definitions.py Normal file
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import re
from collections import namedtuple
import copy
from dataclasses import dataclass, field
from enum import Enum
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.structs import CarParams
GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
class Column(Enum):
MAKE = "Make"
MODEL = "Model"
PACKAGE = "Supported Package"
LONGITUDINAL = "ACC"
FSR_LONGITUDINAL = "No ACC accel below"
FSR_STEERING = "No ALC below"
STEERING_TORQUE = "Steering Torque"
AUTO_RESUME = "Resume from stop"
HARDWARE = "Hardware Needed"
VIDEO = "Video"
SETUP_VIDEO = "Setup Video"
class ExtraCarsColumn(Enum):
MAKE = "Make"
MODEL = "Model"
PACKAGE = "Package"
SUPPORT = "Support Level"
class SupportType(Enum):
UPSTREAM = "Upstream" # Actively maintained by comma, plug-and-play in release versions of openpilot
REVIEW = "Under review" # Dashcam, but planned for official support after safety validation
DASHCAM = "Dashcam mode" # Dashcam, but may be drivable in a community fork
COMMUNITY = "Community" # Not upstream, but available in a custom community fork, not validated by comma
CUSTOM = "Custom" # Upstream, but don't have a harness available or need an unusual custom install
INCOMPATIBLE = "Not compatible" # Known fundamental incompatibility such as Flexray or hydraulic power steering
class Star(Enum):
FULL = "full"
HALF = "half"
EMPTY = "empty"
# A part + its comprised parts
@dataclass
class BasePart:
name: str
parts: list[Enum] = field(default_factory=list)
def all_parts(self):
# Recursively get all parts
_parts = 'parts'
parts = []
parts.extend(getattr(self, _parts))
for part in getattr(self, _parts):
parts.extend(part.value.all_parts())
return parts
class EnumBase(Enum):
@property
def part_type(self):
return PartType(self.__class__)
class Mount(EnumBase):
mount = BasePart("mount")
class Cable(EnumBase):
long_obdc_cable = BasePart("long OBD-C cable (9.5 ft)")
usb_a_2_a_cable = BasePart("USB A-A cable")
usbc_otg_cable = BasePart("USB C OTG cable")
obd_c_cable_2ft = BasePart("OBD-C cable (2 ft)")
class Accessory(EnumBase):
harness_box = BasePart("harness box")
comma_power = BasePart("comma power v3")
class Tool(EnumBase):
socket_8mm_deep = BasePart("Socket Wrench 8mm or 5/16\" (deep)")
pry_tool = BasePart("Pry Tool")
@dataclass
class BaseCarHarness(BasePart):
parts: list[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power])
has_connector: bool = True # without are hidden on the harness connector page
class CarHarness(EnumBase):
nidec = BaseCarHarness("Honda Nidec connector")
bosch_a = BaseCarHarness("Honda Bosch A connector")
bosch_b = BaseCarHarness("Honda Bosch B connector")
bosch_c = BaseCarHarness("Honda Bosch C connector")
toyota_a = BaseCarHarness("Toyota A connector")
toyota_b = BaseCarHarness("Toyota B connector")
subaru_a = BaseCarHarness("Subaru A connector", parts=[Accessory.harness_box, Accessory.comma_power, Tool.socket_8mm_deep, Tool.pry_tool])
subaru_b = BaseCarHarness("Subaru B connector", parts=[Accessory.harness_box, Accessory.comma_power, Tool.socket_8mm_deep, Tool.pry_tool])
subaru_c = BaseCarHarness("Subaru C connector", parts=[Accessory.harness_box, Accessory.comma_power, Tool.socket_8mm_deep, Tool.pry_tool])
subaru_d = BaseCarHarness("Subaru D connector", parts=[Accessory.harness_box, Accessory.comma_power, Tool.socket_8mm_deep, Tool.pry_tool])
fca = BaseCarHarness("FCA connector")
ram = BaseCarHarness("Ram connector")
vw_a = BaseCarHarness("VW A connector")
vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
hyundai_a = BaseCarHarness("Hyundai A connector")
hyundai_b = BaseCarHarness("Hyundai B connector")
hyundai_c = BaseCarHarness("Hyundai C connector")
hyundai_d = BaseCarHarness("Hyundai D connector")
hyundai_e = BaseCarHarness("Hyundai E connector")
hyundai_f = BaseCarHarness("Hyundai F connector")
hyundai_g = BaseCarHarness("Hyundai G connector")
hyundai_h = BaseCarHarness("Hyundai H connector")
hyundai_i = BaseCarHarness("Hyundai I connector")
hyundai_j = BaseCarHarness("Hyundai J connector")
hyundai_k = BaseCarHarness("Hyundai K connector")
hyundai_l = BaseCarHarness("Hyundai L connector")
hyundai_m = BaseCarHarness("Hyundai M connector")
hyundai_n = BaseCarHarness("Hyundai N connector")
hyundai_o = BaseCarHarness("Hyundai O connector")
hyundai_p = BaseCarHarness("Hyundai P connector")
hyundai_q = BaseCarHarness("Hyundai Q connector")
hyundai_r = BaseCarHarness("Hyundai R connector")
custom = BaseCarHarness("Developer connector")
obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
gmsdgm = BaseCarHarness("GM SDGM connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
mazda = BaseCarHarness("Mazda connector")
ford_q3 = BaseCarHarness("Ford Q3 connector")
ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable])
tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable])
# custom harness
honda_clarity = BaseCarHarness("Honda Nidec connector + Honda Clarity Proxy Board")
class Device(EnumBase):
four = BasePart("comma four", parts=[Mount.mount, Cable.obd_c_cable_2ft])
class PartType(Enum):
accessory = Accessory
cable = Cable
connector = CarHarness
device = Device
mount = Mount
tool = Tool
DEFAULT_CAR_PARTS: list[EnumBase] = [Device.four]
@dataclass
class CarParts:
parts: list[EnumBase] = field(default_factory=list)
custom_parts_url: str | None = None
def __call__(self):
return copy.deepcopy(self)
@classmethod
def common(cls, add: list[EnumBase] | None = None, remove: list[EnumBase] | None = None):
p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
return cls(p)
def all_parts(self):
parts = []
for part in self.parts:
parts.extend(part.value.all_parts())
return self.parts + parts
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "setup_note"], defaults=(False, False))
class CommonFootnote(Enum):
EXP_LONG_AVAIL = CarFootnote(
"openpilot Longitudinal Control (Alpha) is available behind a toggle; " +
"the toggle is only available in non-release branches such as `devel` or `nightly-dev`.",
Column.LONGITUDINAL, docs_only=True)
def get_footnotes(footnotes: list[Enum], column: Column) -> list[Enum]:
# Returns applicable footnotes given current column
return [fn for fn in footnotes if fn.value.column == column]
# TODO: store years as a list
def get_year_list(years):
years_list = []
if len(years) == 0:
return years_list
for year in years.split(','):
year = year.strip()
if len(year) == 4:
years_list.append(str(year))
elif "-" in year and len(year) == 7:
start, end = year.split("-")
years_list.extend(map(str, range(int(start), int(f"20{end}") + 1)))
else:
raise Exception(f"Malformed year string: {years}")
return years_list
def split_name(name: str) -> tuple[str, str, str]:
make, model = name.split(" ", 1)
years = ""
match = re.search(MODEL_YEARS_RE, model)
if match is not None:
years = model[match.start():]
model = model[:match.start() - 1]
return make, model, years
@dataclass
class CarDocs:
# make + model + model years
name: str
# the simplest description of the requirements for the US market
package: str
video: str | None = None
setup_video: str | None = None
footnotes: list[Enum] = field(default_factory=list)
min_steer_speed: float | None = None
min_enable_speed: float | None = None
auto_resume: bool | None = None
# all the parts needed for the supported car
car_parts: CarParts = field(default_factory=CarParts)
merged: bool = True
support_type: SupportType = SupportType.UPSTREAM
support_link: str | None = "#upstream"
def __post_init__(self):
self.make, self.model, self.years = split_name(self.name)
self.year_list = get_year_list(self.years)
def init(self, CP: CarParams, all_footnotes=None):
self.brand = CP.brand
self.car_fingerprint = CP.carFingerprint
self.longitudinal_control = CP.openpilotLongitudinalControl and not CP.alphaLongitudinalAvailable
if self.merged and CP.dashcamOnly:
if self.support_type not in (SupportType.CUSTOM, SupportType.REVIEW):
self.support_type = SupportType.DASHCAM
self.support_link = "#dashcam"
# longitudinal column
op_long = "Stock"
if CP.alphaLongitudinalAvailable:
op_long = "openpilot available"
self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
elif CP.openpilotLongitudinalControl:
op_long = "openpilot"
# min steer & enable speed columns
# TODO: set all the min steer speeds in carParams and remove this
if self.min_steer_speed is not None:
assert CP.minSteerSpeed < 0.5, f"{CP.carFingerprint}: Minimum steer speed set in both CarDocs and CarParams"
else:
self.min_steer_speed = CP.minSteerSpeed
# TODO: set all the min enable speeds in carParams correctly and remove this
if self.min_enable_speed is None:
self.min_enable_speed = CP.minEnableSpeed
if self.auto_resume is None:
self.auto_resume = CP.autoResumeSng and self.min_enable_speed <= 0
# hardware column
hardware_col = "None"
if self.car_parts.parts:
if self.car_parts.custom_parts_url is not None:
buy_link = f'<a href="{self.car_parts.custom_parts_url}">Buy Here</a>'
else:
buy_link = f'<a href="https://comma.ai/shop/comma-3x?harness={self.name}">Buy Here</a>'
tools_docs = [part for part in self.car_parts.all_parts() if isinstance(part, Tool)]
parts_docs = [part for part in self.car_parts.all_parts() if not isinstance(part, Tool)]
def display_func(parts):
return '<br>'.join([f"- {parts.count(part)} {part.value.name}" for part in sorted(set(parts), key=lambda part: str(part.value.name))])
hardware_col = f'<details><summary>Parts</summary><sub>{display_func(parts_docs)}<br>{buy_link}</sub></details>'
if len(tools_docs):
hardware_col += f'<details><summary>Tools</summary><sub>{display_func(tools_docs)}</sub></details>'
self.row: dict[Enum, str | Star] = {
Column.MAKE: self.make,
Column.MODEL: self.model,
Column.PACKAGE: self.package,
Column.LONGITUDINAL: op_long,
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY,
Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY,
Column.HARDWARE: hardware_col,
Column.VIDEO: self.video or "", # replaced with an image and link from template in get_column
Column.SETUP_VIDEO: self.setup_video or "", # replaced with an image and link from template in get_column
}
if self.support_link is not None:
support_info = f"[{self.support_type.value}]({self.support_link})"
else:
support_info = self.support_type.value
self.extra_cars_row: dict[Enum, str] = {
ExtraCarsColumn.MAKE: self.make,
ExtraCarsColumn.MODEL: self.model,
ExtraCarsColumn.PACKAGE: self.package,
ExtraCarsColumn.SUPPORT: support_info,
}
# Set steering torque star from max lateral acceleration
assert CP.maxLateralAccel > 0.1
if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
self.row[Column.STEERING_TORQUE] = Star.FULL
self.all_footnotes = all_footnotes
self.detail_sentence = self.get_detail_sentence(CP)
return self
def init_make(self, CP: CarParams):
"""CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc."""
def get_detail_sentence(self, CP):
if not CP.notCar:
sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
if self.min_steer_speed > self.min_enable_speed:
alc = f" <strong>above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph</strong>," if self.min_steer_speed > 0 else " <strong>at all speeds</strong>,"
else:
alc = ""
# Exception for cars which do not auto-resume yet
acc = ""
if self.min_enable_speed > 0:
acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
elif self.auto_resume:
acc = " <strong>that automatically resumes from a stop</strong>"
if self.row[Column.STEERING_TORQUE] != Star.FULL:
sentence_builder += " This car may not be able to take tight turns on its own."
# experimental mode
exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='highlight'>Experimental mode</a>"
if CP.openpilotLongitudinalControl and not CP.alphaLongitudinalAvailable:
sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
else:
if CP.carFingerprint == "COMMA_BODY":
return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com' target='_blank' class='highlight'>Learn more.</a>"
else:
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
item: str | Star = self.row[column]
if isinstance(item, Star):
item = star_icon.format(item.value)
elif column == Column.MODEL and len(self.years):
item += f" {self.years}"
elif column in (Column.VIDEO, Column.SETUP_VIDEO) and len(item) > 0:
item = video_icon.format(item)
footnotes = get_footnotes(self.footnotes, column)
if len(footnotes):
sups = sorted([self.all_footnotes[fn] for fn in footnotes])
item += footnote_tag.format(f'{",".join(map(str, sups))}')
return item
def get_extra_cars_column(self, column: ExtraCarsColumn) -> str:
item: str = self.extra_cars_row[column]
if column == ExtraCarsColumn.MODEL and len(self.years):
item += f" {self.years}"
return item
@dataclass
class ExtraCarDocs(CarDocs):
package: str = "All"
merged: bool = False
support_type: SupportType = SupportType.INCOMPATIBLE
support_link: str | None = "#incompatible"

56
opendbc_repo/opendbc/car/ecu_addrs.py Normal file
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import time
from opendbc.car import make_tester_present_msg, uds
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
from opendbc.car.carlog import carlog
from opendbc.car.fw_query_definitions import EcuAddrBusType
def _is_tester_present_response(msg: CanData, subaddr: int | None = None) -> bool:
# ISO-TP messages may use CAN frame optimization (not always 8 bytes)
# tester present response is always a single frame
dat_offset = 1 if subaddr is not None else 0
min_length = 4 if subaddr is not None else 3 # bytes: frame len, (pos/neg) sid, (optional negative sid)/0x00 sub-function
if min_length <= len(msg.dat) <= 8 and 1 <= msg.dat[dat_offset] <= 7:
# success response
if msg.dat[dat_offset + 1] == (uds.SERVICE_TYPE.TESTER_PRESENT + 0x40):
return True
# error response
if msg.dat[dat_offset + 1] == 0x7F and msg.dat[dat_offset + 2] == uds.SERVICE_TYPE.TESTER_PRESENT:
return True
return False
def get_all_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, bus: int, timeout: float = 1) -> set[EcuAddrBusType]:
addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
responses = queries
return get_ecu_addrs(can_recv, can_send, queries, responses, timeout=timeout)
def get_ecu_addrs(can_recv: CanRecvCallable, can_send: CanSendCallable, queries: set[EcuAddrBusType],
responses: set[EcuAddrBusType], timeout: float = 1) -> set[EcuAddrBusType]:
ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
try:
msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
can_recv()
can_send(msgs)
start_time = time.monotonic()
while time.monotonic() - start_time < timeout:
can_packets = can_recv(wait_for_one=True)
for packet in can_packets:
for msg in packet:
if not len(msg.dat):
carlog.warning("ECU addr scan: skipping empty remote frame")
continue
subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
carlog.debug(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
if (msg.address, subaddr, msg.src) in ecu_responses:
carlog.debug(f"Duplicate ECU address: {hex(msg.address)}")
ecu_responses.add((msg.address, subaddr, msg.src))
except Exception:
carlog.exception("ECU addr scan exception")
return ecu_responses

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opendbc_repo/opendbc/car/extra_cars.py Normal file
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from dataclasses import dataclass
from opendbc.car import structs, Platforms, ExtraPlatformConfig
from opendbc.car.docs_definitions import ExtraCarDocs, SupportType
@dataclass
class CommunityCarDocs(ExtraCarDocs):
def init_make(self, CP: structs.CarParams):
self.support_type = SupportType.COMMUNITY
self.support_link = "#community"
@dataclass
class ToyotaSecurityCarDocs(ExtraCarDocs):
def init_make(self, CP: structs.CarParams):
self.support_type = SupportType.INCOMPATIBLE
self.support_link = "#can-bus-security"
@dataclass
class GMSecurityCarDocs(ExtraCarDocs):
def init_make(self, CP: structs.CarParams):
self.support_type = SupportType.INCOMPATIBLE
self.support_link = "#can-bus-security"
@dataclass
class FlexRayCarDocs(ExtraCarDocs):
def init_make(self, CP: structs.CarParams):
self.support_type = SupportType.INCOMPATIBLE
self.support_link = "#flexray"
class CAR(Platforms):
config: ExtraPlatformConfig
EXTRA_HONDA = ExtraPlatformConfig(
[
CommunityCarDocs("Acura ADX 2025-26"),
CommunityCarDocs("Acura Integra 2023-25"),
CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
CommunityCarDocs("Acura MDX 2017-20"),
CommunityCarDocs("Acura MDX Hybrid 2017-20"),
CommunityCarDocs("Acura MDX 2022-24"),
CommunityCarDocs("Acura RDX 2022-25"),
CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
CommunityCarDocs("Acura TLX 2018-20"),
CommunityCarDocs("Acura TLX 2022-23"),
GMSecurityCarDocs("Acura ZDX 2024"),
CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
CommunityCarDocs("Honda Accord Hybrid 2017"),
CommunityCarDocs("Honda Clarity 2018-21"),
GMSecurityCarDocs("Honda Prologue 2024-25"),
],
)
EXTRA_HYUNDAI = ExtraPlatformConfig(
[
CommunityCarDocs("Hyundai Palisade 2023-24", "Highway Driving Assist II"),
CommunityCarDocs("Kia Telluride 2023-24", "Highway Driving Assist II"),
],
)
EXTRA_TOYOTA = ExtraPlatformConfig(
[
ToyotaSecurityCarDocs("Subaru Solterra 2023-25"),
ToyotaSecurityCarDocs("Lexus NS 2022-25"),
ToyotaSecurityCarDocs("Toyota bZ4x 2023-25"),
ToyotaSecurityCarDocs("Toyota Camry 2025"),
ToyotaSecurityCarDocs("Toyota Corolla Cross 2022-25"),
ToyotaSecurityCarDocs("Toyota Highlander 2025"),
ToyotaSecurityCarDocs("Toyota RAV4 Prime 2024-25"),
ToyotaSecurityCarDocs("Toyota Sequoia 2023-25"),
ToyotaSecurityCarDocs("Toyota Sienna 2024-25"),
ToyotaSecurityCarDocs("Toyota Tundra 2022-25"),
ToyotaSecurityCarDocs("Toyota Venza 2021-25"),
],
)
EXTRA_VOLKSWAGEN = ExtraPlatformConfig(
[
FlexRayCarDocs("Audi A4 2016-24"),
FlexRayCarDocs("Audi A5 2016-24"),
FlexRayCarDocs("Audi Q5 2017-24"),
],
)

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opendbc_repo/opendbc/car/fingerprints.py Normal file
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from opendbc.car.interfaces import get_interface_attr
from opendbc.car.body.values import CAR as BODY
from opendbc.car.chrysler.values import CAR as CHRYSLER
from opendbc.car.ford.values import CAR as FORD
from opendbc.car.gm.values import CAR as GM
from opendbc.car.honda.values import CAR as HONDA
from opendbc.car.hyundai.values import CAR as HYUNDAI
from opendbc.car.mazda.values import CAR as MAZDA
from opendbc.car.mock.values import CAR as MOCK
from opendbc.car.nissan.values import CAR as NISSAN
from opendbc.car.subaru.values import CAR as SUBARU
from opendbc.car.toyota.values import CAR as TOYOTA
from opendbc.car.volkswagen.values import CAR as VW
FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
_FINGERPRINTS = get_interface_attr('FINGERPRINTS', combine_brands=True, ignore_none=True)
_DEBUG_ADDRESS = {1880: 8} # reserved for debug purposes
def is_valid_for_fingerprint(msg, car_fingerprint: dict[int, int]):
adr = msg.address
# ignore addresses that are more than 11 bits
return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
def eliminate_incompatible_cars(msg, candidate_cars):
"""Removes cars that could not have sent msg.
Inputs:
msg: A cereal/log CanData message from the car.
candidate_cars: A list of cars to consider.
Returns:
A list containing the subset of candidate_cars that could have sent msg.
"""
compatible_cars = []
for car_name in candidate_cars:
car_fingerprints = _FINGERPRINTS[car_name]
for fingerprint in car_fingerprints:
# add alien debug address
if is_valid_for_fingerprint(msg, fingerprint | _DEBUG_ADDRESS):
compatible_cars.append(car_name)
break
return compatible_cars
def all_legacy_fingerprint_cars():
"""Returns a list of all known car strings, FPv1 only."""
return list(_FINGERPRINTS.keys())
# A dict that maps old platform strings to their latest representations
MIGRATION = {
"ACURA ILX 2016 ACURAWATCH PLUS": HONDA.ACURA_ILX,
"ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
"ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
"AUDI A3": VW.AUDI_A3_MK3,
"HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
"HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
"HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
"HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
"HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
"HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
"HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
"HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
"HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
"HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
"HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
"HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
"HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
"HONDA FIT 2018 EX": HONDA.HONDA_FIT,
"HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
"HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
"HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
"HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
"HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
"HONDA PILOT 2019": HONDA.HONDA_PILOT,
"HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
"HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
"HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
"HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
"HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
"KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
"KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
"KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
"LEXUS CT 200H 2018": TOYOTA.LEXUS_CTH,
"LEXUS ES 300H 2018": TOYOTA.LEXUS_ES,
"LEXUS ES 300H 2019": TOYOTA.LEXUS_ES_TSS2,
"LEXUS IS300 2018": TOYOTA.LEXUS_IS,
"LEXUS NX300 2018": TOYOTA.LEXUS_NX,
"LEXUS NX300H 2018": TOYOTA.LEXUS_NX,
"LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
"LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
"LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
"TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
"TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
"TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
"TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
"LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
"LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
"LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
"LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
"TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
"TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
"TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
"TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
"TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
"TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
"TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
"TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
"TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
"TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
"LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
"LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
"HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
"KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
"KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
"CADILLAC ESCALADE ESV PLATINUM 2019": GM.CADILLAC_ESCALADE_ESV_2019,
# Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
"COMMA BODY": BODY.COMMA_BODY,
"CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
"CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
"CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
"CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
"CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
"CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
"DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
"JEEP GRAND CHEROKEE V6 2018": CHRYSLER.JEEP_GRAND_CHEROKEE,
"JEEP GRAND CHEROKEE 2019": CHRYSLER.JEEP_GRAND_CHEROKEE_2019,
"RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
"RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
"FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
"FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
"FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
"FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
"FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
"FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
"FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
"FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
"HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
"CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
"CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
"CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
"GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
"BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
"BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
"CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
"CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
"CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
"CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
"CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
"CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
"CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
"HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
"HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
"HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
"HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
"HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
"HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
"HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
"ACURA RDX 2020": HONDA.ACURA_RDX_3G,
"HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
"HONDA E 2020": HONDA.HONDA_E,
"ACURA ILX 2016": HONDA.ACURA_ILX,
"HONDA CR-V 2016": HONDA.HONDA_CRV,
"HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
"HONDA FIT 2018": HONDA.HONDA_FIT,
"HONDA FREED 2020": HONDA.HONDA_FREED,
"HONDA HRV 2019": HONDA.HONDA_HRV,
"HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
"ACURA RDX 2018": HONDA.ACURA_RDX,
"HONDA PILOT 2017": HONDA.HONDA_PILOT,
"HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
"HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
"HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
"HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
"HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
"HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
"HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
"HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
"HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
"HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
"HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
"HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
"HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
"HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
"HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
"HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
"HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
"HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
"HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
"HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
"HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
"HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
"HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
"HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
"HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
"HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
"HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
"HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
"HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
"HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
"HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
"HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
"HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
"HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
"HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
"KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
"KIA K5 2021": HYUNDAI.KIA_K5_2021,
"KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
"KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
"KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
"KIA NIRO EV 2ND GEN": HYUNDAI.KIA_NIRO_EV_2ND_GEN,
"KIA NIRO HYBRID 2019": HYUNDAI.KIA_NIRO_PHEV,
"KIA NIRO PLUG-IN HYBRID 2022": HYUNDAI.KIA_NIRO_PHEV_2022,
"KIA NIRO HYBRID 2021": HYUNDAI.KIA_NIRO_HEV_2021,
"KIA NIRO HYBRID 2ND GEN": HYUNDAI.KIA_NIRO_HEV_2ND_GEN,
"KIA OPTIMA 4TH GEN": HYUNDAI.KIA_OPTIMA_G4,
"KIA OPTIMA 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_G4_FL,
"KIA OPTIMA HYBRID 2017 & SPORTS 2019": HYUNDAI.KIA_OPTIMA_H,
"KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
"KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
"KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
"KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
"KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
"KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
"KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
"KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
"KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
"KIA EV6 2022": HYUNDAI.KIA_EV6,
"KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
"GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
"GENESIS G70 2018": HYUNDAI.GENESIS_G70,
"GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
"GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
"GENESIS G80 2017": HYUNDAI.GENESIS_G80,
"GENESIS G90 2017": HYUNDAI.GENESIS_G90,
"GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
"MAZDA CX-5": MAZDA.MAZDA_CX5,
"MAZDA CX-9": MAZDA.MAZDA_CX9,
"MAZDA 3": MAZDA.MAZDA_3,
"MAZDA 6": MAZDA.MAZDA_6,
"MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
"MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
"NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
"NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
"NISSAN LEAF 2018 Instrument Cluster": NISSAN.NISSAN_LEAF_IC,
"NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
"NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
"SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
"SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
"SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
"SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
"SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
"SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
"SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
"SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
"SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
"SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
"SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
"SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
"SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
"SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
"SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
"TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
"TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
"TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
"TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
"TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
"TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
"TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
"TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
"TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
"TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
"TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
"TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
"TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
"TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
"TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
"TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
"TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
"TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
"TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
"TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
"TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
"TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
"LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
"LEXUS ES 2018": TOYOTA.LEXUS_ES,
"LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
"LEXUS IS 2018": TOYOTA.LEXUS_IS,
"LEXUS IS 2023": TOYOTA.LEXUS_IS_TSS2,
"LEXUS NX 2018": TOYOTA.LEXUS_NX,
"LEXUS NX 2020": TOYOTA.LEXUS_NX_TSS2,
"LEXUS LC 2024": TOYOTA.LEXUS_LC_TSS2,
"LEXUS RC 2020": TOYOTA.LEXUS_RC,
"LEXUS RX 2016": TOYOTA.LEXUS_RX,
"LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
"LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
"VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
"VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
"VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
"VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
"VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
"VOLKSWAGEN JETTA 6TH GEN": VW.VOLKSWAGEN_JETTA_MK6,
"VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
"VOLKSWAGEN PASSAT 7TH GEN": VW.VOLKSWAGEN_PASSAT_MK7,
"VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
"VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
"VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
"VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
"VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
"VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
"VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
"VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
"VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
"VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
"AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
"AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
"AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,
"AUDI Q5 1st GEN": VW.AUDI_Q5_MK1,
"Porsche Macan 1st GEN": VW.PORSCHE_MACAN_MK1,
"SEAT ATECA 1ST GEN": VW.SEAT_ATECA_MK1,
"SEAT LEON 3RD GEN": VW.SEAT_ATECA_MK1,
"SEAT_LEON_MK3": VW.SEAT_ATECA_MK1,
"SKODA FABIA 4TH GEN": VW.SKODA_FABIA_MK4,
"SKODA KAMIQ 1ST GEN": VW.SKODA_KAMIQ_MK1,
"SKODA KAROQ 1ST GEN": VW.SKODA_KAROQ_MK1,
"SKODA KODIAQ 1ST GEN": VW.SKODA_KODIAQ_MK1,
"SKODA OCTAVIA 3RD GEN": VW.SKODA_OCTAVIA_MK3,
"SKODA SCALA 1ST GEN": VW.SKODA_KAMIQ_MK1,
"SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
"SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
"mock": MOCK.MOCK,
}

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opendbc_repo/opendbc/car/ford/__init__.py Normal file
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opendbc_repo/opendbc/car/ford/carcontroller.py Normal file
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import math
import numpy as np
from opendbc.can import CANPacker
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
from opendbc.car.ford import fordcan
from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR
from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
LongCtrlState = structs.CarControl.Actuators.LongControlState
VisualAlert = structs.CarControl.HUDControl.VisualAlert
# CAN FD limits:
# Limit to average banked road since safety doesn't have the roll
AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation. higher actual roll raises lateral acceleration
MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL) # ~2.4 m/s^2
def anti_overshoot(apply_curvature, apply_curvature_last, v_ego):
diff = 0.1
tau = 5 # 5s smooths over the overshoot
dt = DT_CTRL * CarControllerParams.STEER_STEP
alpha = 1 - np.exp(-dt / tau)
lataccel = apply_curvature * (v_ego ** 2)
last_lataccel = apply_curvature_last * (v_ego ** 2)
last_lataccel = apply_hysteresis(lataccel, last_lataccel, diff)
last_lataccel = alpha * lataccel + (1 - alpha) * last_lataccel
output_curvature = last_lataccel / (max(v_ego, 1) ** 2)
return float(np.interp(v_ego, [5, 10], [apply_curvature, output_curvature]))
def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw, steering_angle, lat_active, CP):
# No blending at low speed due to lack of torque wind-up and inaccurate current curvature
if v_ego_raw > 9:
apply_curvature = np.clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
current_curvature + CarControllerParams.CURVATURE_ERROR)
# Curvature rate limit after driver torque limit
apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, steering_angle, lat_active, CarControllerParams.ANGLE_LIMITS)
# Ford Q4/CAN FD has more torque available compared to Q3/CAN so we limit it based on lateral acceleration.
# Safety is not aware of the road roll so we subtract a conservative amount at all times
if CP.flags & FordFlags.CANFD:
# Limit curvature to conservative max lateral acceleration
curvature_accel_limit = MAX_LATERAL_ACCEL / (max(v_ego_raw, 1) ** 2)
apply_curvature = float(np.clip(apply_curvature, -curvature_accel_limit, curvature_accel_limit))
return apply_curvature
def apply_creep_compensation(accel: float, v_ego: float) -> float:
creep_accel = np.interp(v_ego, [1., 3.], [0.6, 0.])
creep_accel = np.interp(accel, [0., 0.2], [creep_accel, 0.])
accel -= creep_accel
return float(accel)
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP, CP_IQ):
super().__init__(dbc_names, CP, CP_IQ)
self.packer = CANPacker(dbc_names[Bus.pt])
self.CAN = fordcan.CanBus(CP)
self.apply_curvature_last = 0
self.anti_overshoot_curvature_last = 0
self.accel = 0.0
self.gas = 0.0
self.brake_request = False
self.main_on_last = False
self.lkas_enabled_last = False
self.steer_alert_last = False
self.lead_distance_bars_last = None
self.distance_bar_frame = 0
def update(self, CC, CC_IQ, CS, now_nanos):
can_sends = []
actuators = CC.actuators
hud_control = CC.hudControl
main_on = CS.out.cruiseState.available
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
### acc buttons ###
if CC.cruiseControl.cancel:
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
# if stock lane centering isn't off, send a button press to toggle it off
# the stock system checks for steering pressed, and eventually disengages cruise control
elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
### lateral control ###
# send steer msg at 20Hz
if (self.frame % CarControllerParams.STEER_STEP) == 0:
# Bronco and some other cars consistently overshoot curv requests
# Apply some deadzone + smoothing convergence to avoid oscillations
if self.CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14):
self.anti_overshoot_curvature_last = anti_overshoot(actuators.curvature, self.anti_overshoot_curvature_last, CS.out.vEgoRaw)
apply_curvature = self.anti_overshoot_curvature_last
else:
apply_curvature = actuators.curvature
# apply rate limits, curvature error limit, and clip to signal range
current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
self.apply_curvature_last = apply_ford_curvature_limits(apply_curvature, self.apply_curvature_last, current_curvature,
CS.out.vEgoRaw, 0., CC.latActive, self.CP)
if self.CP.flags & FordFlags.CANFD:
# TODO: extended mode
# Ford uses four individual signals to dictate how to drive to the car. Curvature alone (limited to 0.02m/s^2)
# can actuate the steering for a large portion of any lateral movements. However, in order to get further control on
# steer actuation, the other three signals are necessary. Ford controls vehicles differently than most other makes.
# A detailed explanation on ford control can be found here:
# https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706
mode = 1 if CC.latActive else 0
counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -self.apply_curvature_last, 0., counter))
else:
can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -self.apply_curvature_last, 0.))
# send lka msg at 33Hz
if (self.frame % CarControllerParams.LKA_STEP) == 0:
can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
### longitudinal control ###
# send acc msg at 50Hz
if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
accel = actuators.accel
gas = accel
if CC.longActive:
# Compensate for engine creep at low speed.
# Either the ABS does not account for engine creep, or the correction is very slow
# TODO: verify this applies to EV/hybrid
accel = apply_creep_compensation(accel, CS.out.vEgo)
# The stock system has been seen rate limiting the brake accel to 5 m/s^3,
# however even 3.5 m/s^3 causes some overshoot with a step response.
accel = max(accel, self.accel - (3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL))
accel = float(np.clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
gas = float(np.clip(gas, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
# Both gas and accel are in m/s^2, accel is used solely for braking
if not CC.longActive or gas < CarControllerParams.MIN_GAS:
gas = CarControllerParams.INACTIVE_GAS
# PCM applies pitch compensation to gas/accel, but we need to compensate for the brake/pre-charge bits
accel_due_to_pitch = 0.0
if len(CC.orientationNED) == 3:
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
accel_pitch_compensated = accel + accel_due_to_pitch
if accel_pitch_compensated > 0.3 or not CC.longActive:
self.brake_request = False
elif accel_pitch_compensated < 0.0:
self.brake_request = True
stopping = CC.actuators.longControlState == LongCtrlState.stopping
# TODO: look into using the actuators packet to send the desired speed
can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))
self.accel = accel
self.gas = gas
### ui ###
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
# send lkas ui msg at 1Hz or if ui state changes
if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
# send acc ui msg at 5Hz or if ui state changes
if hud_control.leadDistanceBars != self.lead_distance_bars_last:
send_ui = True
self.distance_bar_frame = self.frame
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
show_distance_bars = self.frame - self.distance_bar_frame < 400
can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
fcw_alert, CS.out.cruiseState.standstill, show_distance_bars,
hud_control, CS.acc_tja_status_stock_values))
self.main_on_last = main_on
self.lkas_enabled_last = CC.latActive
self.steer_alert_last = steer_alert
self.lead_distance_bars_last = hud_control.leadDistanceBars
new_actuators = actuators.as_builder()
new_actuators.curvature = self.apply_curvature_last
new_actuators.accel = self.accel
new_actuators.gas = self.gas
self.frame += 1
return new_actuators, can_sends

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opendbc_repo/opendbc/car/ford/carstate.py Normal file
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from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.ford.fordcan import CanBus
from opendbc.car.ford.values import DBC, CarControllerParams, FordFlags
from opendbc.car.interfaces import CarStateBase
from opendbc.iqpilot.car.ford.aol import AolCarState
ButtonType = structs.CarState.ButtonEvent.Type
GearShifter = structs.CarState.GearShifter
TransmissionType = structs.CarParams.TransmissionType
class CarState(CarStateBase, AolCarState):
def __init__(self, CP, CP_IQ):
CarStateBase.__init__(self, CP, CP_IQ)
AolCarState.__init__(self, CP, CP_IQ)
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
if CP.transmissionType == TransmissionType.automatic:
self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
self.distance_button = 0
self.lc_button = 0
def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
ret = structs.CarState()
ret_iq = structs.IQCarState()
# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
# The vehicle usually recovers out of this state within a minute of normal driving
ret.vehicleSensorsInvalid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] != 3
# car speed
ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"]
ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1
# gas pedal
ret.gasPressed = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100. > 1e-6
# brake pedal
ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756. # torque in Nm
ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2
ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2)
# steering wheel
ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0 # 0 is default mode
if self.CP.flags & FordFlags.CANFD:
# this signal is always 0 on non-CAN FD cars
ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
# cruise state
is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else False
ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
if not self.CP.openpilotLongitudinalControl:
ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
# gear
if self.CP.transmissionType == TransmissionType.automatic:
gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
ret.gearShifter = self.parse_gear_shifter(gear)
elif self.CP.transmissionType == TransmissionType.manual:
if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
ret.gearShifter = GearShifter.reverse
else:
ret.gearShifter = GearShifter.drive
# safety
ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
# button presses
ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1
ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
# TODO: block this going to the camera otherwise it will enable stock TJA
ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
prev_distance_button = self.distance_button
prev_lc_button = self.lc_button
self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
self.lc_button = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
# lock info
ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
cp.vl["BodyInfo_3_FD1"]["DrStatRl_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatRr_B_Actl"]])
ret.seatbeltUnlatched = cp.vl["RCMStatusMessage2_FD1"]["FirstRowBuckleDriver"] == 2
# blindspot sensors
if self.CP.enableBsm:
cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD else cp
ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
# Stock steering buttons so that we can passthru blinkers etc.
self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
# Stock values from IPMA so that we can retain some stock functionality
self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
AolCarState.update_aol(self, ret, can_parsers)
ret.buttonEvents = [
*create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
*create_button_events(self.lc_button, prev_lc_button, {1: ButtonType.lkas}),
]
return ret, ret_iq
@staticmethod
def get_can_parsers(CP, CP_IQ):
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).main),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
}

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opendbc_repo/opendbc/car/ford/fingerprints.py Normal file
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""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
from opendbc.car.structs import CarParams
from opendbc.car.ford.values import CAR
Ecu = CarParams.Ecu
FW_VERSIONS = {
CAR.FORD_BRONCO_SPORT_MK1: {
(Ecu.eps, 0x730, None): [
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_ESCAPE_MK4: {
(Ecu.eps, 0x730, None): [
b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_ESCAPE_MK4_5: {
(Ecu.eps, 0x730, None): [
b'PZ11-14D003-EA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'PZ1C-2D053-EJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'PJ6T-14H102-ABL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_EXPLORER_MK6: {
(Ecu.eps, 0x730, None): [
b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'P1MC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LC5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_EXPEDITION_MK4: {
(Ecu.eps, 0x730, None): [
b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'RL14-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_F_150_MK14: {
(Ecu.eps, 0x730, None): [
b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'ML3V-14D003-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'NL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PL34-2D053-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PL3V-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PL3V-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'ML3T-14D049-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'ML3T-14H102-ABR\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PJ6T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RJ6T-14H102-ACJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RJ6T-14H102-BBC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_F_150_LIGHTNING_MK1: {
(Ecu.abs, 0x760, None): [
b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RL38-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RJ6T-14H102-ACJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RJ6T-14H102-BBC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x730, None): [
b'RL38-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_MUSTANG_MACH_E_MK1: {
(Ecu.eps, 0x730, None): [
b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LJ9C-14D003-FA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LJ9C-14D003-GA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LJ9C-14D003-HA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'LK9C-2D053-CK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LK9C-2D053-CN\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RJ6T-14H102-BAE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_FOCUS_MK4: {
(Ecu.eps, 0x730, None): [
b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_MAVERICK_MK1: {
(Ecu.eps, 0x730, None): [
b'NZ6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'NZ6C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6C-2D053-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6C-2D053-EE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6C-2D053-EF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
CAR.FORD_RANGER_MK2: {
(Ecu.eps, 0x730, None): [
b'NB3C-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RB3C-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PB3C-2D053-ZG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PB3C-2D053-ZJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x706, None): [
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'RJ6T-14H102-BBB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
},
}

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from opendbc.car import CanBusBase, structs
HUDControl = structs.CarControl.HUDControl
class CanBus(CanBusBase):
def __init__(self, CP=None, fingerprint=None) -> None:
super().__init__(CP, fingerprint)
@property
def main(self) -> int:
return self.offset
@property
def radar(self) -> int:
return self.offset + 1
@property
def camera(self) -> int:
return self.offset + 2
def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
curvature = (dat[2] << 3) | ((dat[3]) >> 5)
curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
path_offset = ((dat[4] & 0x3) << 8) | dat[5]
checksum = mode + counter
for sig_val in (curvature, curvature_rate, path_angle, path_offset):
checksum += sig_val + (sig_val >> 8)
return 0xFF - (checksum & 0xFF)
def create_lka_msg(packer, CAN: CanBus):
"""
Creates an empty CAN message for the Ford LKA Command.
This command can apply "Lane Keeping Aid" maneuvers, which are subject to the PSCM lockout.
Frequency is 33Hz.
"""
return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
curvature_rate: float):
"""
Creates a CAN message for the Ford TJA/LCA Command.
This command can apply "Lane Centering" maneuvers: continuous lane centering for traffic jam assist and highway
driving. It is not subject to the PSCM lockout.
Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined
by the following coefficients:
c0: lateral offset between the vehicle and the centerline (positive is right)
c1: heading angle between the vehicle and the centerline (positive is right)
c2: curvature of the centerline (positive is left)
c3: rate of change of curvature of the centerline
As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering
angle cannot be easily controlled.
The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done
using tools such as Forscan.
Frequency is 20Hz.
"""
values = {
"LatCtlRng_L_Max": 0, # Unknown [0|126] meter
"HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1]
"LatCtl_D_Rq": 1 if lat_active else 0, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
# 3=InterventionRight, 4-7=NotUsed [0|7]
"LatCtlRampType_D_Rq": 0, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
# Makes no difference with curvature control
"LatCtlPrecision_D_Rq": 1, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
# The stock system always uses comfortable
"LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter
"LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians
"LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2
"LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter
}
return packer.make_can_msg("LateralMotionControl", CAN.main, values)
def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float,
curvature_rate: float, counter: int):
"""
Create a CAN message for the new Ford Lane Centering command.
This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has
additional signals for a counter and checksum.
Frequency is 20Hz.
"""
values = {
"LatCtl_D2_Rq": mode, # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
# 3=SafeRampOut, 4-7=NotUsed [0|7]
"LatCtlRampType_D_Rq": 0, # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
"LatCtlPrecision_D_Rq": 1, # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
"LatCtlPathOffst_L_Actl": path_offset, # [-5.12|5.11] meter
"LatCtlPath_An_Actl": path_angle, # [-0.5|0.5235] radians
"LatCtlCurv_No_Actl": curvature, # [-0.02|0.02094] 1/meter
"LatCtlCrv_NoRate2_Actl": curvature_rate, # [-0.001024|0.001023] 1/meter^2
"HandsOffCnfm_B_Rq": 0, # 0=Inactive, 1=Active [0|1]
"LatCtlPath_No_Cnt": counter, # [0|15]
"LatCtlPath_No_Cs": 0, # [0|255]
}
# calculate checksum
dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1]
values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool, brake_request, v_ego_kph: float):
"""
Creates a CAN message for the Ford ACC Command.
This command can be used to enable ACC, to set the ACC gas/brake/decel values
and to disable ACC.
Frequency is 50Hz.
"""
values = {
"AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2
"Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes
"AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2
# No observed acceleration seen from this signal alone. During stock system operation, it appears to
# be the raw acceleration request (AccPrpl_A_Rq when positive, AccBrkTot_A_Rq when negative)
"AccPrpl_A_Pred": -5.0, # Acceleration request: [-5|5.23] m/s^2
"AccResumEnbl_B_Rq": 1 if long_active else 0,
# No observed acceleration seen from this signal alone
"AccVeh_V_Trg": v_ego_kph, # Target speed: [0|255] km/h
# TODO: we may be able to improve braking response by utilizing pre-charging better
# When setting these two bits without AccBrkTot_A_Rq, an initial jerk is observed and car may be able to brake temporarily with AccPrpl_A_Rq
"AccBrkPrchg_B_Rq": 1 if brake_request else 0, # Pre-charge brake request: 0=No, 1=Yes
"AccBrkDecel_B_Rq": 1 if brake_request else 0, # Deceleration request: 0=Inactive, 1=Active
"AccStopStat_B_Rq": 1 if stopping else 0,
}
return packer.make_can_msg("ACCDATA", CAN.main, values)
def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
show_distance_bars: bool, hud_control, stock_values: dict):
"""
Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
assist status.
Stock functionality is maintained by passing through unmodified signals.
Frequency is 5Hz.
"""
# Tja_D_Stat
if enabled:
if hud_control.leftLaneDepart:
status = 3 # ActiveInterventionLeft
elif hud_control.rightLaneDepart:
status = 4 # ActiveInterventionRight
else:
status = 2 # Active
elif main_on:
if hud_control.leftLaneDepart:
status = 5 # ActiveWarningLeft
elif hud_control.rightLaneDepart:
status = 6 # ActiveWarningRight
else:
status = 1 # Standby
else:
status = 0 # Off
values = {s: stock_values[s] for s in [
"HaDsply_No_Cs",
"HaDsply_No_Cnt",
"AccStopStat_D_Dsply", # ACC stopped status message
"AccTrgDist2_D_Dsply", # ACC target distance
"AccStopRes_B_Dsply",
"TjaWarn_D_Rq", # TJA warning
"TjaMsgTxt_D_Dsply", # TJA text
"IaccLamp_D_Rq", # iACC status icon
"AccMsgTxt_D2_Rq", # ACC text
"FcwDeny_B_Dsply", # FCW disabled
"FcwMemStat_B_Actl", # FCW enabled setting
"AccTGap_B_Dsply", # ACC time gap display setting
"CadsAlignIncplt_B_Actl",
"AccFllwMde_B_Dsply", # ACC follow mode display setting
"CadsRadrBlck_B_Actl",
"CmbbPostEvnt_B_Dsply", # AEB event status
"AccStopMde_B_Dsply", # ACC stop mode display setting
"FcwMemSens_D_Actl", # FCW sensitivity setting
"FcwMsgTxt_D_Rq", # FCW text
"AccWarn_D_Dsply", # ACC warning
"FcwVisblWarn_B_Rq", # FCW visible alert
"FcwAudioWarn_B_Rq", # FCW audio alert
"AccTGap_D_Dsply", # ACC time gap
"AccMemEnbl_B_RqDrv", # ACC adaptive/normal setting
"FdaMem_B_Stat", # FDA enabled setting
]}
values.update({
"Tja_D_Stat": status, # TJA status
})
if CP.openpilotLongitudinalControl:
values.update({
"AccStopStat_D_Dsply": 2 if standstill else 0, # Stopping status text
"AccMsgTxt_D2_Rq": 0, # ACC text
"AccTGap_B_Dsply": 1 if show_distance_bars else 0, # Show time gap control UI
"AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0, # Lead indicator
"AccStopMde_B_Dsply": 1 if standstill else 0,
"AccWarn_D_Dsply": 0, # ACC warning
"AccTGap_D_Dsply": hud_control.leadDistanceBars, # Time gap
})
# Forwards FCW alert from IPMA
if fcw_alert:
values["FcwVisblWarn_B_Rq"] = 1 # FCW visible alert
return packer.make_can_msg("ACCDATA_3", CAN.main, values)
def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control,
stock_values: dict):
"""
Creates a CAN message for the Ford IPC IPMA/LKAS status.
Show the LKAS status with the "driver assist" lines in the IPC.
Stock functionality is maintained by passing through unmodified signals.
Frequency is 1Hz.
"""
# LaActvStats_D_Dsply
# R Intvn Warn Supprs Avail No
# L
# Intvn 24 19 14 9 4
# Warn 23 18 13 8 3
# Supprs 22 17 12 7 2
# Avail 21 16 11 6 1
# No 20 15 10 5 0
#
# TODO: test suppress state
if enabled:
lines = 0 # NoLeft_NoRight
if hud_control.leftLaneDepart:
lines += 4
elif hud_control.leftLaneVisible:
lines += 1
if hud_control.rightLaneDepart:
lines += 20
elif hud_control.rightLaneVisible:
lines += 5
elif main_on:
lines = 0
else:
if hud_control.leftLaneDepart:
lines = 3 # WarnLeft_NoRight
elif hud_control.rightLaneDepart:
lines = 15 # NoLeft_WarnRight
else:
lines = 30 # LA_Off
hands_on_wheel_dsply = 1 if steer_alert else 0
values = {s: stock_values[s] for s in [
"FeatConfigIpmaActl",
"FeatNoIpmaActl",
"PersIndexIpma_D_Actl",
"AhbcRampingV_D_Rq", # AHB ramping
"LaDenyStats_B_Dsply", # LKAS error
"CamraDefog_B_Req", # Windshield heater?
"CamraStats_D_Dsply", # Camera status
"DasAlrtLvl_D_Dsply", # DAS alert level
"DasStats_D_Dsply", # DAS status
"DasWarn_D_Dsply", # DAS warning
"AhbHiBeam_D_Rq", # AHB status
"Passthru_63",
"Passthru_48",
]}
values.update({
"LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31]
"LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
})
return packer.make_can_msg("IPMA_Data", CAN.main, values)
def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False):
"""
Creates a CAN message for the Ford SCCM buttons/switches.
Includes cruise control buttons, turn lights and more.
Frequency is 10Hz.
"""
values = {s: stock_values[s] for s in [
"HeadLghtHiFlash_D_Stat", # SCCM Passthrough the remaining buttons
"TurnLghtSwtch_D_Stat", # SCCM Turn signal switch
"WiprFront_D_Stat",
"LghtAmb_D_Sns",
"AccButtnGapDecPress",
"AccButtnGapIncPress",
"AslButtnOnOffCnclPress",
"AslButtnOnOffPress",
"LaSwtchPos_D_Stat",
"CcAslButtnCnclResPress",
"CcAslButtnDeny_B_Actl",
"CcAslButtnIndxDecPress",
"CcAslButtnIndxIncPress",
"CcAslButtnOffCnclPress",
"CcAslButtnOnOffCncl",
"CcAslButtnOnPress",
"CcAslButtnResDecPress",
"CcAslButtnResIncPress",
"CcAslButtnSetDecPress",
"CcAslButtnSetIncPress",
"CcAslButtnSetPress",
"CcButtnOffPress",
"CcButtnOnOffCnclPress",
"CcButtnOnOffPress",
"CcButtnOnPress",
"HeadLghtHiFlash_D_Actl",
"HeadLghtHiOn_B_StatAhb",
"AhbStat_B_Dsply",
"AccButtnGapTogglePress",
"WiprFrontSwtch_D_Stat",
"HeadLghtHiCtrl_D_RqAhb",
]}
values.update({
"CcAslButtnCnclPress": 1 if cancel else 0, # CC cancel button
"CcAsllButtnResPress": 1 if resume else 0, # CC resume button
"TjaButtnOnOffPress": 1 if tja_toggle else 0, # LCA/TJA toggle button
})
return packer.make_can_msg("Steering_Data_FD1", bus, values)

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opendbc_repo/opendbc/car/ford/interface.py Normal file
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import numpy as np
from opendbc.car import Bus, get_safety_config, structs
from opendbc.car.carlog import carlog
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.ford.carcontroller import CarController
from opendbc.car.ford.carstate import CarState
from opendbc.car.ford.fordcan import CanBus
from opendbc.car.ford.radar_interface import RadarInterface
from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
from opendbc.car.interfaces import CarInterfaceBase
TransmissionType = structs.CarParams.TransmissionType
class CarInterface(CarInterfaceBase):
CarState = CarState
CarController = CarController
RadarInterface = RadarInterface
DRIVABLE_GEARS = (structs.CarState.GearShifter.low, structs.CarState.GearShifter.manumatic)
@staticmethod
def get_pid_accel_limits(CP, CP_IQ, current_speed, cruise_speed):
# PCM doesn't allow acceleration near cruise_speed,
# so limit limits of pid to prevent windup
ACCEL_MAX_VALS = [CarControllerParams.ACCEL_MAX, 0.2]
ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .4]
return CarControllerParams.ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
ret.brand = "ford"
ret.radarUnavailable = Bus.radar not in DBC[candidate]
ret.steerControlType = structs.CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.2
ret.steerLimitTimer = 1.0
ret.steerAtStandstill = True
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.5]
if not ret.radarUnavailable and DBC[candidate][Bus.radar] == RADAR.DELPHI_MRR:
# average of 33.3 Hz radar timestep / 4 scan modes = 60 ms
# MRR_Header_Timestamps->CAN_DET_TIME_SINCE_MEAS reports 61.3 ms
ret.radarDelay = 0.06
CAN = CanBus(fingerprint=fingerprint)
cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
if CAN.main >= 4:
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
ret.alphaLongitudinalAvailable = ret.radarUnavailable
if alpha_long or not ret.radarUnavailable:
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value
ret.openpilotLongitudinalControl = True
if ret.flags & FordFlags.CANFD:
ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value
# TRON (SecOC) platforms are not supported
# LateralMotionControl2, ACCDATA are 16 bytes on these platforms
if len(fingerprint[CAN.camera]):
if fingerprint[CAN.camera].get(0x3d6) != 8 or fingerprint[CAN.camera].get(0x186) != 8:
carlog.error('dashcamOnly: SecOC is unsupported')
ret.dashcamOnly = True
else:
# Lock out if the car does not have needed lateral and longitudinal control APIs.
# Note that we also check CAN for adaptive cruise, but no known signal for LCA exists
pscm_config = next((fw for fw in car_fw if fw.ecu == Ecu.eps and b'\x22\xDE\x01' in fw.request), None)
if pscm_config:
if len(pscm_config.fwVersion) != 24:
carlog.error('dashcamOnly: Invalid EPS FW version')
ret.dashcamOnly = True
else:
config_tja = pscm_config.fwVersion[7] # Traffic Jam Assist
config_lca = pscm_config.fwVersion[8] # Lane Centering Assist
if config_tja != 0xFF or config_lca != 0xFF:
carlog.error('dashcamOnly: Car lacks required lateral control APIs')
ret.dashcamOnly = True
# Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
found_ecus = [fw.ecu for fw in car_fw]
if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
ret.transmissionType = TransmissionType.automatic
else:
ret.transmissionType = TransmissionType.manual
ret.minEnableSpeed = 20.0 * CV.MPH_TO_MS
# BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
# TODO: detect bsm in car_fw?
ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
# LCA can steer down to zero
ret.minSteerSpeed = 0.
ret.autoResumeSng = ret.minEnableSpeed == -1.
ret.centerToFront = ret.wheelbase * 0.44
return ret

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import numpy as np
from typing import cast
from collections import defaultdict
from math import cos, sin
from dataclasses import dataclass
from opendbc.can import CANParser
from opendbc.car import Bus, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.ford.fordcan import CanBus
from opendbc.car.ford.values import DBC, RADAR
from opendbc.car.interfaces import RadarInterfaceBase
DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
DELPHI_MRR_RADAR_START_ADDR = 0x120
DELPHI_MRR_RADAR_HEADER_ADDR = 0x174 # MRR_Header_SensorCoverage
DELPHI_MRR_RADAR_MSG_COUNT = 64
DELPHI_MRR_RADAR_RANGE_COVERAGE = {0: 42, 1: 164, 2: 45, 3: 175} # scan index to detection range (m)
DELPHI_MRR_MIN_LONG_RANGE_DIST = 30 # meters
DELPHI_MRR_CLUSTER_THRESHOLD = 5 # meters, lateral distance and relative velocity are weighted
@dataclass
class Cluster:
dRel: float = 0.0
yRel: float = 0.0
vRel: float = 0.0
trackId: int = 0
def cluster_points(pts_l: list[list[float]], pts2_l: list[list[float]], max_dist: float) -> list[int]:
"""
Clusters a collection of points based on another collection of points. This is useful for correlating clusters through time.
Points in pts2 not close enough to any point in pts are assigned -1.
Args:
pts_l: List of points to base the new clusters on
pts2_l: List of points to cluster using pts
max_dist: Max distance from cluster center to candidate point
Returns:
List of cluster indices for pts2 that correspond to pts
"""
if not len(pts2_l):
return []
if not len(pts_l):
return [-1] * len(pts2_l)
max_dist_sq = max_dist ** 2
pts = np.array(pts_l)
pts2 = np.array(pts2_l)
# Compute squared norms
pts_norm_sq = np.sum(pts ** 2, axis=1)
pts2_norm_sq = np.sum(pts2 ** 2, axis=1)
# Compute squared Euclidean distances using the identity
# dist_sq[i, j] = ||pts2[i]||^2 + ||pts[j]||^2 - 2 * pts2[i] . pts[j]
dist_sq = pts2_norm_sq[:, np.newaxis] + pts_norm_sq[np.newaxis, :] - 2 * np.dot(pts2, pts.T)
dist_sq = np.maximum(dist_sq, 0.0)
# Find the closest cluster for each point and assign its index
closest_clusters = np.argmin(dist_sq, axis=1)
closest_dist_sq = dist_sq[np.arange(len(pts2)), closest_clusters]
cluster_idxs = np.where(closest_dist_sq < max_dist_sq, closest_clusters, -1)
return cast(list[int], cluster_idxs.tolist())
def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
msg_n = len(DELPHI_ESR_RADAR_MSGS)
messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n, strict=True))
return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar)
def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
messages = [
("MRR_Header_InformationDetections", 33),
("MRR_Header_SensorCoverage", 33),
]
for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
msg = f"MRR_Detection_{i:03d}"
messages += [(msg, 33)]
return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP, CP_IQ):
super().__init__(CP, CP_IQ)
self.points: list[list[float]] = []
self.clusters: list[Cluster] = []
self.updated_messages = set()
self.track_id = 0
self.radar = DBC[CP.carFingerprint].get(Bus.radar)
self.scan_index_invalid_cnt = 0
self.radar_unavailable_cnt = 0
self.prev_headerScanIndex = 0
if CP.radarUnavailable:
self.rcp = None
elif self.radar == RADAR.DELPHI_ESR:
self.rcp = _create_delphi_esr_radar_can_parser(CP)
self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
elif self.radar == RADAR.DELPHI_MRR:
self.rcp = _create_delphi_mrr_radar_can_parser(CP)
self.trigger_msg = DELPHI_MRR_RADAR_HEADER_ADDR
else:
raise ValueError(f"Unsupported radar: {self.radar}")
def update(self, can_strings):
if self.rcp is None:
return super().update(None)
vls = self.rcp.update(can_strings)
self.updated_messages.update(vls)
if self.trigger_msg not in self.updated_messages:
return None
self.updated_messages.clear()
ret = structs.RadarData()
if not self.rcp.can_valid:
ret.errors.canError = True
if self.radar == RADAR.DELPHI_ESR:
self._update_delphi_esr()
elif self.radar == RADAR.DELPHI_MRR:
_update = self._update_delphi_mrr(ret)
if not _update:
return None
ret.points = list(self.pts.values())
return ret
def _update_delphi_esr(self):
for ii in sorted(self.updated_messages):
cpt = self.rcp.vl[ii]
if cpt['X_Rel'] > 0.00001:
self.valid_cnt[ii] = 0 # reset counter
if cpt['X_Rel'] > 0.00001:
self.valid_cnt[ii] += 1
else:
self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
#print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
# radar point only valid if there have been enough valid measurements
if self.valid_cnt[ii] > 0:
if ii not in self.pts:
self.pts[ii] = structs.RadarData.RadarPoint()
self.pts[ii].trackId = self.track_id
self.track_id += 1
self.pts[ii].dRel = cpt['X_Rel'] # from front of car
self.pts[ii].yRel = cpt['X_Rel'] * cpt['Angle'] * CV.DEG_TO_RAD # in car frame's y axis, left is positive
self.pts[ii].vRel = cpt['V_Rel']
self.pts[ii].aRel = float('nan')
self.pts[ii].yvRel = float('nan')
self.pts[ii].measured = True
else:
if ii in self.pts:
del self.pts[ii]
def _update_delphi_mrr(self, ret: structs.RadarData):
headerScanIndex = int(self.rcp.vl["MRR_Header_InformationDetections"]['CAN_SCAN_INDEX']) & 0b11
# In reverse, the radar continually sends the last messages. Mark this as invalid
if (self.prev_headerScanIndex + 1) % 4 != headerScanIndex:
self.radar_unavailable_cnt += 1
else:
self.radar_unavailable_cnt = 0
self.prev_headerScanIndex = headerScanIndex
if self.radar_unavailable_cnt >= 5:
self.pts.clear()
self.points.clear()
self.clusters.clear()
ret.errors.radarUnavailableTemporary = True
return True
# Use points with Doppler coverage of +-60 m/s, reduces similar points
if headerScanIndex not in (2, 3):
return False
if DELPHI_MRR_RADAR_RANGE_COVERAGE[headerScanIndex] != int(self.rcp.vl["MRR_Header_SensorCoverage"]["CAN_RANGE_COVERAGE"]):
self.scan_index_invalid_cnt += 1
else:
self.scan_index_invalid_cnt = 0
# Rarely MRR_Header_InformationDetections can fail to send a message. The scan index is skipped in this case
if self.scan_index_invalid_cnt >= 5:
ret.errors.wrongConfig = True
for ii in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
msg = self.rcp.vl[f"MRR_Detection_{ii:03d}"]
# SCAN_INDEX rotates through 0..3 on each message for different measurement modes
# Indexes 0 and 2 have a max range of ~40m, 1 and 3 are ~170m (MRR_Header_SensorCoverage->CAN_RANGE_COVERAGE)
# Indexes 0 and 1 have a Doppler coverage of +-71 m/s, 2 and 3 have +-60 m/s
scanIndex = msg[f"CAN_SCAN_INDEX_2LSB_{ii:02d}"]
# Throw out old measurements. Very unlikely to happen, but is proper behavior
if scanIndex != headerScanIndex:
continue
valid = bool(msg[f"CAN_DET_VALID_LEVEL_{ii:02d}"])
# Long range measurement mode is more sensitive and can detect the road surface
dist = msg[f"CAN_DET_RANGE_{ii:02d}"] # m [0|255.984]
if scanIndex in (1, 3) and dist < DELPHI_MRR_MIN_LONG_RANGE_DIST:
valid = False
if valid:
azimuth = msg[f"CAN_DET_AZIMUTH_{ii:02d}"] # rad [-3.1416|3.13964]
distRate = msg[f"CAN_DET_RANGE_RATE_{ii:02d}"] # m/s [-128|127.984]
dRel = cos(azimuth) * dist # m from front of car
yRel = -sin(azimuth) * dist # in car frame's y axis, left is positive
self.points.append([dRel, yRel * 2, distRate * 2])
# Cluster and publish using stored points once we've cycled through all 4 scan modes
if headerScanIndex != 3:
return False
# Cluster points from this cycle against the centroids from the previous cycle
prev_keys = [[p.dRel, p.yRel * 2, p.vRel * 2] for p in self.clusters]
labels = cluster_points(prev_keys, self.points, DELPHI_MRR_CLUSTER_THRESHOLD)
points_by_track_id = defaultdict(list)
for idx, label in enumerate(labels):
if label != -1:
points_by_track_id[self.clusters[label].trackId].append(self.points[idx])
else:
points_by_track_id[self.track_id].append(self.points[idx])
self.track_id += 1
self.clusters = []
for idx, (track_id, pts) in enumerate(points_by_track_id.items()):
dRel = [p[0] for p in pts]
min_dRel = min(dRel)
dRel = sum(dRel) / len(dRel)
yRel = [p[1] for p in pts]
yRel = sum(yRel) / len(yRel) / 2
vRel = [p[2] for p in pts]
vRel = sum(vRel) / len(vRel) / 2
# FIXME: creating capnp RadarPoint and accessing attributes are both expensive, so we store a dataclass and reuse the RadarPoint
self.clusters.append(Cluster(dRel=dRel, yRel=yRel, vRel=vRel, trackId=track_id))
if idx not in self.pts:
self.pts[idx] = structs.RadarData.RadarPoint(measured=True, aRel=float('nan'), yvRel=float('nan'))
self.pts[idx].dRel = min_dRel
self.pts[idx].yRel = yRel
self.pts[idx].vRel = vRel
self.pts[idx].trackId = track_id
for idx in range(len(points_by_track_id), len(self.pts)):
del self.pts[idx]
self.points = []
return True

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opendbc_repo/opendbc/car/ford/tests/__init__.py Normal file
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#!/usr/bin/env python3
from collections import defaultdict
from opendbc.car.structs import CarParams
from opendbc.car.ford.values import get_platform_codes
from opendbc.car.ford.fingerprints import FW_VERSIONS
Ecu = CarParams.Ecu
if __name__ == "__main__":
cars_for_code: defaultdict = defaultdict(lambda: defaultdict(set))
for car_model, ecus in FW_VERSIONS.items():
print(car_model)
for ecu in sorted(ecus):
platform_codes = get_platform_codes(ecus[ecu])
for code in platform_codes:
cars_for_code[ecu][code].add(car_model)
print(f' (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
print(f' Codes: {sorted(platform_codes)}')
print()
print('\nCar models vs. platform codes:')
for ecu, codes in cars_for_code.items():
print(f' (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
for code, cars in codes.items():
print(f' {code!r}: {sorted(map(str, cars))}')

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import random
from collections.abc import Iterable
from hypothesis import settings, given, strategies as st
from parameterized import parameterized
from opendbc.car.structs import CarParams
from opendbc.car.fw_versions import build_fw_dict
from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes
from opendbc.car.ford.fingerprints import FW_VERSIONS
Ecu = CarParams.Ecu
ECU_ADDRESSES = {
Ecu.eps: 0x730, # Power Steering Control Module (PSCM)
Ecu.abs: 0x760, # Anti-Lock Brake System (ABS)
Ecu.fwdRadar: 0x764, # Cruise Control Module (CCM)
Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA)
Ecu.engine: 0x7E0, # Powertrain Control Module (PCM)
Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM)
Ecu.debug: 0x7D0, # Accessory Protocol Interface Module (APIM)
}
ECU_PART_NUMBER = {
Ecu.eps: [
b"14D003",
],
Ecu.abs: [
b"2D053",
],
Ecu.fwdRadar: [
b"14D049",
],
Ecu.fwdCamera: [
b"14F397", # Ford Q3
b"14H102", # Ford Q4
],
}
class TestFordFW:
def test_fw_query_config(self):
for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus:
assert ecu in ECU_ADDRESSES, "Unknown ECU"
assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
assert subaddr is None, "Unexpected ECU subaddress"
@parameterized.expand(FW_VERSIONS.items())
def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[int, int, int | None], Iterable[bytes]]):
for (ecu, addr, subaddr), fws in fw_versions.items():
assert ecu in ECU_PART_NUMBER, "Unexpected ECU"
assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
assert subaddr is None, "Unexpected ECU subaddress"
for fw in fws:
assert len(fw) == 24, "Expected ECU response to be 24 bytes"
match = FW_PATTERN.match(fw)
assert match is not None, f"Unable to parse FW: {fw!r}"
if match:
part_number = match.group("part_number")
assert part_number in ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}"
codes = get_platform_codes([fw])
assert 1 == len(codes), f"Unable to parse FW: {fw!r}"
@settings(max_examples=100)
@given(data=st.data())
def test_platform_codes_fuzzy_fw(self, data):
"""Ensure function doesn't raise an exception"""
fw_strategy = st.lists(st.binary())
fws = data.draw(fw_strategy)
get_platform_codes(fws)
def test_platform_codes_spot_check(self):
# Asserts basic platform code parsing behavior for a few cases
results = get_platform_codes([
b"JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00",
b"NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00",
b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00",
])
assert results == {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")}
def test_fuzzy_match(self):
for platform, fw_by_addr in FW_VERSIONS.items():
# Ensure there's no overlaps in platform codes
for _ in range(20):
car_fw = []
for ecu, fw_versions in fw_by_addr.items():
ecu_name, addr, sub_addr = ecu
fw = random.choice(fw_versions)
car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
subAddress=0 if sub_addr is None else sub_addr))
CP = CarParams(carFw=car_fw)
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
assert matches == {platform}
def test_match_fw_fuzzy(self):
offline_fw = {
(Ecu.eps, 0x730, None): [
b"L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
b"L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
],
(Ecu.abs, 0x760, None): [
b"L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
b"L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
],
(Ecu.fwdRadar, 0x764, None): [
b"LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
b"LB5T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
],
# We consider all model year hints for ECU, even with different platform codes
(Ecu.fwdCamera, 0x706, None): [
b"LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
b"NC5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00",
],
}
expected_fingerprint = CAR.FORD_EXPLORER_MK6
# ensure that we fuzzy match on all non-exact FW with changed revisions
live_fw = {
(0x730, None): {b"L1MC-14D003-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
(0x760, None): {b"L1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
(0x764, None): {b"LB5T-14D049-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
(0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"},
}
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
assert candidates == {expected_fingerprint}
# model year hint in between the range should match
live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,})
assert candidates == {expected_fingerprint}
# unseen model year hint should not match
live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
assert len(candidates) == 0, "Should not match new model year hint"

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opendbc_repo/opendbc/car/ford/values.py Normal file
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import copy
import re
from dataclasses import dataclass, field, replace
from enum import Enum, IntFlag
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
from opendbc.car.lateral import AngleSteeringLimits
from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
from opendbc.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
Ecu = CarParams.Ecu
class CarControllerParams:
STEER_STEP = 5 # LateralMotionControl, 20Hz
LKA_STEP = 3 # Lane_Assist_Data1, 33Hz
ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz
LKAS_UI_STEP = 100 # IPMA_Data, 1Hz
ACC_UI_STEP = 20 # ACCDATA_3, 5Hz
BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast
STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm
ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
0.02, # Max curvature for steering command, m^-1
# Curvature rate limits
# Max curvature is limited by the EPS to an equivalent of ~2.0 m/s^2 at all speeds,
# however max curvature rate linearly decreases as speed increases:
# ~0.009 m^-1/sec at 7 m/s, ~0.002 m^-1/sec at 35 m/s
# Limit to ~2 m/s^3 up, ~3.3 m/s^3 down at 75 mph and match EPS limit at low speed
([5, 25], [0.00045, 0.0001]),
([5, 25], [0.00045, 0.00015])
)
CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
ACCEL_MAX = 2.0 # m/s^2 max acceleration
ACCEL_MIN = -3.5 # m/s^2 max deceleration
MIN_GAS = -0.5
INACTIVE_GAS = -5.0
def __init__(self, CP):
pass
class FordSafetyFlags(IntFlag):
LONG_CONTROL = 1
CANFD = 2
class FordFlags(IntFlag):
# Static flags
CANFD = 1
class RADAR:
DELPHI_ESR = 'ford_fusion_2018_adas'
DELPHI_MRR = 'FORD_CADS'
class Footnote(Enum):
FOCUS = CarFootnote(
"Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
"North and South America/Southeast Asia.",
Column.MODEL,
)
@dataclass
class FordCarDocs(CarDocs):
package: str = "Co-Pilot360 Assist+"
hybrid: bool = False
plug_in_hybrid: bool = False
def init_make(self, CP: CarParams):
harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
self.car_parts = CarParts.common([harness])
if harness == CarHarness.ford_q4:
self.setup_video = "https://www.youtube.com/watch?v=uUGkH6C_EQU"
if CP.carFingerprint in (CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_EXPEDITION_MK4):
self.setup_video = "https://www.youtube.com/watch?v=MewJc9LYp9M"
@dataclass
class FordPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {
Bus.pt: 'ford_lincoln_base_pt',
Bus.radar: RADAR.DELPHI_MRR,
})
def init(self):
for car_docs in list(self.car_docs):
if car_docs.hybrid:
name = f"{car_docs.make} {car_docs.model} Hybrid {car_docs.years}"
self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
if car_docs.plug_in_hybrid:
name = f"{car_docs.make} {car_docs.model} Plug-in Hybrid {car_docs.years}"
self.car_docs.append(replace(copy.deepcopy(car_docs), name=name))
@dataclass
class FordCANFDPlatformConfig(FordPlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {
Bus.pt: 'ford_lincoln_base_pt',
})
def init(self):
super().init()
self.flags |= FordFlags.CANFD
@dataclass
class FordF150LightningPlatform(FordCANFDPlatformConfig):
def init(self):
super().init()
# Don't show in docs until this issue is resolved. See https://github.com/commaai/openpilot/issues/30302
self.car_docs = []
class CAR(Platforms):
FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
[FordCarDocs("Ford Bronco Sport 2021-24")],
CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
)
FORD_ESCAPE_MK4 = FordPlatformConfig(
[
FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
FordCarDocs("Ford Kuga 2020-23", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
],
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
)
FORD_ESCAPE_MK4_5 = FordCANFDPlatformConfig(
[
FordCarDocs("Ford Escape 2023-24", hybrid=True, plug_in_hybrid=True, setup_video="https://www.youtube.com/watch?v=M6uXf4b2SHM"),
FordCarDocs("Ford Kuga Hybrid 2024", "All"),
FordCarDocs("Ford Kuga Plug-in Hybrid 2024", "All"),
],
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
)
FORD_EXPLORER_MK6 = FordPlatformConfig(
[
FordCarDocs("Ford Explorer 2020-24", hybrid=True), # Hybrid: Limited and Platinum only
FordCarDocs("Lincoln Aviator 2020-24", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only
],
CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
)
FORD_EXPEDITION_MK4 = FordCANFDPlatformConfig(
[FordCarDocs("Ford Expedition 2022-24", "Co-Pilot360 Assist 2.0", hybrid=False)],
CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
)
FORD_F_150_MK14 = FordCANFDPlatformConfig(
[FordCarDocs("Ford F-150 2021-23", "Co-Pilot360 Assist 2.0", hybrid=True)],
CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
)
FORD_F_150_LIGHTNING_MK1 = FordF150LightningPlatform(
[FordCarDocs("Ford F-150 Lightning 2022-23", "Co-Pilot360 Assist 2.0")],
CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
)
FORD_FOCUS_MK4 = FordPlatformConfig(
[FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only
CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
)
FORD_MAVERICK_MK1 = FordPlatformConfig(
[
FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
],
CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
)
FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
[FordCarDocs("Ford Mustang Mach-E 2021-24", "All", setup_video="https://www.youtube.com/watch?v=AR4_eTF3b_A")],
CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
)
FORD_RANGER_MK2 = FordCANFDPlatformConfig(
[FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering", setup_video="https://www.youtube.com/watch?v=2oJlXCKYOy0")],
CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
)
# FW response contains a combined software and part number
# A-Z except no I, O or W
# e.g. NZ6A-14C204-AAA
# 1222-333333-444
# 1 = Model year hint (approximates model year/generation)
# 2 = Platform hint
# 3 = Part number
# 4 = Software version
FW_ALPHABET = b'A-HJ-NP-VX-Z'
FW_PATTERN = re.compile(b'^(?P<model_year_hint>[' + FW_ALPHABET + b'])' +
b'(?P<platform_hint>[0-9' + FW_ALPHABET + b']{3})-' +
b'(?P<part_number>[0-9' + FW_ALPHABET + b']{5,6})-' +
b'(?P<software_revision>[' + FW_ALPHABET + b']{2,})\x00*$')
def get_platform_codes(fw_versions: list[bytes] | set[bytes]) -> set[tuple[bytes, bytes]]:
codes = set()
for fw in fw_versions:
match = FW_PATTERN.match(fw)
if match is not None:
codes.add((match.group('platform_hint'), match.group('model_year_hint')))
return codes
def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, vin: str, offline_fw_versions: OfflineFwVersions) -> set[str]:
candidates: set[str] = set()
for candidate, fws in offline_fw_versions.items():
# Keep track of ECUs which pass all checks (platform hint, within model year hint range)
valid_found_ecus = set()
valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
for ecu, expected_versions in fws.items():
addr = ecu[1:]
# Only check ECUs expected to have platform codes
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
# Expected platform codes & model year hints
codes = get_platform_codes(expected_versions)
expected_platform_codes = {code for code, _ in codes}
expected_model_year_hints = {model_year_hint for _, model_year_hint in codes}
# Found platform codes & model year hints
codes = get_platform_codes(live_fw_versions.get(addr, set()))
found_platform_codes = {code for code, _ in codes}
found_model_year_hints = {model_year_hint for _, model_year_hint in codes}
# Check platform code matches for any found versions
if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
break
# Check any model year hint within range in the database. Note that some models have more than one
# platform code per ECU which we don't consider as separate ranges
if not any(min(expected_model_year_hints) <= found_model_year_hint <= max(expected_model_year_hints) for
found_model_year_hint in found_model_year_hints):
break
valid_found_ecus.add(addr)
# If all live ECUs pass all checks for candidate, add it as a match
if valid_expected_ecus.issubset(valid_found_ecus):
candidates.add(candidate)
return candidates
# All of these ECUs must be present and are expected to have platform codes we can match
PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
ASBUILT_BLOCKS: list[tuple[int, list]] = [
(1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
(2, [Ecu.abs, Ecu.debug, Ecu.eps]),
(3, [Ecu.abs, Ecu.debug, Ecu.eps]),
(4, [Ecu.debug, Ecu.fwdCamera]),
(5, [Ecu.debug]),
(6, [Ecu.debug]),
(7, [Ecu.debug]),
(8, [Ecu.debug]),
(9, [Ecu.debug]),
(16, [Ecu.debug, Ecu.fwdCamera]),
(18, [Ecu.fwdCamera]),
(20, [Ecu.fwdCamera]),
(21, [Ecu.fwdCamera]),
]
def ford_asbuilt_block_request(block_id: int):
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
def ford_asbuilt_block_response(block_id: int):
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# CAN and CAN FD queries are combined.
# FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
logging=True,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
bus=0,
auxiliary=True,
),
*[Request(
[StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
[StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
whitelist_ecus=ecus,
bus=0,
logging=True,
) for block_id, ecus in ASBUILT_BLOCKS],
],
extra_ecus=[
(Ecu.engine, 0x7e0, None), # Powertrain Control Module
# Note: We are unlikely to get a response from behind the gateway
(Ecu.shiftByWire, 0x732, None), # Gear Shift Module
(Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module
],
# Custom fuzzy fingerprinting function using platform and model year hints
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
)
DBC = CAR.create_dbc_map()

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import copy
from dataclasses import dataclass, field
import struct
from collections.abc import Callable
from opendbc.car import uds
from opendbc.car.structs import CarParams
Ecu = CarParams.Ecu
AddrType = tuple[int, int | None]
EcuAddrBusType = tuple[int, int | None, int]
EcuAddrSubAddr = tuple[Ecu, int, int | None]
LiveFwVersions = dict[AddrType, set[bytes]]
OfflineFwVersions = dict[str, dict[EcuAddrSubAddr, list[bytes]]]
# A global list of addresses we will only ever consider for VIN responses
# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
# TODO: move these to each brand's FW query config
STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1]
ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
def p16(val):
return struct.pack("!H", val)
class StdQueries:
# FW queries
TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0])
TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0])
SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT])
SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
uds.SESSION_TYPE.DEFAULT])
DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])
MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
MANUFACTURER_ECU_HARDWARE_NUMBER_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)
MANUFACTURER_ECU_HARDWARE_NUMBER_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER)
UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
OBD_VERSION_REQUEST = b'\x09\x04'
OBD_VERSION_RESPONSE = b'\x49\x04'
# VIN queries
OBD_VIN_REQUEST = b'\x09\x02'
OBD_VIN_RESPONSE = b'\x49\x02\x01'
UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN)
GM_VIN_REQUEST = b'\x1a\x90'
GM_VIN_RESPONSE = b'\x5a\x90'
KWP_VIN_REQUEST = b'\x21\x81'
KWP_VIN_RESPONSE = b'\x61\x81'
@dataclass
class Request:
request: list[bytes]
response: list[bytes]
whitelist_ecus: list[Ecu] = field(default_factory=list)
rx_offset: int = 0x8
bus: int = 1
# Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
auxiliary: bool = False
# FW responses from these queries will not be used for fingerprinting
logging: bool = False
# pandad toggles OBD multiplexing on/off as needed
obd_multiplexing: bool = True
@dataclass
class FwQueryConfig:
requests: list[Request]
# TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
# Overrides and removes from essential ecus for specific models and ecus (exact matching)
non_essential_ecus: dict[Ecu, list[str]] = field(default_factory=dict)
# Ecus added for data collection, not to be fingerprinted on
extra_ecus: list[tuple[Ecu, int, int | None]] = field(default_factory=list)
# Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
# returns set of candidates. Only will match if one candidate is returned
match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
def __post_init__(self):
# Asserts that a request exists if extra ecus are used
if len(self.extra_ecus):
assert len(self.requests), "Must define a request with extra ecus"
# All extra ecus should be used in a request
for ecu, _, _ in self.extra_ecus:
assert (any(ecu in request.whitelist_ecus for request in self.requests) or
any(not request.whitelist_ecus for request in self.requests)), f"Ecu.{ECU_NAME[ecu]} not in any request"
# These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing
unnecessary_non_essential_ecus = set(self.non_essential_ecus) - set(ESSENTIAL_ECUS)
assert unnecessary_non_essential_ecus == set(), ("Declaring non-essential ECUs non-essential is not required: " +
f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}")
# Asserts equal length request and response lists
for request_obj in self.requests:
assert len(request_obj.request) == len(request_obj.response), ("Request and response lengths do not match: " +
f"{request_obj.request} vs. {request_obj.response}")
# No request on the OBD port (bus 1, multiplexed) should be run on an aux panda
assert not (request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing), ("OBD multiplexed request should not " +
f"be marked auxiliary: {request_obj}")
# Add aux requests (second panda) for all requests that are marked as auxiliary
for i in range(len(self.requests)):
if self.requests[i].auxiliary:
new_request = copy.deepcopy(self.requests[i])
new_request.bus += 4
self.requests.append(new_request)
def get_all_ecus(self, offline_fw_versions: OfflineFwVersions,
include_extra_ecus: bool = True) -> set[EcuAddrSubAddr]:
# Add ecus in database + extra ecus
brand_ecus = {ecu for ecus in offline_fw_versions.values() for ecu in ecus}
if include_extra_ecus:
brand_ecus |= set(self.extra_ecus)
return brand_ecus

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from collections import defaultdict
from collections.abc import Callable, Iterator
from typing import Protocol, TypeVar
from tqdm import tqdm
from opendbc.car import uds
from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
from opendbc.car.carlog import carlog
from opendbc.car.structs import CarParams
from opendbc.car.ecu_addrs import get_ecu_addrs
from opendbc.car.fingerprints import FW_VERSIONS
from opendbc.car.fw_query_definitions import ESSENTIAL_ECUS, AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions
from opendbc.car.interfaces import get_interface_attr
from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
Ecu = CarParams.Ecu
FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
FW_QUERY_CONFIGS: dict[str, FwQueryConfig] = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
T = TypeVar('T')
ObdCallback = Callable[[bool], None]
def chunks(l: list[T], n: int = 128) -> Iterator[list[T]]:
for i in range(0, len(l), n):
yield l[i:i + n]
def is_brand(brand: str, filter_brand: str | None) -> bool:
"""Returns if brand matches filter_brand or no brand filter is specified"""
return filter_brand is None or brand == filter_brand
def build_fw_dict(fw_versions: list[CarParams.CarFw], filter_brand: str | None = None) -> dict[AddrType, set[bytes]]:
fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
for fw in fw_versions:
if is_brand(fw.brand, filter_brand) and not fw.logging:
sub_addr = fw.subAddress if fw.subAddress != 0 else None
fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
return dict(fw_versions_dict)
class MatchFwToCar(Protocol):
def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str | None = None, log: bool = True) -> set[str]:
...
def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str | None = None, log: bool = True, exclude: str | None = None) -> set[str]:
"""Do a fuzzy FW match. This function will return a match, and the number of firmware version
that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
the match is rejected."""
# Build lookup table from (addr, sub_addr, fw) to list of candidate cars
all_fw_versions = defaultdict(list)
for candidate, fw_by_addr in FW_VERSIONS.items():
if not is_brand(MODEL_TO_BRAND[candidate], match_brand):
continue
if candidate == exclude:
continue
for addr, fws in fw_by_addr.items():
# These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
# Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
# impossible to get 3 matching versions, even if two models with shared parts are released at the same
# time and only one is in our database.
if addr[0] in FUZZY_EXCLUDE_ECUS:
continue
for f in fws:
all_fw_versions[(addr[1], addr[2], f)].append(candidate)
matched_ecus = set()
match: str | None = None
for addr, versions in live_fw_versions.items():
ecu_key = (addr[0], addr[1])
for version in versions:
# All cars that have this FW response on the specified address
candidates = all_fw_versions[(*ecu_key, version)]
if len(candidates) == 1:
matched_ecus.add(ecu_key)
if match is None:
match = candidates[0]
# We uniquely matched two different cars. No fuzzy match possible
elif match != candidates[0]:
return set()
# Note that it is possible to match to a candidate without all its ECUs being present
# if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
if match and len(matched_ecus) >= 2:
if log:
carlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs")
return {match}
else:
return set()
def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str | None = None,
log: bool = True, extra_fw_versions: dict | None = None) -> set[str]:
"""Do an exact FW match. Returns all cars that match the given
FW versions for a list of "essential" ECUs. If an ECU is not considered
essential the FW version can be missing to get a fingerprint, but if it's present it
needs to match the database."""
if extra_fw_versions is None:
extra_fw_versions = {}
invalid = set()
candidates = {c: f for c, f in FW_VERSIONS.items() if
is_brand(MODEL_TO_BRAND[c], match_brand)}
for candidate, fws in candidates.items():
config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
for ecu, expected_versions in fws.items():
expected_versions = expected_versions + extra_fw_versions.get(candidate, {}).get(ecu, [])
ecu_type = ecu[0]
addr = ecu[1:]
found_versions = live_fw_versions.get(addr, set())
if not len(found_versions):
# Some models can sometimes miss an ecu, or show on two different addresses
# FIXME: this logic can be improved to be more specific, should require one of the two addresses
if candidate in config.non_essential_ecus.get(ecu_type, []):
continue
# Ignore non essential ecus
if ecu_type not in ESSENTIAL_ECUS:
continue
# Virtual debug ecu doesn't need to match the database
if ecu_type == Ecu.debug:
continue
if not any(found_version in expected_versions for found_version in found_versions):
invalid.add(candidate)
break
return set(candidates.keys()) - invalid
def match_fw_to_car(fw_versions: list[CarParams.CarFw], vin: str, allow_exact: bool = True,
allow_fuzzy: bool = True, log: bool = True) -> tuple[bool, set[str]]:
# Try exact matching first
exact_matches: list[tuple[bool, MatchFwToCar]] = []
if allow_exact:
exact_matches = [(True, match_fw_to_car_exact)]
if allow_fuzzy:
exact_matches.append((False, match_fw_to_car_fuzzy))
for exact_match, match_func in exact_matches:
# For each brand, attempt to fingerprint using all FW returned from its queries
matches: set[str] = set()
for brand in VERSIONS.keys():
fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
matches |= match_func(fw_versions_dict, match_brand=brand, log=log)
# If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
config = FW_QUERY_CONFIGS[brand]
if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
matches |= config.match_fw_to_car_fuzzy(fw_versions_dict, vin, VERSIONS[brand])
if len(matches):
return exact_match, matches
return True, set()
def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
# queries are split by OBD multiplexing mode
queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
responses: set[EcuAddrBusType] = set()
for brand, config, r in REQUESTS:
# Skip query if no panda available
if r.bus > num_pandas * 4 - 1:
continue
for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]):
# Only query ecus in whitelist if whitelist is not empty
if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
a = (addr, sub_addr, r.bus)
# Build set of queries
if sub_addr is None:
if a not in parallel_queries[r.obd_multiplexing]:
parallel_queries[r.obd_multiplexing].append(a)
else: # subaddresses must be queried one by one
if [a] not in queries[r.obd_multiplexing]:
queries[r.obd_multiplexing].append([a])
# Build set of expected responses to filter
response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
responses.add((response_addr, sub_addr, r.bus))
for obd_multiplexing in queries:
queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
ecu_responses = set()
for obd_multiplexing in queries:
set_obd_multiplexing(obd_multiplexing)
for query in queries[obd_multiplexing]:
ecu_responses.update(get_ecu_addrs(can_recv, can_send, set(query), responses, timeout=0.1))
return ecu_responses
def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, list[bool]]:
"""Returns dictionary of brands and matches with ECUs in their FW versions"""
brand_rx_addrs = {brand: set() for brand in FW_QUERY_CONFIGS}
brand_matches = {brand: [] for brand, _, _ in REQUESTS}
# Since we can't know what request an ecu responded to, add matches for all possible rx offsets
for brand, config, r in REQUESTS:
for ecu in config.get_all_ecus(VERSIONS[brand]):
if len(r.whitelist_ecus) == 0 or ecu[0] in r.whitelist_ecus:
brand_rx_addrs[brand].add((uds.get_rx_addr_for_tx_addr(ecu[1], r.rx_offset), ecu[2]))
for brand, addrs in brand_rx_addrs.items():
for addr in addrs:
# TODO: check bus from request as well
brand_matches[brand].append(addr in [addr[:2] for addr in ecu_rx_addrs])
return brand_matches
def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, vin: str,
ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, progress: bool = False) -> list[CarParams.CarFw]:
"""Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
all_car_fw = []
brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
# Sort brands by number of matching ECUs first, then percentage of matching ECUs in the database
# This allows brands with only one ECU to be queried first (e.g. Tesla)
for brand in sorted(brand_matches, key=lambda b: (brand_matches[b].count(True), brand_matches[b].count(True) / len(brand_matches[b])), reverse=True):
# Skip this brand if there are no matching present ECUs
if True not in brand_matches[brand]:
continue
car_fw = get_fw_versions(can_recv, can_send, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, progress=progress)
all_car_fw.extend(car_fw)
# If there is a match using this brand's FW alone, finish querying early
_, matches = match_fw_to_car(car_fw, vin, log=False)
if len(matches) == 1:
break
return all_car_fw
def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str | None = None,
extra: OfflineFwVersions | None = None, timeout: float = 0.1, num_pandas: int = 1, progress: bool = False) -> list[CarParams.CarFw]:
versions = VERSIONS.copy()
if query_brand is not None:
versions = {query_brand: versions[query_brand]}
if extra is not None:
versions.update(extra)
# Extract ECU addresses to query from fingerprints
# ECUs using a subaddress need be queried one by one, the rest can be done in parallel
addrs = []
parallel_addrs = []
ecu_types = {}
for brand, brand_versions in versions.items():
config = FW_QUERY_CONFIGS[brand]
for ecu_type, addr, sub_addr in config.get_all_ecus(brand_versions):
a = (brand, addr, sub_addr)
if a not in ecu_types:
ecu_types[a] = ecu_type
if sub_addr is None:
if a not in parallel_addrs:
parallel_addrs.append(a)
else:
if [a] not in addrs:
addrs.append([a])
addrs.insert(0, parallel_addrs)
# Get versions and build capnp list to put into CarParams
car_fw = []
requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)]
for addr_group in tqdm(addrs, disable=not progress): # split by subaddr, if any
for addr_chunk in chunks(addr_group):
for brand, config, r in requests:
# Skip query if no panda available
if r.bus > num_pandas * 4 - 1:
continue
# Toggle OBD multiplexing for each request
if r.bus % 4 == 1:
set_obd_multiplexing(r.obd_multiplexing)
try:
query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
(len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
if query_addrs:
query = IsoTpParallelQuery(can_send, can_recv, r.bus, query_addrs, r.request, r.response, r.rx_offset)
for (tx_addr, sub_addr), version in query.get_data(timeout).items():
f = CarParams.CarFw()
f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
f.fwVersion = version
f.address = tx_addr
f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
f.request = r.request
f.brand = brand
f.bus = r.bus
f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus
f.obdMultiplexing = r.obd_multiplexing
if sub_addr is not None:
f.subAddress = sub_addr
car_fw.append(f)
except Exception:
carlog.exception("FW query exception")
return car_fw

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opendbc_repo/opendbc/car/gm/__init__.py Normal file
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opendbc_repo/opendbc/car/gm/carcontroller.py Normal file
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import numpy as np
from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, structs
from opendbc.car.lateral import apply_driver_steer_torque_limits
from opendbc.car.gm import gmcan
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
from opendbc.car.interfaces import CarControllerBase
VisualAlert = structs.CarControl.HUDControl.VisualAlert
NetworkLocation = structs.CarParams.NetworkLocation
LongCtrlState = structs.CarControl.Actuators.LongControlState
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
CAMERA_CANCEL_DELAY_FRAMES = 10
# Enforce a minimum interval between steering messages to avoid a fault
MIN_STEER_MSG_INTERVAL_MS = 15
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP, CP_IQ):
super().__init__(dbc_names, CP, CP_IQ)
self.start_time = 0.
self.apply_torque_last = 0
self.apply_gas = 0
self.apply_brake = 0
self.last_steer_frame = 0
self.last_button_frame = 0
self.cancel_counter = 0
self.lka_steering_cmd_counter = 0
self.lka_icon_status_last = (False, False)
self.params = CarControllerParams(self.CP)
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint][Bus.pt])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint][Bus.radar])
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint][Bus.chassis])
def update(self, CC, CC_IQ, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
hud_alert = hud_control.visualAlert
hud_v_cruise = hud_control.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0
# Send CAN commands.
can_sends = []
# Steering (Active: 50Hz, inactive: 10Hz)
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Also send at 50Hz:
# - on startup, first few msgs are blocked
# - until we're in sync with camera so counters align when relay closes, preventing a fault.
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
steer_step = self.params.STEER_STEP
self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
# received the ASCMLKASteeringCmd loopback confirmation too recently
last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
# Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
if CS.loopback_lka_steering_cmd_ts_nanos == 0:
self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
if CC.latActive:
new_torque = int(round(actuators.torque * self.params.STEER_MAX))
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
else:
apply_torque = 0
self.last_steer_frame = self.frame
self.apply_torque_last = apply_torque
idx = self.lka_steering_cmd_counter % 4
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_torque, idx, CC.latActive))
if self.CP.openpilotLongitudinalControl:
# Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0:
stopping = actuators.longControlState == LongCtrlState.stopping
if not CC.longActive:
# ASCM sends max regen when not enabled
self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0
else:
self.apply_gas = float(np.interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))
self.apply_brake = int(round(np.interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop
if stopping:
self.apply_gas = self.params.INACTIVE_REGEN
idx = (self.frame // 4) % 4
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (abs(CS.out.vEgo) < self.params.NEAR_STOP_BRAKE_PHASE)
friction_brake_bus = CanBus.CHASSIS
# GM Camera exceptions
# TODO: can we always check the longControlState?
if self.CP.networkLocation == NetworkLocation.fwdCamera:
at_full_stop = at_full_stop and stopping
friction_brake_bus = CanBus.POWERTRAIN
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
idx, CC.enabled, near_stop, at_full_stop, self.CP))
# Send dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
if not self.CP.radarUnavailable:
tt = self.frame * DT_CTRL
time_and_headlights_step = 10
if self.frame % time_and_headlights_step == 0:
idx = (self.frame // time_and_headlights_step) % 4
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
speed_and_accelerometer_step = 2
if self.frame % speed_and_accelerometer_step == 0:
idx = (self.frame // speed_and_accelerometer_step) % 4
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, abs(CS.out.vEgo), idx))
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
else:
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
# A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
# Stock longitudinal, integrated at camera
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
if self.frame % 10 == 0:
can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
new_actuators = actuators.as_builder()
new_actuators.torque = self.apply_torque_last / self.params.STEER_MAX
new_actuators.torqueOutputCan = self.apply_torque_last
new_actuators.gas = self.apply_gas
new_actuators.brake = self.apply_brake
self.frame += 1
return new_actuators, can_sends

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import copy
from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.interfaces import CarStateBase
from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
from opendbc.iqpilot.car.gm.carstate_ext import CarStateExt
from opendbc.iqpilot.car.gm.values_ext import GMFlagsIQ
ButtonType = structs.CarState.ButtonEvent.Type
TransmissionType = structs.CarParams.TransmissionType
NetworkLocation = structs.CarParams.NetworkLocation
STANDSTILL_THRESHOLD = 10 * 0.0311
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
class CarState(CarStateBase, CarStateExt):
def __init__(self, CP, CP_IQ):
CarStateBase.__init__(self, CP, CP_IQ)
CarStateExt.__init__(self, CP, CP_IQ)
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
self.cluster_min_speed = CV.KPH_TO_MS / 2.
self.loopback_lka_steering_cmd_updated = False
self.loopback_lka_steering_cmd_ts_nanos = 0
self.pt_lka_steering_cmd_counter = 0
self.cam_lka_steering_cmd_counter = 0
self.buttons_counter = 0
self.distance_button = 0
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
if not self.CP.pcmCruise:
for b in buttonEvents:
# The ECM allows enabling on falling edge of set, but only rising edge of resume
if (b.type == ButtonType.accelCruise and b.pressed) or \
(b.type == ButtonType.decelCruise and not b.pressed):
return True
return False
def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
pt_cp = can_parsers[Bus.pt]
cam_cp = can_parsers[Bus.cam]
loopback_cp = can_parsers[Bus.loopback]
ret = structs.CarState()
ret_iq = structs.IQCarState()
prev_cruise_buttons = self.cruise_buttons
prev_distance_button = self.distance_button
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
# Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
if self.loopback_lka_steering_cmd_updated:
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
if self.CP.networkLocation == NetworkLocation.fwdCamera:
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
left_whl_sign = -1 if pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2 else 1
right_whl_sign = -1 if pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2 else 1
self.parse_wheel_speeds(ret,
left_whl_sign * pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
right_whl_sign * pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
left_whl_sign * pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
right_whl_sign * pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
)
# sample rear wheel speeds to match the safety which only uses the rear CAN message
# standstill=True if ECM allows engagement with brake
ret.standstill = abs(pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"]) <= STANDSTILL_THRESHOLD and \
abs(pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"]) <= STANDSTILL_THRESHOLD
if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
ret.gearShifter = self.parse_gear_shifter("T")
else:
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.networkLocation == NetworkLocation.fwdCamera:
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
else:
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
# that the brake is being intermittently pressed without user interaction.
# To avoid a cruise fault we need to use a conservative brake position threshold
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
ret.brakePressed = ret.brake >= 8
# Regen braking is braking
if self.CP.transmissionType == TransmissionType.direct:
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.gasPressed = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. > 1e-5
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
# 0 inactive, 1 active, 2 temporarily limited, 3 failed
self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
ret.steerFaultTemporary = self.lkas_status == 2
ret.steerFaultPermanent = self.lkas_status == 3
# 1 - open, 0 - closed
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
# 1 - latched
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
if self.CP.networkLocation == NetworkLocation.fwdCamera:
if self.CP.carFingerprint not in ALT_ACCS and not self.CP_IQ.flags & GMFlagsIQ.NON_ACC:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
# This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
if self.CP.pcmCruise:
# openpilot controls nonAdaptive when not pcmCruise
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
else:
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
if self.CP.carFingerprint not in SDGM_CAR:
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
if self.CP.enableBsm:
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
ret.buttonEvents = [
*create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS),
*create_button_events(self.distance_button, prev_distance_button,
{1: ButtonType.gapAdjustCruise})
]
if ret.vEgo < self.CP.minSteerSpeed:
ret.lowSpeedAlert = True
CarStateExt.update(self, ret, can_parsers)
return ret, ret_iq
@staticmethod
def get_can_parsers(CP, CP_IQ):
pt_messages = []
if CP.networkLocation == NetworkLocation.fwdCamera:
pt_messages += [
("ASCMLKASteeringCmd", float('nan')),
]
loopback_messages = [
("ASCMLKASteeringCmd", float('nan')),
]
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
Bus.loopback: CANParser(DBC[CP.carFingerprint][Bus.pt], loopback_messages, 128),
}

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opendbc_repo/opendbc/car/gm/fingerprints.py Normal file
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# ruff: noqa: E501
""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
from opendbc.car.gm.values import CAR
from opendbc.iqpilot.car.fingerprints_ext import merge_fingerprints
from opendbc.iqpilot.car.gm.fingerprints_ext import FINGERPRINTS_EXT
# Trailblazer also matches as a SILVERADO, TODO: split with fw versions
# FIXME: There are Equinox users with different message lengths, specifically 304 and 320
FINGERPRINTS = {
CAR.HOLDEN_ASTRA: [{
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
}],
CAR.CHEVROLET_VOLT: [{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
},
{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
},
{
170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
}],
CAR.BUICK_LACROSSE: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
}],
CAR.BUICK_REGAL: [{
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
}],
CAR.CADILLAC_ATS: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.CHEVROLET_MALIBU: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.GMC_ACADIA: [{
190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
},
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.CADILLAC_ESCALADE: [{
170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
}],
CAR.CADILLAC_ESCALADE_ESV: [{
309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
}],
CAR.CADILLAC_ESCALADE_ESV_2019: [{
715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
}],
CAR.CHEVROLET_BOLT_EUV: [{
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
CAR.CHEVROLET_SILVERADO: [{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
CAR.CHEVROLET_EQUINOX: [{
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
},
{
190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
}],
CAR.CADILLAC_XT4: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
}],
CAR.CHEVROLET_VOLT_2019: [{
170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
}],
CAR.CHEVROLET_TRAVERSE: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
}],
CAR.GMC_YUKON: [{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1355: 8, 1611: 8
}],
}
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
}
FINGERPRINTS = merge_fingerprints(FINGERPRINTS, FINGERPRINTS_EXT)

171
opendbc_repo/opendbc/car/gm/gmcan.py Normal file
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from opendbc.car.can_definitions import CanData
from opendbc.car.gm.values import CAR
def create_buttons(packer, bus, idx, button):
values = {
"ACCButtons": button,
"RollingCounter": idx,
"ACCAlwaysOne": 1,
"DistanceButton": 0,
}
checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
checksum -= int(values["ACCButtons"] - 1) << 4 # not correct if value is 0
checksum -= 2 * values["DistanceButton"]
values["SteeringButtonChecksum"] = checksum
return packer.make_can_msg("ASCMSteeringButton", bus, values)
def create_pscm_status(packer, bus, pscm_status):
values = {s: pscm_status[s] for s in [
"HandsOffSWDetectionMode",
"HandsOffSWlDetectionStatus",
"LKATorqueDeliveredStatus",
"LKADriverAppldTrq",
"LKATorqueDelivered",
"LKATotalTorqueDelivered",
"RollingCounter",
"PSCMStatusChecksum",
]}
checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5
values["HandsOffSWlDetectionStatus"] = 1
values["PSCMStatusChecksum"] += checksum_mod
return packer.make_can_msg("PSCMStatus", bus, values)
def create_steering_control(packer, bus, apply_torque, idx, lkas_active):
values = {
"LKASteeringCmdActive": lkas_active,
"LKASteeringCmd": apply_torque,
"RollingCounter": idx,
"LKASteeringCmdChecksum": 0x1000 - (lkas_active << 11) - (apply_torque & 0x7ff) - idx
}
return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
def create_adas_keepalive(bus):
dat = b"\x00\x00\x00\x00\x00\x00\x00"
return [CanData(0x409, dat, bus), CanData(0x40a, dat, bus)]
def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
values = {
"GasRegenCmdActive": enabled,
"RollingCounter": idx,
"GasRegenCmd": throttle,
"GasRegenFullStopActive": at_full_stop,
"GasRegenAccType": 1,
}
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
values["GasRegenChecksum"] = ((1 - enabled) << 24) | \
(((0xff - dat[1]) & 0xff) << 16) | \
(((0xff - dat[2]) & 0xff) << 8) | \
((0x100 - dat[3] - idx) & 0xff)
return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
mode = 0x1
# TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
mode = 0x9
if apply_brake > 0:
mode = 0xa
if at_full_stop:
mode = 0xd
# TODO: this is to have GM bringing the car to complete stop,
# but currently it conflicts with OP controls, so turned off. Not set by all cars
#elif near_stop:
# mode = 0xb
brake = (0x1000 - apply_brake) & 0xfff
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
values = {
"RollingCounter": idx,
"FrictionBrakeMode": mode,
"FrictionBrakeChecksum": checksum,
"FrictionBrakeCmd": -apply_brake
}
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
target_speed = min(target_speed_kph, 255)
values = {
"ACCAlwaysOne": 1,
"ACCResumeButton": 0,
"ACCSpeedSetpoint": target_speed,
"ACCGapLevel": hud_control.leadDistanceBars * enabled, # 3 "far", 0 "inactive"
"ACCCmdActive": enabled,
"ACCAlwaysOne2": 1,
"ACCLeadCar": hud_control.leadVisible,
"FCWAlert": 0x3 if fcw else 0
}
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
def create_adas_time_status(bus, tt, idx):
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
((tt & 0xf) << 4) + (idx << 2)]
chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
chksum = chksum & 0xfff
dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
return CanData(0xa1, bytes(dat), bus)
def create_adas_steering_status(bus, idx):
dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
chksum = 0x60 + sum(dat)
dat += [chksum >> 8, chksum & 0xff]
return CanData(0x306, bytes(dat), bus)
def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
spd = int(speed_ms * 16) & 0xfff
accel = 0 & 0xfff
# 0 if in park/neutral, 0x10 if in reverse, 0x08 for D/L
#stick = 0x08
near_range_cutoff = 0x27
near_range_mode = 1 if spd <= near_range_cutoff else 0
far_range_mode = 1 - near_range_mode
dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0]
chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4]
dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
return CanData(0x308, bytes(dat), bus)
def create_adas_headlights_status(packer, bus):
values = {
"Always42": 0x42,
"Always4": 0x4,
}
return packer.make_can_msg("ASCMHeadlight", bus, values)
def create_lka_icon_command(bus, active, critical, steer):
if active and steer == 1:
if critical:
dat = b"\x50\xc0\x14"
else:
dat = b"\x50\x40\x18"
elif active:
if critical:
dat = b"\x40\xc0\x14"
else:
dat = b"\x40\x40\x18"
else:
dat = b"\x00\x00\x00"
return CanData(0x104c006c, dat, bus)

269
opendbc_repo/opendbc/car/gm/interface.py Executable file
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#!/usr/bin/env python3
from math import fabs, exp
import numpy as np
from opendbc.car import get_safety_config, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.carcontroller import CarController
from opendbc.car.gm.carstate import CarState
from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMERA_DATA_HEADER_MSG
from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType
from opendbc.iqpilot.car.gm.interface_ext import CarInterfaceExt
from opendbc.iqpilot.car.gm.values_ext import GMFlagsIQ, GMSafetyFlagsIQ
TransmissionType = structs.CarParams.TransmissionType
NetworkLocation = structs.CarParams.NetworkLocation
# iqpilot-specific torque parameters for Bolt cars that actually use the d parameter
NON_LINEAR_TORQUE_PARAMS_IQ = {
CAR.CHEVROLET_BOLT_NON_ACC: [2.24, 1.1, 0.28, -0.07],
CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN: [1.8, 1.1, 0.3, -0.045],
}
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122],
**NON_LINEAR_TORQUE_PARAMS_IQ,
}
class CarInterface(CarInterfaceBase, CarInterfaceExt):
CarState = CarState
CarController = CarController
RadarInterface = RadarInterface
DRIVABLE_GEARS = (structs.CarState.GearShifter.sport, structs.CarState.GearShifter.low,
structs.CarState.GearShifter.eco, structs.CarState.GearShifter.manumatic)
def __init__(self, CP, CP_IQ):
CarInterfaceBase.__init__(self, CP, CP_IQ)
CarInterfaceExt.__init__(self, CP, CarInterfaceBase)
@staticmethod
def get_pid_accel_limits(CP, CP_IQ, current_speed, cruise_speed):
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
@staticmethod
def get_steer_feedforward_volt(desired_angle, v_ego):
desired_angle *= 0.02904609
sigmoid = desired_angle / (1 + fabs(desired_angle))
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
def get_steer_feedforward_function(self):
if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
return self.get_steer_feedforward_volt
else:
return CarInterfaceBase.get_steer_feedforward_default
def get_lataccel_torque_siglin(self) -> tuple[list[float], np.ndarray]:
def torque_from_lateral_accel_siglin_func(lateral_acceleration: float) -> float:
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
# This has big effect on the stability about 0 (noise when going straight)
non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
assert non_linear_torque_params, "The params are not defined"
a, b, c, d = non_linear_torque_params
d = d if NON_LINEAR_TORQUE_PARAMS_IQ.get(self.CP.carFingerprint) else 0.0
sig_input = a * lateral_acceleration
sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
steer_torque = (sig * b) + (lateral_acceleration * c) + d
return float(steer_torque)
lataccel_values = np.arange(-5.0, 5.0, 0.01)
torque_values = [torque_from_lateral_accel_siglin_func(x) for x in lataccel_values]
assert min(torque_values) < -1 and max(torque_values) > 1, "The torque values should cover the range [-1, 1]"
return torque_values, lataccel_values
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
torque_values, lataccel_values = self.get_lataccel_torque_siglin()
def torque_from_lateral_accel_siglin(lateral_acceleration: float, torque_params: structs.CarParams.LateralTorqueTuning):
return np.interp(lateral_acceleration, lataccel_values, torque_values)
return torque_from_lateral_accel_siglin
else:
return self.torque_from_lateral_accel_linear
def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType:
if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
torque_values, lataccel_values = self.get_lataccel_torque_siglin()
def lateral_accel_from_torque_siglin(torque: float, torque_params: structs.CarParams.LateralTorqueTuning):
return np.interp(torque, torque_values, lataccel_values)
return lateral_accel_from_torque_siglin
else:
return self.lateral_accel_from_torque_linear
@staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
ret.brand = "gm"
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.EV.value
else:
ret.transmissionType = TransmissionType.automatic
ret.longitudinalTuning.kiBP = [5., 35.]
if candidate in (CAMERA_ACC_CAR | SDGM_CAR):
ret.alphaLongitudinalAvailable = candidate not in SDGM_CAR
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = True # no radar
ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
ret.minEnableSpeed = -1 if candidate in SDGM_CAR else 5 * CV.KPH_TO_MS
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
# Tuning for experimental long
ret.longitudinalTuning.kiV = [2.0, 1.5]
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
if alpha_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value
if candidate in ALT_ACCS:
ret.alphaLongitudinalAvailable = False
ret.openpilotLongitudinalControl = False
ret.minEnableSpeed = -1. # engage speed is decided by PCM
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
# LRR messages can take up to a few seconds to start sending after ignition, check camera data as well which starts earlier
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and CAMERA_DATA_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
# supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
# Tuning
ret.longitudinalTuning.kiV = [2.4, 1.5]
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to opendbc/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
ret.steerLimitTimer = 0.4
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
if candidate == CAR.CHEVROLET_VOLT:
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.GMC_ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_LACROSSE:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
ret.minEnableSpeed = -1. # engage speed is decided by pcm
if candidate == CAR.CADILLAC_ESCALADE_ESV:
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045
else:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_BOLT_EUV:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_SILVERADO:
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
# TODO: check if this is split by EV/ICE with more platforms in the future
if ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_EQUINOX:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_TRAILBLAZER:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_XT4:
ret.steerActuatorDelay = 0.2
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_VOLT_2019:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_TRAVERSE:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.GMC_YUKON:
ret.steerActuatorDelay = 0.5
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.dashcamOnly = True # Needs steerRatio, tireStiffness, and lat accel factor tuning
return ret
@staticmethod
def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
if candidate in (CAR.CHEVROLET_MALIBU_NON_ACC_9TH_GEN, CAR.CHEVROLET_BOLT_NON_ACC, CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN,
CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN):
stock_cp.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning)
elif candidate in (CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN, ):
CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning)
# NON_ACC vehicles should use camera car speed thresholds
if ret.flags & GMFlagsIQ.NON_ACC:
stock_cp.dashcamOnly = False
stock_cp.alphaLongitudinalAvailable = False
stock_cp.networkLocation = NetworkLocation.fwdCamera
stock_cp.openpilotLongitudinalControl = False
stock_cp.pcmCruise = True
stock_cp.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
ret.iqSafetyFlags |= GMSafetyFlagsIQ.NON_ACC
stock_cp.minEnableSpeed = 24 * CV.MPH_TO_MS # 24 mph
stock_cp.minSteerSpeed = 3.0 # ~6 mph
# dashcamOnly platforms: untested platforms, need user validations
if candidate in (CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN,
CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN, CAR.CADILLAC_CT6_NON_ACC_1ST_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN,
CAR.CADILLAC_XT5_NON_ACC_1ST_GEN):
stock_cp.dashcamOnly = True
return ret

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opendbc_repo/opendbc/car/gm/radar_interface.py Executable file
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#!/usr/bin/env python3
import math
from opendbc.can import CANParser
from opendbc.car import Bus, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.values import DBC, CanBus
from opendbc.car.interfaces import RadarInterfaceBase
RADAR_HEADER_MSG = 1120 # F_LRR_Obj_Header
CAMERA_DATA_HEADER_MSG = 1056 # F_Vision_Obj_Header
SLOT_1_MSG = RADAR_HEADER_MSG + 1
NUM_SLOTS = 20
# Actually it's 0x47f, but can parser only reports
# messages that are present in DBC
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radar_can_parser(car_fingerprint):
# C1A-ARS3-A by Continental
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
signals = list(zip(['FLRRNumValidTargets',
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
[RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True))
messages = list({(s[1], 14) for s in signals})
return CANParser(DBC[car_fingerprint][Bus.radar], messages, CanBus.OBSTACLE)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP, CP_IQ):
super().__init__(CP, CP_IQ)
self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
self.trigger_msg = LAST_RADAR_MSG
self.updated_messages = set()
def update(self, can_strings):
if self.rcp is None:
return super().update(None)
vls = self.rcp.update(can_strings)
self.updated_messages.update(vls)
if self.trigger_msg not in self.updated_messages:
return None
ret = structs.RadarData()
header = self.rcp.vl[RADAR_HEADER_MSG]
fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
if not self.rcp.can_valid:
ret.errors.canError = True
if fault:
ret.errors.radarFault = True
currentTargets = set()
num_targets = header['FLRRNumValidTargets']
# Not all radar messages describe targets,
# no need to monitor all of the self.rcp.msgs_upd
for ii in self.updated_messages:
if ii == RADAR_HEADER_MSG:
continue
if num_targets == 0:
break
cpt = self.rcp.vl[ii]
# Zero distance means it's an empty target slot
if cpt['TrkRange'] > 0.0:
targetId = cpt['TrkObjectID']
currentTargets.add(targetId)
if targetId not in self.pts:
self.pts[targetId] = structs.RadarData.RadarPoint()
self.pts[targetId].trackId = targetId
distance = cpt['TrkRange']
self.pts[targetId].dRel = distance # from front of car
# From driver's pov, left is positive
self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance
self.pts[targetId].vRel = cpt['TrkRangeRate']
self.pts[targetId].aRel = float('nan')
self.pts[targetId].yvRel = float('nan')
for oldTarget in list(self.pts.keys()):
if oldTarget not in currentTargets:
del self.pts[oldTarget]
ret.points = list(self.pts.values())
self.updated_messages.clear()
return ret

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opendbc_repo/opendbc/car/gm/tests/__init__.py Normal file
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opendbc_repo/opendbc/car/gm/tests/test_gm.py Normal file
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from parameterized import parameterized
from opendbc.car.gm.fingerprints import FINGERPRINTS
from opendbc.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
class TestGMFingerprint:
@parameterized.expand(FINGERPRINTS.items())
def test_can_fingerprints(self, car_model, fingerprints):
assert len(fingerprints) > 0
assert all(len(finger) for finger in fingerprints)
# The camera can sometimes be communicating on startup
if car_model in CAMERA_ACC_CAR:
for finger in fingerprints:
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
assert finger.get(required_addr) == 8, required_addr

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opendbc_repo/opendbc/car/gm/values.py Normal file
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from dataclasses import dataclass, field
from enum import Enum, IntFlag
from opendbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
from opendbc.iqpilot.car.gm.values_ext import GMFlagsIQ
Ecu = CarParams.Ecu
class CarControllerParams:
STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
STEER_STEP = 3 # Active control frames per command (~33hz)
INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 15
STEER_DRIVER_ALLOWANCE = 65
STEER_DRIVER_MULTIPLIER = 4
STEER_DRIVER_FACTOR = 100
NEAR_STOP_BRAKE_PHASE = 0.5 # m/s
# Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
ADAS_KEEPALIVE_STEP = 100
CAMERA_KEEPALIVE_STEP = 100
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
# to apply some more braking if we're on a downhill slope.
# Our controller should still keep the 2 second average above
# -3.5 m/s^2 as per planner limits
ACCEL_MAX = 2. # m/s^2
ACCEL_MIN = -4. # m/s^2
def __init__(self, CP):
# Gas/brake lookups
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR):
self.MAX_GAS = 1346.0
self.MAX_ACC_REGEN = -540.0
self.INACTIVE_REGEN = -500.0
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from zero gas and uses friction brakes instantly
max_regen_acceleration = 0.
else:
self.MAX_GAS = 1018.0 # Safety limit, not ACC max. Stock ACC >2042 from standstill.
self.MAX_ACC_REGEN = -650.0 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = -650.0
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, 0., self.MAX_GAS]
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
class GMSafetyFlags(IntFlag):
HW_CAM = 1
HW_CAM_LONG = 2
EV = 4
class Footnote(Enum):
SETUP = CarFootnote(
"See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/gm\" target=\"_blank\">GM</a>.",
Column.MAKE, setup_note=True)
@dataclass
class GMCarDocs(CarDocs):
package: str = "Adaptive Cruise Control (ACC)"
def init_make(self, CP: CarParams):
if CP.networkLocation == CarParams.NetworkLocation.fwdCamera:
if CP.carFingerprint in SDGM_CAR:
self.car_parts = CarParts.common([CarHarness.gmsdgm])
else:
self.car_parts = CarParts.common([CarHarness.gm])
else:
self.footnotes.insert(0, Footnote.SETUP)
self.car_parts = CarParts.common([CarHarness.obd_ii])
@dataclass
class GMNonAccCarDocs(GMCarDocs):
package: str = "No Adaptive Cruise Control (Non-ACC)"
support_type: SupportType = SupportType.COMMUNITY
support_link: str = "community"
@dataclass(frozen=True, kw_only=True)
class GMCarSpecs(CarSpecs):
tireStiffnessFactor: float = 0.444 # not optimized yet
@dataclass
class GMPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {
Bus.pt: 'gm_global_a_powertrain_generated',
Bus.radar: 'gm_global_a_object',
Bus.chassis: 'gm_global_a_chassis',
})
@dataclass
class GMASCMPlatformConfig(GMPlatformConfig):
def init(self):
# ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
self.car_docs = []
@dataclass
class GMSDGMPlatformConfig(GMPlatformConfig):
def init(self):
# Don't show in docs until the harness is sold. See https://github.com/commaai/openpilot/issues/32471
self.car_docs = []
@dataclass
class GMNonSccPlatformConfig(GMPlatformConfig):
def init(self):
self.iq_flags |= GMFlagsIQ.NON_ACC
class CAR(Platforms):
HOLDEN_ASTRA = GMASCMPlatformConfig(
[GMCarDocs("Holden Astra 2017")],
GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
)
CHEVROLET_VOLT = GMASCMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
)
CADILLAC_ATS = GMASCMPlatformConfig(
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
)
CHEVROLET_MALIBU = GMASCMPlatformConfig(
[GMCarDocs("Chevrolet Malibu Premier 2017")],
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
)
GMC_ACADIA = GMASCMPlatformConfig(
[GMCarDocs("GMC Acadia 2018", video="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
)
BUICK_LACROSSE = GMASCMPlatformConfig(
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
)
BUICK_REGAL = GMASCMPlatformConfig(
[GMCarDocs("Buick Regal Essence 2018")],
GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
)
CADILLAC_ESCALADE = GMASCMPlatformConfig(
[GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
)
CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
[GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
)
CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
CADILLAC_ESCALADE_ESV.specs,
)
CHEVROLET_BOLT_EUV = GMPlatformConfig(
[
GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim, without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
CHEVROLET_SILVERADO = GMPlatformConfig(
[
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video="https://youtu.be/5HbNoBLzRwE"),
],
GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
)
CHEVROLET_EQUINOX = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22")],
GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
)
CHEVROLET_TRAILBLAZER = GMPlatformConfig(
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
CADILLAC_XT4 = GMSDGMPlatformConfig(
[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
GMCarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
)
CHEVROLET_VOLT_2019 = GMSDGMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2019", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
)
CHEVROLET_TRAVERSE = GMSDGMPlatformConfig(
[GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
GMCarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
)
GMC_YUKON = GMPlatformConfig(
[GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
)
# port extensions
# Separate car def is required when there is no ASCM
# (for now) unless there is a way to detect it when it has been unplugged...
# CHEVROLET_VOLT_CC = GMNonSccPlatformConfig(
# [GMNonAccCarDocs("Chevrolet Volt LT 2017-18")],
# CHEVROLET_VOLT.specs,
# )
CHEVROLET_BOLT_NON_ACC = GMNonSccPlatformConfig(
[GMNonAccCarDocs("Chevrolet Bolt EV Non-ACC 2017")],
CHEVROLET_BOLT_EUV.specs,
)
CHEVROLET_BOLT_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
[GMNonAccCarDocs("Chevrolet Bolt EV Non-ACC 2018-21")],
CHEVROLET_BOLT_EUV.specs,
)
CHEVROLET_BOLT_NON_ACC_2ND_GEN = GMNonSccPlatformConfig(
[
GMNonAccCarDocs("Chevrolet Bolt EUV LT Non-ACC 2022-23"),
GMNonAccCarDocs("Chevrolet Bolt EV LT Non-ACC 2022-23"),
],
CHEVROLET_BOLT_EUV.specs,
)
CHEVROLET_EQUINOX_NON_ACC_3RD_GEN = GMNonSccPlatformConfig(
[GMNonAccCarDocs("Chevrolet Equinox Non-ACC 2019-22")],
CHEVROLET_EQUINOX.specs,
)
CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN = GMNonSccPlatformConfig(
[GMNonAccCarDocs("Chevrolet Suburban Non-ACC 2016-20")],
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
)
CADILLAC_CT6_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
[GMNonAccCarDocs("Cadillac CT6 Non-ACC 2017-18")],
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
)
CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN = GMNonSccPlatformConfig(
[GMNonAccCarDocs("Chevrolet Trailblazer Non-ACC 2021-22")],
CHEVROLET_TRAILBLAZER.specs,
)
CHEVROLET_MALIBU_NON_ACC_9TH_GEN = GMNonSccPlatformConfig(
[GMNonAccCarDocs("Chevrolet Malibu Non-ACC 2016-23")],
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
)
CADILLAC_XT5_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
[GMNonAccCarDocs("Cadillac XT5 Non-ACC 2018")],
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
)
class CruiseButtons:
INIT = 0
UNPRESS = 1
RES_ACCEL = 2
DECEL_SET = 3
MAIN = 5
CANCEL = 6
class AccState:
OFF = 0
ACTIVE = 1
FAULTED = 3
STANDSTILL = 4
class CanBus:
POWERTRAIN = 0
OBSTACLE = 1
CAMERA = 2
CHASSIS = 2
LOOPBACK = 128
DROPPED = 192
# In a Data Module, an identifier is a string used to recognize an object,
# either by itself or together with the identifiers of parent objects.
# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0' # likely does not contain anything useful
GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
# Part number of XML data file that is used to configure ECU
GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c'
GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b' # used to know if XML file is compatible with the ECU software/hardware
# This DID is for identifying the part number that reflects the mix of hardware,
# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb'
GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc'
GM_FW_RESPONSE = b'\x5a'
GM_FW_REQUESTS = [
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST,
GM_SOFTWARE_MODULE_1_REQUEST,
GM_SOFTWARE_MODULE_2_REQUEST,
GM_SOFTWARE_MODULE_3_REQUEST,
GM_XML_DATA_FILE_PART_NUMBER,
GM_XML_CONFIG_COMPAT_ID,
GM_END_MODEL_PART_NUMBER_REQUEST,
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
GM_BASE_MODEL_PART_NUMBER_REQUEST,
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
]
GM_RX_OFFSET = 0x400
FW_QUERY_CONFIG = FwQueryConfig(
requests=[request for req in GM_FW_REQUESTS for request in [
Request(
[StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
[StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
rx_offset=GM_RX_OFFSET,
bus=0,
logging=True,
),
]],
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
)
# TODO: detect most of these sets live
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV,
# port extensions, Non-ACC
CAR.CHEVROLET_BOLT_NON_ACC, CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN, CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.GMC_YUKON}
# Alt ASCMActiveCruiseControlStatus
ALT_ACCS = {CAR.GMC_YUKON}
# We're integrated at the Safety Data Gateway Module on these cars
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_TRAVERSE}
STEER_THRESHOLD = 1.0
DBC = CAR.create_dbc_map()

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opendbc_repo/opendbc/car/honda/__init__.py Normal file
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import numpy as np
import math
from opendbc.can import CANPacker
from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
from opendbc.car.honda import hondacan
from opendbc.car.honda.values import CAR, CruiseButtons, HONDA_BOSCH, HONDA_BOSCH_CANFD, HONDA_BOSCH_RADARLESS, \
HONDA_BOSCH_TJA_CONTROL, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from opendbc.car.interfaces import CarControllerBase
from opendbc.iqpilot.car.honda.aol import AolCarController
from opendbc.iqpilot.car.honda.gas_interceptor import GasInterceptorCarController
VisualAlert = structs.CarControl.HUDControl.VisualAlert
LongCtrlState = structs.CarControl.Actuators.LongControlState
def compute_gb_honda_bosch(accel, speed):
# TODO returns 0s, is unused
return 0.0, 0.0
def compute_gb_honda_nidec(accel, speed):
creep_brake = 0.0
creep_speed = 2.3
creep_brake_value = 0.15
if speed < creep_speed:
creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
gb = float(accel) / 4.8 - creep_brake
return np.clip(gb, 0.0, 1.0), np.clip(-gb, 0.0, 1.0)
def compute_gas_brake(accel, speed, fingerprint):
if fingerprint in HONDA_BOSCH:
return compute_gb_honda_bosch(accel, speed)
else:
return compute_gb_honda_nidec(accel, speed)
# TODO not clear this does anything useful
def actuator_hysteresis(brake, braking, brake_steady, v_ego, car_fingerprint):
# hyst params
brake_hyst_on = 0.02 # to activate brakes exceed this value
brake_hyst_off = 0.005 # to deactivate brakes below this value
brake_hyst_gap = 0.01 # don't change brake command for small oscillations within this value
# *** hysteresis logic to avoid brake blinking. go above 0.1 to trigger
if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
brake = 0.
braking = brake > 0.
# for small brake oscillations within brake_hyst_gap, don't change the brake command
if brake == 0.:
brake_steady = 0.
elif brake > brake_steady + brake_hyst_gap:
brake_steady = brake - brake_hyst_gap
elif brake < brake_steady - brake_hyst_gap:
brake_steady = brake + brake_hyst_gap
brake = brake_steady
return brake, braking, brake_steady
def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts, ts):
pump_on = False
# reset pump timer if:
# - there is an increment in brake request
# - we are applying steady state brakes and we haven't been running the pump
# for more than 20s (to prevent pressure bleeding)
if apply_brake > apply_brake_last or (ts - last_pump_ts > 20. and apply_brake > 0):
last_pump_ts = ts
# once the pump is on, run it for at least 0.2s
if ts - last_pump_ts < 0.2 and apply_brake > 0:
pump_on = True
return pump_on, last_pump_ts
def process_hud_alert(hud_alert):
alert_fcw = False
alert_steer_required = False
# Make sure FCW is prioritized over steering required
# TODO: implement separate available LDW alert
if hud_alert == VisualAlert.fcw:
alert_fcw = True
elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
alert_steer_required = True
return alert_fcw, alert_steer_required
class CarController(CarControllerBase, AolCarController, GasInterceptorCarController):
def __init__(self, dbc_names, CP, CP_IQ):
CarControllerBase.__init__(self, dbc_names, CP, CP_IQ)
AolCarController.__init__(self)
GasInterceptorCarController.__init__(self, CP, CP_IQ)
self.packer = CANPacker(dbc_names[Bus.pt])
self.params = CarControllerParams(CP)
self.CAN = hondacan.CanBus(CP)
self.tja_control = CP.carFingerprint in HONDA_BOSCH_TJA_CONTROL
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.apply_brake_last = 0
self.last_pump_ts = 0.
self.stopping_counter = 0
self.accel = 0.0
self.speed = 0.0
self.gas = 0.0
self.brake = 0.0
self.last_torque = 0.0
self.gasfactor = 1.0
self.gasfactor_before_maxgas = 1.0
self.windfactor = 1.0
self.windfactor_before_maxgas = 1.0
self.windfactor_before_brake = 0.0
self.pitch = 0.0
def update(self, CC, CC_IQ, CS, now_nanos):
AolCarController.update(self, self.CP, CC, CC_IQ)
gas_pedal_force = 0.0
actuators = CC.actuators
hud_control = CC.hudControl
hud_v_cruise = hud_control.setSpeed / CS.v_cruise_factor if hud_control.speedVisible else 255
pcm_cancel_cmd = CC.cruiseControl.cancel
if len(CC.orientationNED) == 3:
self.pitch = CC.orientationNED[1]
hill_brake = math.sin(self.pitch) * ACCELERATION_DUE_TO_GRAVITY
if CC.longActive:
accel = actuators.accel
gas, brake = compute_gas_brake(actuators.accel + hill_brake, CS.out.vEgo, self.CP.carFingerprint)
else:
accel = 0.0
gas, brake = 0.0, 0.0
# *** rate limit steer ***
limited_torque = rate_limit(actuators.torque, self.last_torque, -self.params.STEER_DELTA_DOWN * DT_CTRL,
self.params.STEER_DELTA_UP * DT_CTRL)
self.last_torque = limited_torque
# *** apply brake hysteresis ***
pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady,
CS.out.vEgo, self.CP.carFingerprint)
# *** rate limit after the enable check ***
self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., 3 * DT_CTRL)
# vehicle hud display, wait for one update from 10Hz 0x304 msg
alert_fcw, alert_steer_required = process_hud_alert(hud_control.visualAlert)
# **** process the car messages ****
# steer torque is converted back to CAN reference (positive when steering right)
apply_torque = int(np.interp(-limited_torque * self.params.STEER_MAX,
self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V))
# Send CAN commands
can_sends = []
# tester present - w/ no response (keeps radar disabled)
if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
if self.frame % 10 == 0:
can_sends.append(make_tester_present_msg(0x18DAB0F1, self.CAN.pt, suppress_response=True))
# Send steering command.
can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive, self.tja_control))
# wind brake from air resistance decel at high speed
wind_brake = np.interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15]) * self.windfactor # not in m/s2 units
wind_brake_ms2 = np.interp(CS.out.vEgo, [0.0, 13.4, 22.4, 31.3, 40.2], [0.000, 0.049, 0.136, 0.267, 0.441]) # in m/s2 units
# all of this is only relevant for HONDA NIDEC
max_accel = np.interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V)
# TODO this 1.44 is just to maintain previous behavior
pcm_speed_BP = [-wind_brake,
-wind_brake * (3 / 4),
0.0,
0.5]
# The Honda ODYSSEY seems to have different PCM_ACCEL
# msgs, is it other cars too?
if self.CP_IQ.enableGasInterceptor or not CC.longActive:
pcm_speed = 0.0
pcm_accel = int(0.0)
elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
pcm_speed_V = [0.0,
np.clip(CS.out.vEgo - 3.0, 0.0, 100.0),
np.clip(CS.out.vEgo + 0.0, 0.0, 100.0),
np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_speed = float(np.interp(gas - brake, pcm_speed_BP, pcm_speed_V))
pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX)
else:
pcm_speed_V = [0.0,
np.clip(CS.out.vEgo - 2.0, 0.0, 100.0),
np.clip(CS.out.vEgo + 2.0, 0.0, 100.0),
np.clip(CS.out.vEgo + 5.0, 0.0, 100.0)]
pcm_speed = float(np.interp(gas - brake, pcm_speed_BP, pcm_speed_V))
pcm_accel = int(np.clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX)
if not self.CP.openpilotLongitudinalControl:
if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD:
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN))
# If using stock ACC, spam cancel command to kill gas when OP disengages.
if pcm_cancel_cmd:
can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
elif CC.cruiseControl.resume:
can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
else:
# Send gas and brake commands.
if self.frame % 2 == 0:
ts = self.frame * DT_CTRL
if self.CP.carFingerprint in HONDA_BOSCH:
self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
gas_pedal_force = self.accel + wind_brake_ms2 * self.windfactor + hill_brake
# Live-learn gas pedal adjustments when openpilot is controlling gas.
if (actuators.longControlState == LongCtrlState.pid) and (not CS.out.gasPressed):
gas_error = self.accel - CS.out.aEgo
if gas_error != 0.0 and gas_pedal_force > 0.0:
learn_speed = 150 if (self.CP.carFingerprint == CAR.HONDA_INSIGHT) else 50
self.gasfactor = np.clip(self.gasfactor + gas_error / learn_speed * gas_pedal_force, 0.1, 3.0)
if gas_error != 0.0 and (not CS.out.brakePressed) and (CS.out.vEgo > 0.0):
wind_adjust = 1 + wind_brake_ms2 / 1000
self.windfactor = np.clip(self.windfactor * (wind_adjust if (gas_error > 0) else 1.0 / wind_adjust), 0.1, 3.0)
if gas_pedal_force <= 0.0:
self.windfactor = max(self.windfactor, self.windfactor_before_brake)
else:
self.windfactor_before_brake = self.windfactor
if gas_pedal_force >= self.params.BOSCH_ACCEL_MAX:
self.gasfactor = min(self.gasfactor, self.gasfactor_before_maxgas)
self.windfactor = min(self.windfactor, self.windfactor_before_maxgas)
else:
self.gasfactor_before_maxgas = self.gasfactor
self.windfactor_before_maxgas = self.windfactor
self.gas = float(np.interp(gas_pedal_force * self.gasfactor, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
stopping = actuators.longControlState == LongCtrlState.stopping
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
self.stopping_counter, self.CP.carFingerprint, gas_pedal_force))
else:
apply_brake = np.clip(self.brake_last - wind_brake, 0.0, 1.0)
apply_brake = int(np.clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
pcm_override = True
can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, alert_fcw,
self.CP.carFingerprint, CS.stock_brake, self.CP_IQ))
self.apply_brake_last = apply_brake
self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
gas_error = actuators.accel - CS.out.aEgo
if (not CS.out.gasPressed) and (actuators.longControlState == LongCtrlState.pid) and self.CP_IQ.enableGasInterceptor:
if gas_error != 0.0 and gas > 0.0:
self.gasfactor = np.clip(self.gasfactor + gas_error / 50 * (gas * 4.8), 0.1, 3.0)
if gas_error != 0.0 and (not CS.out.brakePressed) and (CS.out.vEgo > 0.0):
wind_adjust = 1 + (wind_brake * 4.8) / 1000
self.windfactor = np.clip(self.windfactor * (wind_adjust if (gas_error > 0) else 1.0 / wind_adjust), 0.1, 5.0)
if gas <= 0.0:
self.windfactor = max(self.windfactor, self.windfactor_before_brake)
else:
self.windfactor_before_brake = self.windfactor
can_sends.extend(GasInterceptorCarController.update(self, CC, CS, gas * self.gasfactor, brake, wind_brake, self.packer, self.frame))
# Send dashboard UI commands.
if self.frame % 10 == 0:
if self.CP.openpilotLongitudinalControl:
# On Nidec, this also controls longitudinal positive acceleration
can_sends.append(hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, pcm_accel,
hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud))
steering_available = CS.out.cruiseState.available and CS.out.vEgo > self.CP.minSteerSpeed
reduced_steering = CS.out.steeringPressed
can_sends.extend(hondacan.create_lkas_hud(self.packer, self.CAN.lkas, self.CP, hud_control, CC.latActive,
steering_available, reduced_steering, alert_steer_required, CS.lkas_hud, self.dashed_lanes))
if self.CP.openpilotLongitudinalControl:
# TODO: combining with create_acc_hud block above will change message order and will need replay logs regenerated
if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
can_sends.append(hondacan.create_radar_hud(self.packer, self.CAN.pt))
if self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
can_sends.append(hondacan.create_legacy_brake_command(self.packer, self.CAN.pt))
if self.CP.carFingerprint not in HONDA_BOSCH:
self.speed = pcm_speed
if not self.CP_IQ.enableGasInterceptor:
self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
# Finalize actuator state for downstream consumers
new_actuators = actuators.as_builder()
new_actuators.speed = self.speed
new_actuators.accel = self.accel
new_actuators.gas = self.gas
new_actuators.brake = self.brake
new_actuators.torque = self.last_torque
new_actuators.torqueOutputCan = apply_torque
self.frame += 1
return new_actuators, can_sends

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import numpy as np
from collections import defaultdict
from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs, DT_CTRL
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.honda.hondacan import CanBus
from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_CANFD, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HONDA_BOSCH_TJA_CONTROL, \
HondaFlags, CruiseButtons, CruiseSettings, GearShifter, CarControllerParams
from opendbc.car.interfaces import CarStateBase
from opendbc.iqpilot.car.honda.carstate_ext import CarStateExt
TransmissionType = structs.CarParams.TransmissionType
ButtonType = structs.CarState.ButtonEvent.Type
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.lkas}
class CarState(CarStateBase, CarStateExt):
def __init__(self, CP, CP_IQ):
CarStateBase.__init__(self, CP, CP_IQ)
CarStateExt.__init__(self, CP, CP_IQ)
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
if CP.transmissionType != TransmissionType.manual:
self.gearbox_msg = "GEARBOX_AUTO"
if CP.transmissionType == TransmissionType.cvt:
self.gearbox_msg = "GEARBOX_CVT"
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
self.car_state_scm_msg = "SCM_FEEDBACK"
if CP.carFingerprint in HONDA_NIDEC_ALT_SCM_MESSAGES:
self.car_state_scm_msg = "SCM_BUTTONS"
self.brake_error_msg = "HYBRID_BRAKE_ERROR" if CP.flags & HondaFlags.HYBRID else "STANDSTILL"
self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
self.brake_switch_prev = False
self.brake_switch_active = False
self.low_speed_alert = False
self.dynamic_v_cruise_units = self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_ALT_RADAR |
HONDA_BOSCH_TJA_CONTROL | HONDA_BOSCH_CANFD)
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
# When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
# However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
self.dash_speed_seen = False
self.is_metric = False
self.v_cruise_factor = 1.
self.initial_accFault_cleared = False
self.initial_accFault_cleared_timer = int(10 / DT_CTRL) # 10 seconds after startup for initial faults to clear
def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
if self.CP.enableBsm:
cp_body = can_parsers[Bus.body]
ret = structs.CarState()
ret_iq = structs.IQCarState()
# car params
v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping
v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero
# update prevs, update must run once per loop
prev_cruise_buttons = self.cruise_buttons
prev_cruise_setting = self.cruise_setting
self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
# used for car hud message
# TODO: find CAR_SPEED for HONDA_ODYSSEY_TWN or use ACC_HUD w/ detection
self.is_metric = self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_TWN,) or not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
self.v_cruise_factor = CV.MPH_TO_MS if self.dynamic_v_cruise_units and not self.is_metric else CV.KPH_TO_MS
# ******************* parse out can *******************
# blend in transmission speed at low speed, since it has more low speed accuracy
# STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
v_wheel = sum([cp.vl["WHEEL_SPEEDS"][f"WHEEL_SPEED_{s}"] for s in ("FL", "FR", "RL", "RR")]) / 4.0 * CV.KPH_TO_MS
v_weight = float(np.interp(v_wheel, v_weight_bp, v_weight_v))
ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
# doorOpen is true if we can find any door open, but signal locations vary, and we may only see the driver's door
# TODO: Test the eight Nidec cars without SCM signals for driver's door state, may be able to consolidate further
if self.CP.flags & HondaFlags.HAS_ALL_DOOR_STATES:
ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
cp.vl["DOORS_STATUS"]["DOOR_OPEN_RL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_RR"]])
elif "DRIVERS_DOOR_OPEN" in cp.vl["SCM_BUTTONS"]:
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
else:
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
if self.CP.carFingerprint in HONDA_BOSCH_ALT_RADAR:
# TODO: See if this logic works for all other Honda
min_steer_speed = max(CarControllerParams.STEER_GLOBAL_MIN_SPEED, self.CP.minSteerSpeed)
expected_low_speed_lockout = steer_status == "LOW_SPEED_LOCKOUT" and ret.vEgo < min_steer_speed
ret.steerFaultTemporary = steer_status != "NORMAL" and not expected_low_speed_lockout
else:
# LOW_SPEED_LOCKOUT is not worth a warning
# NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
# FIXME: the stock camera stops steering on NO_TORQUE_ALERT_1
ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
# All Honda EPS cut off slightly above standstill, some much higher
# Don't alert in the near-standstill range, but alert for per-vehicle configured minimums above that
if CarControllerParams.STEER_GLOBAL_MIN_SPEED < ret.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
# TODO: better handle delayed steering enablement on ALT_RADAR cars
self.low_speed_alert = False
ret.lowSpeedAlert = self.low_speed_alert
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
else:
if self.CP.openpilotLongitudinalControl:
if self.CP.carFingerprint in (HONDA_BOSCH_CANFD | HONDA_BOSCH_TJA_CONTROL) and (self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE):
ret.accFaulted = bool(cp.vl["BRAKE_MODULE"]["CRUISE_FAULT"])
else:
ret.accFaulted = bool(cp.vl[self.brake_error_msg]["BRAKE_ERROR_1"] or cp.vl[self.brake_error_msg]["BRAKE_ERROR_2"])
# Log non-critical stock ACC/LKAS faults if Nidec (camera)
if self.CP.carFingerprint not in HONDA_BOSCH:
ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"])
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
if self.CP.carFingerprint not in (CAR.HONDA_ODYSSEY_TWN,):
self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3
if self.dash_speed_seen:
conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"]
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"]
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
ret.parkingBrake = bool(cp.vl[self.car_state_scm_msg]["PARKING_BRAKE_ON"])
if self.CP.transmissionType == TransmissionType.manual:
ret.gearShifter = GearShifter.reverse if bool(cp.vl["SCM_FEEDBACK"]["REVERSE_LIGHT"]) else GearShifter.drive
else:
gear_position = self.shifter_values.get(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"], None)
ret.gearShifter = self.parse_gear_shifter(gear_position)
ret.gasPressed = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"] > 1e-5
ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)
if self.CP.carFingerprint in HONDA_BOSCH:
# The PCM always manages its own cruise control state, but doesn't publish it
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
ret.cruiseState.nonAdaptive = cp_cam.vl["ACC_HUD"]["CRUISE_CONTROL_LABEL"] != 0
if not self.CP.openpilotLongitudinalControl:
# ACC_HUD is on camera bus on radarless cars
acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * self.v_cruise_factor
self.v_cruise_pcm_prev = ret.cruiseState.speed
else:
ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
else:
# brake switch has shown some single time step noise, so only considered when
# switch is on for at least 2 consecutive CAN samples
# brake switch rises earlier than brake pressed but is never 1 when in park
brake_switch_vals = cp.vl_all["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
if len(brake_switch_vals):
brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
if len(brake_switch_vals) > 1:
self.brake_switch_prev = brake_switch_vals[-2] != 0
self.brake_switch_active = brake_switch and self.brake_switch_prev
self.brake_switch_prev = brake_switch
ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])
# Bosch cars can report stale ACC faults during early startup.
if ret.accFaulted:
if (self.CP.carFingerprint in HONDA_BOSCH) and not self.initial_accFault_cleared:
# Gate initial stale faults via availability (accFaulted is sticky until offroad).
ret.accFaulted = False
ret.cruiseState.available = False
elif self.initial_accFault_cleared_timer == 0:
self.initial_accFault_cleared = True
if self.initial_accFault_cleared_timer > 0:
self.initial_accFault_cleared_timer -= 1
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
if ret.brake > 0.1:
ret.brakePressed = True
if self.CP.carFingerprint in HONDA_BOSCH:
# TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
ret.stockAeb = (not self.CP.openpilotLongitudinalControl) and bool(cp.vl["ACC_CONTROL"]["AEB_STATUS"] and cp.vl["ACC_CONTROL"]["ACCEL_COMMAND"] < -1e-5)
else:
ret.stockAeb = bool(cp_cam.vl["BRAKE_COMMAND"]["AEB_REQ_1"] and cp_cam.vl["BRAKE_COMMAND"]["COMPUTER_BRAKE"] > 1e-5)
self.acc_hud = False
self.lkas_hud = False
if self.CP.carFingerprint not in HONDA_BOSCH:
ret.stockFcw = cp_cam.vl["BRAKE_COMMAND"]["FCW"] != 0
self.acc_hud = cp_cam.vl["ACC_HUD"]
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
self.lkas_hud = cp_cam.vl["LKAS_HUD"]
if self.CP.enableBsm:
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
# more info here: https://github.com/commaai/openpilot/pull/1867
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
ret.buttonEvents = [
*create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
]
CarStateExt.update(self, ret, can_parsers)
return ret, ret_iq
def get_can_parsers(self, CP, CP_IQ):
parsers = {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
}
if CP.enableBsm:
parsers[Bus.body] = CANParser(DBC[CP.carFingerprint][Bus.body], [], CanBus(CP).radar)
return parsers

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from opendbc.car import CanBusBase
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.honda.values import (HondaFlags, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_RADARLESS,
HONDA_BOSCH_CANFD, CarControllerParams)
from opendbc.iqpilot.car.honda.values_ext import HondaFlagsIQ
# CAN bus layout with relay
# 0 = ACC-CAN - radar side
# 1 = F-CAN B - powertrain
# 2 = ACC-CAN - camera side
# 3 = F-CAN A - OBDII port
class CanBus(CanBusBase):
def __init__(self, CP=None, fingerprint=None) -> None:
# use fingerprint if specified
super().__init__(CP if fingerprint is None else None, fingerprint)
# powertrain bus is split instead of radar on radarless and CAN FD Bosch
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD):
self._pt, self._radar = self.offset + 1, self.offset
# normally steering commands are sent to radar, which forwards them to powertrain bus
# when radar is disabled, steering commands are sent directly to powertrain bus
self._lkas = self._pt if CP.openpilotLongitudinalControl else self._radar
else:
self._pt, self._radar, self._lkas = self.offset, self.offset + 1, self.offset
@property
def pt(self) -> int:
return self._pt
@property
def radar(self) -> int:
return self._radar
@property
def camera(self) -> int:
return self.offset + 2
@property
def lkas(self) -> int:
return self._lkas
# B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
@property
def body(self) -> int:
return self.offset
def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake, CP_IQ):
# TODO: do we loose pressure if we keep pump off for long?
brakelights = apply_brake > 0
brake_rq = apply_brake > 0
pcm_fault_cmd = False
values = {
"CRUISE_OVERRIDE": pcm_override,
"CRUISE_FAULT_CMD": pcm_fault_cmd,
"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
"COMPUTER_BRAKE_REQUEST": brake_rq,
"SET_ME_1": 1,
"BRAKE_LIGHTS": brakelights,
"CHIME": stock_brake["CHIME"] if fcw else 0, # send the chime for stock fcw
"FCW": fcw << 1, # TODO: Why are there two bits for fcw?
"AEB_REQ_1": 0,
"AEB_REQ_2": 0,
"AEB_STATUS": 0,
}
if CP_IQ.flags & HondaFlagsIQ.NIDEC_HYBRID:
values["COMPUTER_BRAKE_HYBRID"] = apply_brake
values["BRAKE_PUMP_REQUEST_HYBRID"] = apply_brake > 0
else:
values["COMPUTER_BRAKE"] = apply_brake
values["BRAKE_PUMP_REQUEST"] = pump_on
return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)
def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, car_fingerprint, gas_force):
commands = []
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
control_on = 5 if enabled else 0
gas_command = gas if active and gas_force > min_gas_accel else -30000
accel_command = accel if active else 0
braking = 1 if active and gas_force < min_gas_accel else 0
standstill = 1 if active and stopping_counter > 0 else 0
standstill_release = 1 if active and stopping_counter == 0 else 0
# common ACC_CONTROL values
acc_control_values = {
'ACCEL_COMMAND': accel_command,
'STANDSTILL': standstill,
'BRAKE_REQUEST': braking,
}
if car_fingerprint in HONDA_BOSCH_RADARLESS:
acc_control_values.update({
"CONTROL_ON": enabled,
})
else:
acc_control_values.update({
# setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
"CONTROL_ON": control_on,
"GAS_COMMAND": gas_command, # used for gas
"BRAKE_LIGHTS": braking,
"STANDSTILL_RELEASE": standstill_release,
})
acc_control_on_values = {
"SET_TO_3": 0x03,
"CONTROL_ON": enabled,
"SET_TO_FF": 0xff,
"SET_TO_75": 0x75,
"SET_TO_30": 0x30,
}
commands.append(packer.make_can_msg("ACC_CONTROL_ON", CAN.pt, acc_control_on_values))
commands.append(packer.make_can_msg("ACC_CONTROL", CAN.pt, acc_control_values))
return commands
def create_steering_control(packer, CAN, apply_torque, lkas_active, tja_control):
values = {
"STEER_TORQUE": apply_torque if lkas_active else 0,
"STEER_TORQUE_REQUEST": lkas_active,
}
if tja_control:
values["STEER_DOWN_TO_ZERO"] = lkas_active
return packer.make_can_msg("STEERING_CONTROL", CAN.lkas, values)
def create_bosch_supplemental_1(packer, CAN):
# non-active params
values = {
"SET_ME_X04": 0x04,
"SET_ME_X80": 0x80,
"SET_ME_X10": 0x10,
}
return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", CAN.lkas, values)
def create_acc_hud(packer, bus, CP, enabled, pcm_speed, pcm_accel, hud_control, hud_v_cruise, is_metric, acc_hud):
acc_hud_values = {
'CRUISE_SPEED': hud_v_cruise,
'ENABLE_MINI_CAR': 1 if enabled else 0,
# only moves the lead car without ACC_ON
'HUD_DISTANCE': hud_control.leadDistanceBars, # wraps to 0 at 4 bars
'IMPERIAL_UNIT': int(not is_metric),
'HUD_LEAD': 2 if enabled and hud_control.leadVisible else 1 if enabled else 0,
'SET_ME_X01_2': 1,
}
if CP.carFingerprint in HONDA_BOSCH:
acc_hud_values['ACC_ON'] = int(enabled)
acc_hud_values['FCM_OFF'] = 1
acc_hud_values['FCM_OFF_2'] = 1
else:
# Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
acc_hud_values['ACC_ON'] = int(enabled)
acc_hud_values['PCM_SPEED'] = pcm_speed * CV.MS_TO_KPH
acc_hud_values['PCM_GAS'] = pcm_accel
acc_hud_values['SET_ME_X01'] = 1
acc_hud_values['FCM_OFF'] = acc_hud['FCM_OFF']
acc_hud_values['FCM_OFF_2'] = acc_hud['FCM_OFF_2']
acc_hud_values['FCM_PROBLEM'] = acc_hud['FCM_PROBLEM']
acc_hud_values['ICONS'] = acc_hud['ICONS']
return packer.make_can_msg("ACC_HUD", bus, acc_hud_values)
def create_lkas_hud(packer, bus, CP, hud_control, lat_active, steering_available, reduced_steering, alert_steer_required, lkas_hud, dashed_lanes):
commands = []
lkas_hud_values = {
'LKAS_READY': 1,
'LKAS_STATE_CHANGE': 1,
'STEERING_REQUIRED': alert_steer_required,
'SOLID_LANES': lat_active,
'DASHED_LANES': dashed_lanes,
'BEEP': 0,
}
if CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
lkas_hud_values['LANE_LINES'] = 3
lkas_hud_values['DASHED_LANES'] = lat_active
# car likely needs to see LKAS_PROBLEM fall within a specific time frame, so forward from camera
# TODO: needed for Bosch CAN FD?
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
lkas_hud_values['LKAS_PROBLEM'] = lkas_hud['LKAS_PROBLEM']
if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
lkas_hud_values['RDM_OFF'] = 1
lkas_hud_values['LANE_ASSIST_BEEP_OFF'] = 1
# New HUD concept for selected Bosch cars, overwrites some of the above
# TODO: make global across all Honda if feedback is favorable
if CP.carFingerprint in HONDA_BOSCH_ALT_RADAR:
lkas_hud_values['DASHED_LANES'] = steering_available and lat_active
lkas_hud_values['SOLID_LANES'] = lat_active
lkas_hud_values['LKAS_PROBLEM'] = lat_active and reduced_steering
if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
commands.append(packer.make_can_msg('LKAS_HUD_A', bus, lkas_hud_values))
commands.append(packer.make_can_msg('LKAS_HUD_B', bus, lkas_hud_values))
else:
commands.append(packer.make_can_msg('LKAS_HUD', bus, lkas_hud_values))
return commands
def create_radar_hud(packer, bus):
radar_hud_values = {
'CMBS_OFF': 0x01,
'SET_TO_1': 0x01,
}
return packer.make_can_msg('RADAR_HUD', bus, radar_hud_values)
def create_legacy_brake_command(packer, bus):
return packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus, {})
def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
values = {
'CRUISE_BUTTONS': button_val,
'CRUISE_SETTING': 0,
}
# send buttons to camera on radarless (camera does ACC) cars
bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
return packer.make_can_msg("SCM_BUTTONS", bus, values)
def honda_checksum(address: int, sig, d: bytearray) -> int:
s = 0
extended = address > 0x7FF
addr = address
while addr:
s += addr & 0xF
addr >>= 4
for i in range(len(d)):
x = d[i]
if i == len(d) - 1:
x >>= 4
s += (x & 0xF) + (x >> 4)
s = 8 - s
if extended:
s += 3
return s & 0xF

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#!/usr/bin/env python3
import numpy as np
from opendbc.car import get_safety_config, structs, uds
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.disable_ecu import disable_ecu
from opendbc.car.honda.hondacan import CanBus
from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_CANFD, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags
from opendbc.car.honda.carcontroller import CarController
from opendbc.car.honda.carstate import CarState
from opendbc.car.honda.radar_interface import RadarInterface
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.iqpilot.car.honda.values_ext import HondaFlagsIQ, HondaSafetyFlagsIQ
TransmissionType = structs.CarParams.TransmissionType
class CarInterface(CarInterfaceBase):
CarState = CarState
CarController = CarController
RadarInterface = RadarInterface
DRIVABLE_GEARS = (structs.CarState.GearShifter.sport,)
@staticmethod
def get_pid_accel_limits(CP, CP_IQ, current_speed, cruise_speed):
if CP.carFingerprint in HONDA_BOSCH:
return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
elif CP_IQ.enableGasInterceptor:
return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
else:
# NIDECs don't allow acceleration near cruise_speed,
# so limit limits of pid to prevent windup
ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
return CarControllerParams.NIDEC_ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
ret.brand = "honda"
CAN = CanBus(ret, fingerprint)
if candidate in HONDA_BOSCH:
cfgs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
if candidate in HONDA_BOSCH_CANFD and CAN.pt >= 4:
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
ret.radarUnavailable = True
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
# If Bosch radarless, this blocks ACC messages from the camera
# TODO: get radar disable working on Bosch CANFD
ret.alphaLongitudinalAvailable = candidate not in HONDA_BOSCH_CANFD
ret.openpilotLongitudinalControl = alpha_long and (candidate not in HONDA_BOSCH_CANFD)
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
ret.openpilotLongitudinalControl = True
ret.pcmCruise = True
if candidate == CAR.HONDA_CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
# Detect Bosch cars with new HUD msgs
if any(0x33DA in f for f in fingerprint.values()):
ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
if 0x184 in fingerprint[CAN.pt]:
ret.flags |= HondaFlags.HYBRID.value
if ret.flags & HondaFlags.ALLOW_MANUAL_TRANS and all(msg not in fingerprint[CAN.pt] for msg in (0x191, 0x1A3)):
# Manual transmission support for allowlisted cars only, to prevent silent fall-through on auto-detection failures
ret.transmissionType = TransmissionType.manual
elif 0x191 in fingerprint[CAN.pt] and candidate != CAR.ACURA_RDX:
# Traditional CVTs, gearshift position in GEARBOX_CVT
ret.transmissionType = TransmissionType.cvt
else:
# Traditional autos, direct-drive EVs and eCVTs, gearshift position in GEARBOX_AUTO
ret.transmissionType = TransmissionType.automatic
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
ret.steerActuatorDelay = 0.1
if candidate in HONDA_BOSCH:
ret.longitudinalActuatorDelay = 0.5 # s
if candidate in HONDA_BOSCH_RADARLESS:
ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
else:
# default longitudinal tuning for all hondas
ret.longitudinalTuning.kiBP = [0., 5., 35.]
ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
# Disable control if EPS mod detected
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
ret.dashcamOnly = True
if candidate == CAR.HONDA_CIVIC:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
if candidate == CAR.HONDA_CIVIC_BOSCH:
CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 750]
elif candidate == CAR.HONDA_CIVIC_2022:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 5120], [0, 5120]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]
elif candidate == CAR.HONDA_ACCORD:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
if ret.transmissionType == TransmissionType.manual:
CarControllerParams.BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]
elif candidate == CAR.HONDA_ACCORD_11G:
ret.steerActuatorDelay = 0.22
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 12747], [0, 12747]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.18]]
elif candidate == CAR.ACURA_ILX:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_CRV_5G:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_CRV_HYBRID:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025
elif candidate == CAR.HONDA_CRV_6G:
ret.steerActuatorDelay = 0.15
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 5100], [0, 5100]]
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.HONDA_FIT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.HONDA_FREED:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
if candidate == CAR.HONDA_HRV:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
elif candidate == CAR.ACURA_RDX:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACURA_RDX_3G:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4095], [0, 4095]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
elif candidate == CAR.HONDA_ODYSSEY:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate == CAR.HONDA_ODYSSEY_TWN:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
elif candidate in (CAR.HONDA_PILOT, CAR.HONDA_PILOT_4G, CAR.HONDA_PASSPORT_4G, CAR.ACURA_MDX_4G_MMR):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]
elif candidate == CAR.HONDA_RIDGELINE:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate in (CAR.HONDA_INSIGHT, CAR.HONDA_NBOX_2G):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
elif candidate == CAR.HONDA_E:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3810], [0, 3810]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
ret.steerActuatorDelay = 0.15
CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2000]
if not ret.openpilotLongitudinalControl:
# When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
ret.minSteerSpeed = 70. * CV.KPH_TO_MS
elif candidate == CAR.ACURA_TLX_2G_MMR:
ret.steerActuatorDelay = 0.15
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]
# TODO-IQ: remove when https://github.com/commaai/opendbc/pull/2687 is merged
elif candidate == CAR.HONDA_CLARITY:
pass
else:
ret.steerActuatorDelay = 0.15
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate == CAR.HONDA_PILOT_4G:
CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2200]
# These cars use alternate user brake msg (0x1BE)
if 0x1BE in fingerprint[CAN.pt] and candidate in (CAR.HONDA_ACCORD, CAR.HONDA_HRV_3G, CAR.ACURA_RDX_3G, *HONDA_BOSCH_CANFD):
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.ALT_BRAKE.value
if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.NIDEC_ALT.value
if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_LONG.value
if candidate in HONDA_BOSCH_RADARLESS:
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
if candidate in HONDA_BOSCH_CANFD:
ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
if ret.autoResumeSng:
ret.minEnableSpeed = -1.
elif candidate == CAR.HONDA_ODYSSEY_TWN:
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
else:
ret.minEnableSpeed = 25.51 * CV.MPH_TO_MS
ret.steerLimitTimer = 0.8
ret.radarDelay = 0.1
return ret
@staticmethod
def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
CAN = CanBus(stock_cp, fingerprint)
for fw in car_fw:
if fw.ecu == "eps" and b"," in fw.fwVersion:
ret.flags |= HondaFlagsIQ.EPS_MODIFIED.value
stock_cp.dashcamOnly = False
if bool(stock_cp.flags & HondaFlags.NIDEC) and bool(stock_cp.flags & HondaFlags.HYBRID):
ret.flags |= HondaFlagsIQ.NIDEC_HYBRID.value
ret.iqSafetyFlags |= HondaSafetyFlagsIQ.NIDEC_HYBRID
# some hybrids use a different brake hold
if 0x223 in fingerprint[CAN.pt]:
ret.flags |= HondaFlagsIQ.HYBRID_ALT_BRAKEHOLD.value
if candidate == CAR.HONDA_CIVIC:
if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.1]]
elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.09]] # 2.5x Modded EPS
elif candidate == CAR.HONDA_CIVIC_2022:
if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.09]] # 2.5x Modded EPS
elif candidate == CAR.HONDA_ACCORD:
if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.09]]
elif candidate == CAR.HONDA_CRV_5G:
if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.21], [0.07]]
elif candidate == CAR.HONDA_CLARITY:
stock_cp.autoResumeSng = True
stock_cp.minEnableSpeed = -1
if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
for fw in car_fw:
if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
stock_cp.lateralTuning.pid.kf = 0.00004
stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 5760, 15360], [0, 2560, 3840]]
stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.1575], [0.05175]]
elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion:
stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 5760, 10240], [0, 2560, 3840]]
stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.1]]
else:
stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2560], [0, 2560]]
stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.8], [0.24]]
if candidate in HONDA_BOSCH:
pass
else:
ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
stock_cp.pcmCruise = not ret.enableGasInterceptor
if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
ret.iqSafetyFlags |= HondaSafetyFlagsIQ.GAS_INTERCEPTOR
stock_cp.autoResumeSng = stock_cp.autoResumeSng or ret.enableGasInterceptor
return ret
@staticmethod
def init(CP, CP_IQ, can_recv, can_send, communication_control=None):
if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
# 0x80 silences response
if communication_control is None:
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=communication_control)
@staticmethod
def deinit(CP, can_recv, can_send):
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX,
uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
CarInterface.init(CP, can_recv, can_send, communication_control)

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opendbc_repo/opendbc/car/honda/radar_interface.py Executable file
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#!/usr/bin/env python3
from opendbc.can import CANParser
from opendbc.car import Bus, structs
from opendbc.car.interfaces import RadarInterfaceBase
from opendbc.car.honda.values import DBC
def _create_nidec_can_parser(car_fingerprint):
radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
messages = [(m, 20) for m in radar_messages]
return CANParser(DBC[car_fingerprint][Bus.radar], messages, 1)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP, CP_IQ):
super().__init__(CP, CP_IQ)
self.track_id = 0
self.radar_fault = False
self.radar_wrong_config = False
self.radar_off_can = CP.radarUnavailable
# Nidec
if self.radar_off_can:
self.rcp = None
else:
self.rcp = _create_nidec_can_parser(CP.carFingerprint)
self.trigger_msg = 0x445
self.updated_messages = set()
def update(self, can_strings):
# in Bosch radar and we are only steering for now, so sleep 0.05s to keep
# radard at 20Hz and return no points
if self.radar_off_can:
return super().update(None)
vls = self.rcp.update(can_strings)
self.updated_messages.update(vls)
if self.trigger_msg not in self.updated_messages:
return None
rr = self._update(self.updated_messages)
self.updated_messages.clear()
return rr
def _update(self, updated_messages):
ret = structs.RadarData()
for ii in sorted(updated_messages):
cpt = self.rcp.vl[ii]
if ii == 0x400:
# check for radar faults
self.radar_fault = cpt['RADAR_STATE'] != 0x79
self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
elif cpt['LONG_DIST'] < 255:
if ii not in self.pts or cpt['NEW_TRACK']:
self.pts[ii] = structs.RadarData.RadarPoint()
self.pts[ii].trackId = self.track_id
self.track_id += 1
self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car
self.pts[ii].yRel = -cpt['LAT_DIST'] # in car frame's y axis, left is positive
self.pts[ii].vRel = cpt['REL_SPEED']
self.pts[ii].aRel = float('nan')
self.pts[ii].yvRel = float('nan')
self.pts[ii].measured = True
else:
if ii in self.pts:
del self.pts[ii]
if not self.rcp.can_valid:
ret.errors.canError = True
if self.radar_fault:
ret.errors.radarFault = True
if self.radar_wrong_config:
ret.errors.wrongConfig = True
ret.points = list(self.pts.values())
return ret

0
opendbc_repo/opendbc/car/honda/tests/__init__.py Normal file
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18
opendbc_repo/opendbc/car/honda/tests/test_honda.py Normal file
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import re
from opendbc.car.honda.fingerprints import FW_VERSIONS
from opendbc.car.honda.values import HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL
HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}(-|,)[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
class TestHondaFingerprint:
def test_fw_version_format(self):
# Asserts all FW versions follow an expected format
for fw_by_ecu in FW_VERSIONS.values():
for fws in fw_by_ecu.values():
for fw in fws:
assert re.match(HONDA_FW_VERSION_RE, fw) is not None, fw
def test_tja_bosch_only(self):
assert set(HONDA_BOSCH_TJA_CONTROL).issubset(set(HONDA_BOSCH)), "Nidec car found in TJA control list"

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opendbc_repo/opendbc/car/honda/values.py Normal file
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from dataclasses import dataclass, field
from enum import Enum, IntFlag
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column, SupportType
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
Ecu = structs.CarParams.Ecu
VisualAlert = structs.CarControl.HUDControl.VisualAlert
GearShifter = structs.CarState.GearShifter
class CarControllerParams:
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
# to apply some more braking if we're on a downhill slope.
# Our controller should still keep the 2 second average above
# -3.5 m/s^2 as per planner limits
NIDEC_ACCEL_MIN = -4.0 # m/s^2
NIDEC_ACCEL_MAX = 1.6 # m/s^2, lower than 2.0 m/s^2 for tuning reasons
NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]
NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]
NIDEC_GAS_MAX = 198 # 0xc6
NIDEC_BRAKE_MAX = 1024 // 4
BOSCH_ACCEL_MIN = -3.5 # m/s^2
BOSCH_ACCEL_MAX = 2.0 # m/s^2
BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0] # 2m/s^2
BOSCH_GAS_LOOKUP_V = [0, 1600]
STEER_STEP = 1 # 100 Hz
STEER_DELTA_UP = 3 # min/max in 0.33s for all Honda
STEER_DELTA_DOWN = 3
STEER_GLOBAL_MIN_SPEED = 3 * CV.MPH_TO_MS
def __init__(self, CP):
self.STEER_MAX = CP.lateralParams.torqueBP[-1]
# mirror of list (assuming first item is zero) for interp of signed request
# values and verify that both arrays begin at zero
assert CP.lateralParams.torqueBP[0] == 0
assert CP.lateralParams.torqueV[0] == 0
self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
class HondaSafetyFlags(IntFlag):
ALT_BRAKE = 1
BOSCH_LONG = 2
NIDEC_ALT = 4
RADARLESS = 8
BOSCH_CANFD = 16
class HondaFlags(IntFlag):
# Detected flags
# Bosch models with alternate set of LKAS_HUD messages
BOSCH_EXT_HUD = 1
BOSCH_ALT_BRAKE = 2
# Static flags
BOSCH = 4
BOSCH_RADARLESS = 8
NIDEC = 16
NIDEC_ALT_PCM_ACCEL = 32
NIDEC_ALT_SCM_MESSAGES = 64
BOSCH_CANFD = 128
HAS_ALL_DOOR_STATES = 256 # Some Hondas have all door states, others only driver door
BOSCH_ALT_RADAR = 512
ALLOW_MANUAL_TRANS = 1024
HYBRID = 2048
BOSCH_TJA_CONTROL = 4096
# Car button codes
class CruiseButtons:
RES_ACCEL = 4
DECEL_SET = 3
CANCEL = 2
MAIN = 1
class CruiseSettings:
DISTANCE = 3
LKAS = 1
@dataclass
class HondaCarDocs(CarDocs):
package: str = "Honda Sensing"
def init_make(self, CP: structs.CarParams):
if CP.flags & HondaFlags.BOSCH:
if CP.flags & HondaFlags.BOSCH_CANFD:
harness = CarHarness.bosch_c
elif CP.flags & HondaFlags.BOSCH_RADARLESS:
harness = CarHarness.bosch_b
else:
harness = CarHarness.bosch_a
else:
harness = CarHarness.nidec
self.car_parts = CarParts.common([harness])
if CP.carFingerprint in (CAR.HONDA_CLARITY,):
self.car_parts = CarParts.common([CarHarness.honda_clarity])
self.car_parts.custom_parts_url = "https://shop.retropilot.org/product/honda-clarity-proxy-board-kit"
self.support_type: SupportType = SupportType.COMMUNITY
self.support_link: str = "community"
class Footnote(Enum):
CIVIC_DIESEL = CarFootnote(
"2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
Column.FSR_STEERING)
@dataclass
class HondaBoschPlatformConfig(PlatformConfig):
def init(self):
self.flags |= HondaFlags.BOSCH
@dataclass
class HondaBoschCANFDPlatformConfig(HondaBoschPlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'honda_common_canfd_generated'})
def init(self):
super().init()
self.flags |= HondaFlags.BOSCH_CANFD
@dataclass
class HondaNidecPlatformConfig(PlatformConfig):
def init(self):
self.flags |= HondaFlags.NIDEC
def radar_dbc_dict(pt_dict):
return {Bus.pt: pt_dict, Bus.radar: 'acura_ilx_2016_nidec'}
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
class CAR(Platforms):
# Bosch Cars
HONDA_NBOX_2G = HondaBoschPlatformConfig(
[
HondaCarDocs("Honda N-Box 2018", "All", min_steer_speed=5.),
],
CarSpecs(mass=890., wheelbase=2.520, steerRatio=18.64),
{Bus.pt: 'acura_rdx_2020_can_generated'},
)
HONDA_ACCORD = HondaBoschPlatformConfig(
[
HondaCarDocs("Honda Accord 2018-22", "All", video="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarDocs("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
],
# steerRatio: 11.82 is spec end-to-end
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
flags=HondaFlags.ALLOW_MANUAL_TRANS,
)
HONDA_ACCORD_11G = HondaBoschCANFDPlatformConfig(
[
HondaCarDocs("Honda Accord 2023-25", "All"),
HondaCarDocs("Honda Accord Hybrid 2023-25", "All"),
],
CarSpecs(mass=3477 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.0, centerToFrontRatio=0.39),
)
HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
[
HondaCarDocs("Honda Civic 2019-21", "All", video="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
HondaCarDocs("Honda Civic Hatchback 2017-18", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarDocs("Honda Civic Hatchback 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
flags=HondaFlags.ALLOW_MANUAL_TRANS,
)
HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
[], # don't show in docs
HONDA_CIVIC_BOSCH.specs,
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
)
HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
[
HondaCarDocs("Honda Civic 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic Hybrid 2025-26", "All"),
HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic Hatchback Hybrid (Europe only) 2023", "All"),
# TODO: Confirm 2024
HondaCarDocs("Honda Civic Hatchback Hybrid 2025-26", "All"),
],
HONDA_CIVIC_BOSCH.specs,
{Bus.pt: 'honda_bosch_radarless_generated'},
flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.ALLOW_MANUAL_TRANS
)
HONDA_CRV_5G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=15. * CV.MPH_TO_MS)],
# steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated'},
flags=HondaFlags.BOSCH_ALT_BRAKE,
)
HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
[
HondaCarDocs("Honda CR-V 2023-26", "All"),
HondaCarDocs("Honda CR-V Hybrid 2023-26", "All"),
],
CarSpecs(mass=1703, wheelbase=2.7, steerRatio=16.2, centerToFrontRatio=0.42),
)
HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
[HondaCarDocs("Honda CR-V Hybrid 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
# mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
)
HONDA_HRV_3G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda HR-V 2023-25", "All")],
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
{Bus.pt: 'honda_bosch_radarless_generated'},
flags=HondaFlags.BOSCH_RADARLESS,
)
HONDA_CITY_7G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda City (Brazil only) 2023", "All")],
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.6, steerRatio=19.0, centerToFrontRatio=0.41, minSteerSpeed=23. * CV.KPH_TO_MS),
{Bus.pt: 'honda_bosch_radarless_generated'},
flags=HondaFlags.BOSCH_RADARLESS,
)
ACURA_RDX_3G = HondaBoschPlatformConfig(
[HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec
{Bus.pt: 'acura_rdx_2020_can_generated'},
flags=HondaFlags.BOSCH_ALT_BRAKE,
)
HONDA_INSIGHT = HondaBoschPlatformConfig(
[HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
{Bus.pt: 'honda_insight_ex_2019_can_generated'},
)
HONDA_E = HondaBoschPlatformConfig(
[HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
{Bus.pt: 'acura_rdx_2020_can_generated'},
)
HONDA_PILOT_4G = HondaBoschCANFDPlatformConfig(
[HondaCarDocs("Honda Pilot 2023-25", "All")],
CarSpecs(mass=4660 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=17.5),
)
HONDA_PASSPORT_4G = HondaBoschCANFDPlatformConfig(
[HondaCarDocs("Honda Passport 2026", "All")],
CarSpecs(mass=4620 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.442, steerRatio=18.5),
)
# mid-model refresh
ACURA_MDX_4G_MMR = HondaBoschCANFDPlatformConfig(
[HondaCarDocs("Acura MDX 2025-26", "All except Type S")],
CarSpecs(mass=4544 * CV.LB_TO_KG, wheelbase=2.89, centerToFrontRatio=0.428, steerRatio=16.2),
)
HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
[HondaCarDocs("Honda Odyssey 2021-26", "All", min_steer_speed=70. * CV.KPH_TO_MS)],
CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=19.4, centerToFrontRatio=0.41),
{Bus.pt: 'acura_rdx_2020_can_generated'},
flags=HondaFlags.BOSCH_ALT_BRAKE | HondaFlags.BOSCH_ALT_RADAR,
)
ACURA_TLX_2G = HondaBoschPlatformConfig(
[HondaCarDocs("Acura TLX 2021", "All")],
CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.87, steerRatio=14.0, centerToFrontRatio=0.43),
{Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
flags=HondaFlags.BOSCH_ALT_RADAR,
)
# mid-model refresh
ACURA_TLX_2G_MMR = HondaBoschCANFDPlatformConfig(
[HondaCarDocs("Acura TLX 2025", "All")],
CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.87, centerToFrontRatio=0.43, steerRatio=13.7),
)
# Nidec Cars
ACURA_ILX = HondaNidecPlatformConfig(
[
HondaCarDocs("Acura ILX 2016-18", "Technology Plus Package or AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
HondaCarDocs("Acura ILX 2019", "All", min_steer_speed=25. * CV.MPH_TO_MS),
],
CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end
radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_CRV = HondaNidecPlatformConfig(
[HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec
radar_dbc_dict('honda_crv_touring_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_CRV_EU = HondaNidecPlatformConfig(
[], # Euro version of CRV Touring, don't show in docs
HONDA_CRV.specs,
radar_dbc_dict('honda_crv_touring_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_FIT = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HONDA_FREED = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT
radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HONDA_HRV = HondaNidecPlatformConfig(
[HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
HONDA_HRV_3G.specs,
radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
HONDA_ODYSSEY = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Odyssey 2018-20")],
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
radar_dbc_dict('honda_odyssey_exl_2018_generated'),
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL | HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_ODYSSEY_TWN = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Odyssey (Taiwan) 2018-19")],
CarSpecs(mass=1865, wheelbase=2.9, steerRatio=14.35, centerToFrontRatio=0.44, tireStiffnessFactor=0.82),
radar_dbc_dict('honda_odyssey_twn_2018_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
)
ACURA_RDX = HondaNidecPlatformConfig(
[HondaCarDocs("Acura RDX 2016-18", "AcuraWatch Plus or Advance Package", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec
radar_dbc_dict('acura_rdx_2018_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_PILOT = HondaNidecPlatformConfig(
[
HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarDocs("Honda Passport 2019-25", "All", min_steer_speed=12. * CV.MPH_TO_MS),
],
HONDA_PILOT_4G.specs,
radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_RIDGELINE = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Ridgeline 2017-25", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
radar_dbc_dict('acura_ilx_2016_can_generated'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES | HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_CIVIC = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video="https://youtu.be/-IkImTe1NYE")],
CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
radar_dbc_dict('honda_civic_touring_2016_can_generated'),
flags=HondaFlags.HAS_ALL_DOOR_STATES
)
# port extensions
HONDA_CLARITY = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Clarity 2018-21", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=1834, wheelbase=2.75, centerToFrontRatio=0.4, steerRatio=16.5),
radar_dbc_dict('honda_clarity_hybrid_2018_can_generated'),
flags=HondaFlags.HAS_ALL_DOOR_STATES,
)
HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)
HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
DBC = CAR.create_dbc_map()
STEER_THRESHOLD = {
# default is 1200, overrides go here
CAR.ACURA_RDX: 400,
CAR.HONDA_CRV_EU: 400,
CAR.HONDA_ACCORD_11G: 600,
CAR.HONDA_PILOT_4G: 600,
CAR.HONDA_PASSPORT_4G: 600,
CAR.ACURA_MDX_4G_MMR: 600,
CAR.HONDA_CRV_6G: 600,
CAR.HONDA_CITY_7G: 600,
CAR.HONDA_NBOX_2G: 600,
}
HONDA_ALT_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xF112)
HONDA_ALT_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
p16(0xF112)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# Currently used to fingerprint
Request(
[StdQueries.UDS_VERSION_REQUEST],
[StdQueries.UDS_VERSION_RESPONSE],
bus=1,
),
# Data collection requests:
# Log manufacturer-specific identifier for current ECUs
Request(
[HONDA_ALT_VERSION_REQUEST],
[HONDA_ALT_VERSION_RESPONSE],
bus=1,
logging=True,
),
# Nidec PT bus
Request(
[StdQueries.UDS_VERSION_REQUEST],
[StdQueries.UDS_VERSION_RESPONSE],
bus=0,
),
# Bosch PT bus
Request(
[StdQueries.UDS_VERSION_REQUEST],
[StdQueries.UDS_VERSION_RESPONSE],
bus=1,
obd_multiplexing=False,
),
],
# We lose these ECUs without the comma power on these cars.
# Note that we still attempt to match with them when they are present
# This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
non_essential_ecus={
Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_E, *HONDA_BOSCH_ALT_RADAR, *HONDA_BOSCH_RADARLESS, *HONDA_BOSCH_CANFD],
Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
CAR.HONDA_E, CAR.HONDA_INSIGHT, CAR.HONDA_NBOX_2G, *HONDA_BOSCH_ALT_RADAR, *HONDA_BOSCH_RADARLESS, *HONDA_BOSCH_CANFD],
},
extra_ecus=[
(Ecu.combinationMeter, 0x18da60f1, None),
(Ecu.programmedFuelInjection, 0x18da10f1, None),
# The only other ECU on PT bus accessible by camera on radarless Civic
# This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
# Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'
# TODO: add query back, camera does not support querying both in parallel and 0x18dab0f1 often fails to respond
# (Ecu.unknown, 0x18DAB3F1, None),
],
)

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import numpy as np
from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
from opendbc.car.lateral import apply_driver_steer_torque_limits, common_fault_avoidance
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai import hyundaicanfd, hyundaican
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR
from opendbc.car.interfaces import CarControllerBase
from opendbc.iqpilot.car.hyundai.escc import EsccCarController
from opendbc.iqpilot.car.hyundai.longitudinal.controller import LongitudinalController
from opendbc.iqpilot.car.hyundai.lead_data_ext import LeadDataCarController
from opendbc.iqpilot.car.hyundai.aol import AolCarController
VisualAlert = structs.CarControl.HUDControl.VisualAlert
LongCtrlState = structs.CarControl.Actuators.LongControlState
# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
# All slightly below EPS thresholds to avoid fault
MAX_ANGLE = 85
MAX_ANGLE_FRAMES = 89
MAX_ANGLE_CONSECUTIVE_FRAMES = 2
def _use_stock_lkas_request_path(CP) -> bool:
return CP.carFingerprint == CAR.HYUNDAI_PALISADE
def process_hud_alert(enabled, fingerprint, hud_control):
sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
# initialize to no line visible
# TODO: this is not accurate for all cars
sys_state = 1
if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active
sys_state = 3 if enabled or sys_warning else 4
elif hud_control.leftLaneVisible:
sys_state = 5
elif hud_control.rightLaneVisible:
sys_state = 6
# initialize to no warnings
left_lane_warning = 0
right_lane_warning = 0
if hud_control.leftLaneDepart:
left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
if hud_control.rightLaneDepart:
right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
return sys_warning, sys_state, left_lane_warning, right_lane_warning
class CarController(CarControllerBase, EsccCarController, LeadDataCarController, LongitudinalController, AolCarController):
def __init__(self, dbc_names, CP, CP_IQ):
CarControllerBase.__init__(self, dbc_names, CP, CP_IQ)
EsccCarController.__init__(self, CP, CP_IQ)
AolCarController.__init__(self)
LeadDataCarController.__init__(self, CP)
LongitudinalController.__init__(self, CP, CP_IQ)
self.CAN = CanBus(CP)
self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_names[Bus.pt])
self.angle_limit_counter = 0
self.accel_last = 0
self.apply_torque_last = 0
self.car_fingerprint = CP.carFingerprint
self.last_button_frame = 0
def update(self, CC, CC_IQ, CS, now_nanos):
EsccCarController.update(self, CS)
LeadDataCarController.update(self, CC_IQ)
AolCarController.update(self, self.CP, CC, CC_IQ, self.frame)
if self.frame % 2 == 0:
LongitudinalController.update(self, CC, CS)
actuators = CC.actuators
hud_control = CC.hudControl
# steering torque
new_torque = int(round(actuators.torque * self.params.STEER_MAX))
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
# >90 degree steering fault prevention
self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
self.angle_limit_counter, MAX_ANGLE_FRAMES,
MAX_ANGLE_CONSECUTIVE_FRAMES)
if not CC.latActive:
apply_torque = 0
if self.apply_torque_last > 0:
self.apply_torque_last = max(self.apply_torque_last - self.params.STEER_DELTA_DOWN, 0)
elif self.apply_torque_last < 0:
self.apply_torque_last = min(self.apply_torque_last + self.params.STEER_DELTA_DOWN, 0)
else:
self.apply_torque_last = apply_torque
if not _use_stock_lkas_request_path(self.CP) and apply_torque == 0 and CC.latActive and CS.out.steeringPressed:
apply_steer_req = False
# Hold torque with induced temporary fault when cutting the actuation bit
# FIXME: we don't use this with CAN FD?
torque_fault = False if _use_stock_lkas_request_path(self.CP) else (CC.latActive and not apply_steer_req)
# accel + longitudinal
accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
stopping = actuators.longControlState == LongCtrlState.stopping
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
can_sends = []
# *** common hyundai stuff ***
# tester present - w/ no response (keeps relevant ECU disabled)
if self.frame % 100 == 0 and not ((self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) or self.ESCC.enabled) and \
self.CP.openpilotLongitudinalControl:
# for longitudinal control, either radar or ADAS driving ECU
addr, bus = 0x7d0, self.CAN.ECAN if self.CP.flags & HyundaiFlags.CANFD else 0
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
addr, bus = 0x730, self.CAN.ECAN
can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
# for blinkers
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
# *** CAN/CAN FD specific ***
if self.CP.flags & HyundaiFlags.CANFD:
can_sends.extend(self.create_canfd_msgs(apply_steer_req, apply_torque, set_speed_in_units, accel,
stopping, hud_control, CS, CC))
else:
can_sends.extend(self.create_can_msgs(apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel,
stopping, hud_control, actuators, CS, CC))
new_actuators = actuators.as_builder()
new_actuators.torque = apply_torque / self.params.STEER_MAX
new_actuators.torqueOutputCan = apply_torque
new_actuators.accel = self.tuning.actual_accel
self.frame += 1
return new_actuators, can_sends
def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping, hud_control, actuators, CS, CC):
can_sends = []
# HUD messages
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
hud_control)
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning,
self.lkas_icon))
# Button messages
if not self.CP.openpilotLongitudinalControl:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
elif CC.cruiseControl.resume:
# send resume at a max freq of 10Hz
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
self.last_button_frame = self.frame
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
# TODO: unclear if this is needed
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
self.lead_data, hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, self.CP,
CS.main_cruise_enabled, self.tuning, self.ESCC))
# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.lfa_icon))
# 5 Hz ACC options
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP, self.ESCC))
# 2 Hz front radar options
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl and not self.ESCC.enabled:
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
return can_sends
def create_canfd_msgs(self, apply_steer_req, apply_torque, set_speed_in_units, accel, stopping, hud_control, CS, CC):
can_sends = []
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, self.lkas_icon))
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and lka_steering:
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
# LFA and HDA icons
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
# blinkers
if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, CC.leftBlinker, CC.rightBlinker))
if self.CP.openpilotLongitudinalControl:
if lka_steering:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
else:
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning))
self.accel_last = accel
else:
# button presses
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
# cruise cancel
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
self.last_button_frame = self.frame
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.CANCEL))
self.last_button_frame = self.frame
# cruise standstill resume
elif CC.cruiseControl.resume:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# TODO: resume for alt button cars
pass
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
return can_sends

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opendbc_repo/opendbc/car/hyundai/carstate.py Normal file
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from collections import deque
import copy
import math
from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, Buttons, CarControllerParams
from opendbc.car.interfaces import CarStateBase
from opendbc.iqpilot.car.hyundai.carstate_ext import CarStateExt
from opendbc.iqpilot.car.hyundai.escc import EsccCarStateBase
from opendbc.iqpilot.car.hyundai.aol import AolCarState
from opendbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ
ButtonType = structs.CarState.ButtonEvent.Type
PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames
STANDSTILL_THRESHOLD = 12 * 0.03125
# Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
class CarState(CarStateBase, EsccCarStateBase, AolCarState, CarStateExt):
def __init__(self, CP, CP_IQ):
CarStateBase.__init__(self, CP, CP_IQ)
EsccCarStateBase.__init__(self)
AolCarState.__init__(self, CP, CP_IQ)
CarStateExt.__init__(self, CP, CP_IQ)
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.lda_button = 0
self.gear_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
"GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
"GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_SHIFTER"
if CP.flags & HyundaiFlags.CANFD:
self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
elif CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
self.shifter_values = can_define.dv["ELECT_GEAR"]["Elect_Gear_Shifter"]
elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.flags & HyundaiFlags.TCU_GEARS:
self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
elif CP.flags & HyundaiFlags.FCEV:
self.shifter_values = can_define.dv["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
else:
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
"ACCELERATOR_ALT" if CP.flags & HyundaiFlags.HYBRID else \
"ACCELERATOR_BRAKE_ALT"
self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
"CRUISE_BUTTONS"
self.is_metric = False
self.buttons_counter = 0
self.cruise_info = {}
# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
self.cluster_speed = 0
self.cluster_speed_counter = CLUSTER_SAMPLE_RATE
self.params = CarControllerParams(CP)
self.steer_fault_counter = 0
def recent_button_interaction(self) -> bool:
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
return any(btn in ENABLE_BUTTONS for btn in self.cruise_buttons) or any(self.main_buttons)
def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
if self.CP.flags & HyundaiFlags.CANFD:
return self.update_canfd(can_parsers)
ret = structs.CarState()
ret_iq = structs.IQCarState()
cp_cruise = cp_cam if self.CP.flags & HyundaiFlags.CAMERA_SCC else cp
self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
self.parse_wheel_speeds(ret,
cp.vl["WHL_SPD11"]["WHL_SPD_FL"],
cp.vl["WHL_SPD11"]["WHL_SPD_FR"],
cp.vl["WHL_SPD11"]["WHL_SPD_RL"],
cp.vl["WHL_SPD11"]["WHL_SPD_RR"],
)
ret.standstill = cp.vl["WHL_SPD11"]["WHL_SPD_FL"] <= STANDSTILL_THRESHOLD and cp.vl["WHL_SPD11"]["WHL_SPD_RR"] <= STANDSTILL_THRESHOLD
self.cluster_speed_counter += 1
if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
self.cluster_speed_counter = 0
# Mimic how dash converts to imperial.
# Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric
# TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this
if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,):
self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)
ret.vEgoCluster = self.cluster_speed * speed_conv
ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
steer_fault_raw = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
self.steer_fault_counter = self.steer_fault_counter + 1 if steer_fault_raw else 0
ret.steerFaultTemporary = self.steer_fault_counter > 5
# cruise state
if self.CP.openpilotLongitudinalControl:
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
ret.cruiseState.nonAdaptive = False
elif not self.CP_IQ.flags & HyundaiFlagsIQ.NON_SCC:
ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash
ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
# TODO: Find brake pressure
ret.brake = 0
ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
if self.CP.flags & HyundaiFlags.FCEV:
ret.gasPressed = cp.vl["FCEV_ACCELERATOR"]["ACCELERATOR_PEDAL"] > 0
elif self.CP.flags & HyundaiFlags.HYBRID:
ret.gasPressed = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] > 0
else:
ret.gasPressed = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] > 0
else:
ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
# as this seems to be standard over all cars, but is not the preferred method.
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
elif self.CP.flags & HyundaiFlags.FCEV:
gear = cp.vl["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS:
gear = cp.vl["CLU15"]["CF_Clu_Gear"]
elif self.CP.flags & HyundaiFlags.TCU_GEARS:
gear = cp.vl["TCU12"]["CUR_GR"]
else:
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
if (not self.CP.openpilotLongitudinalControl or self.CP.flags & HyundaiFlags.CAMERA_SCC) and not self.CP_IQ.flags & HyundaiFlagsIQ.NON_SCC:
aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW
aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
ret.stockAeb = aeb_warning and aeb_braking
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
# save the entire LKAS11 and CLU11
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
prev_cruise_buttons = self.cruise_buttons[-1]
prev_main_buttons = self.main_buttons[-1]
prev_lda_button = self.lda_button
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
if self.CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
self.lda_button = cp.vl["BCM_PO_11"]["LDA_BTN"]
ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
*create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})]
if self.CP.openpilotLongitudinalControl:
ret.cruiseState.available = self.get_main_cruise(ret)
CarStateExt.update(self, ret, ret_iq, can_parsers, speed_conv)
ret.blockPcmEnable = not self.recent_button_interaction()
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
self.low_speed_alert = True
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
self.low_speed_alert = False
ret.lowSpeedAlert = self.low_speed_alert
return ret, ret_iq
def update_canfd(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
ret = structs.CarState()
ret_iq = structs.IQCarState()
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID):
ret.gasPressed = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] > 1e-5
else:
ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])
ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
gear = cp.vl[self.gear_msg_canfd]["GEAR"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
# TODO: figure out positions
self.parse_wheel_speeds(ret,
cp.vl["WHEEL_SPEEDS"]["WHL_SpdFLVal"],
cp.vl["WHEEL_SPEEDS"]["WHL_SpdFRVal"],
cp.vl["WHEEL_SPEEDS"]["WHL_SpdRLVal"],
cp.vl["WHEEL_SPEEDS"]["WHL_SpdRRVal"],
)
ret.standstill = cp.vl["WHEEL_SPEEDS"]["WHL_SpdFLVal"] <= STANDSTILL_THRESHOLD and cp.vl["WHEEL_SPEEDS"]["WHL_SpdFRVal"] <= STANDSTILL_THRESHOLD and \
cp.vl["WHEEL_SPEEDS"]["WHL_SpdRLVal"] <= STANDSTILL_THRESHOLD and cp.vl["WHEEL_SPEEDS"]["WHL_SpdRRVal"] <= STANDSTILL_THRESHOLD
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"]
ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
steer_fault_raw = cp.vl["MDPS"]["LKA_FAULT"] != 0
self.steer_fault_counter = self.steer_fault_counter + 1 if steer_fault_raw else 0
ret.steerFaultTemporary = self.steer_fault_counter > 5
# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
cp.vl["BLINKERS"][right_blinker_sig])
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
# cruise state
# CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
if self.CP.openpilotLongitudinalControl:
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
else:
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
# Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
# It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
# The car will brake, but does not respect positive acceleration commands in this mode
# TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
if self.CP.flags & HyundaiFlags.EV:
ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
prev_cruise_buttons = self.cruise_buttons[-1]
prev_main_buttons = self.main_buttons[-1]
prev_lda_button = self.lda_button
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
self.lda_button = cp.vl[self.cruise_btns_msg_canfd]["LDA_BTN"]
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
self.lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT
else cp_cam.vl["CAM_0x2a4"])
AolCarState.update_aol_canfd(self, ret, can_parsers)
ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
*create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})]
if self.CP.openpilotLongitudinalControl:
ret.cruiseState.available = self.get_main_cruise(ret)
CarStateExt.update_canfd_ext(self, ret, ret_iq, can_parsers, speed_factor)
ret.blockPcmEnable = not self.recent_button_interaction()
return ret, ret_iq
def get_can_parsers_canfd(self, CP):
msgs = []
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
# TODO: this can be removed once we add dynamic support to vl_all
msgs += [
# this message is 50Hz but the ECU frequently stops transmitting for ~0.5s
("CRUISE_BUTTONS", 1)
]
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, CanBus(CP).ECAN),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).CAM),
}
def get_can_parsers(self, CP, CP_IQ):
if CP.flags & HyundaiFlags.CANFD:
return self.get_can_parsers_canfd(CP)
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
}

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import crcmod
from opendbc.car.hyundai.values import CAR, HyundaiFlags
from opendbc.iqpilot.car.hyundai.escc import EnhancedSmartCruiseControl
from opendbc.iqpilot.car.hyundai.lead_data_ext import CanLeadData
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
def _use_stock_scc_surrogates(CP) -> bool:
return CP.carFingerprint == CAR.HYUNDAI_PALISADE
def create_lkas11(packer, frame, CP, apply_torque, steer_req,
torque_fault, lkas11, sys_warning, sys_state, enabled,
left_lane, right_lane,
left_lane_depart, right_lane_depart,
lkas_icon):
values = {s: lkas11[s] for s in [
"CF_Lkas_LdwsActivemode",
"CF_Lkas_LdwsSysState",
"CF_Lkas_SysWarning",
"CF_Lkas_LdwsLHWarning",
"CF_Lkas_LdwsRHWarning",
"CF_Lkas_HbaLamp",
"CF_Lkas_FcwBasReq",
"CF_Lkas_HbaSysState",
"CF_Lkas_FcwOpt",
"CF_Lkas_HbaOpt",
"CF_Lkas_FcwSysState",
"CF_Lkas_FcwCollisionWarning",
"CF_Lkas_FusionState",
"CF_Lkas_FcwOpt_USM",
"CF_Lkas_LdwsOpt_USM",
]}
values["CF_Lkas_LdwsSysState"] = sys_state
values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
values["CF_Lkas_LdwsRHWarning"] = right_lane_depart
values["CR_Lkas_StrToqReq"] = apply_torque
values["CF_Lkas_ActToi"] = steer_req
values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
values["CF_Lkas_MsgCount"] = frame % 0x10
if CP.carFingerprint in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_PHEV_2022, CAR.HYUNDAI_SANTA_FE,
CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022,
CAR.KIA_CEED_PHEV_2022_NON_SCC, CAR.HYUNDAI_KONA_EV_NON_SCC, CAR.HYUNDAI_ELANTRA_2022_NON_SCC,
CAR.GENESIS_G70_2021_NON_SCC, CAR.KIA_SELTOS_2023_NON_SCC, CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2
# FcwOpt_USM 5 = Orange blinking car + lanes
# FcwOpt_USM 4 = Orange car + lanes
# FcwOpt_USM 3 = Green blinking car + lanes
# FcwOpt_USM 2 = Green car + lanes
# FcwOpt_USM 1 = White car + lanes
# FcwOpt_USM 0 = No car + lanes
values["CF_Lkas_FcwOpt_USM"] = lkas_icon
# SysWarning 4 = keep hands on wheel
# SysWarning 5 = keep hands on wheel (red)
# SysWarning 6 = keep hands on wheel (red) + beep
# Note: the warning is hidden while the blinkers are on
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
# Likely cars lacking the ability to show individual lane lines in the dash
elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.HYUNDAI_KONA_NON_SCC):
# SysWarning 4 = keep hands on wheel + beep
values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
# SysState 0 = no icons
# SysState 1-2 = white car + lanes
# SysState 3 = green car + lanes, green steering wheel
# SysState 4 = green car + lanes
values["CF_Lkas_LdwsSysState"] = lkas_icon
values["CF_Lkas_LdwsOpt_USM"] = 2 # non-2 changes above SysState definition
# these have no effect
values["CF_Lkas_LdwsActivemode"] = 0
values["CF_Lkas_FcwOpt_USM"] = 0
elif CP.carFingerprint == CAR.HYUNDAI_GENESIS:
# This field is actually LdwsActivemode
# Genesis and Optima fault when forwarding while engaged
values["CF_Lkas_LdwsActivemode"] = 2
dat = packer.make_can_msg("LKAS11", 0, values)[1]
if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
# CRC Checksum as seen on 2019 Hyundai Santa Fe
dat = dat[:6] + dat[7:8]
checksum = hyundai_checksum(dat)
elif CP.flags & HyundaiFlags.CHECKSUM_6B:
# Checksum of first 6 Bytes, as seen on 2018 Kia Sorento
checksum = sum(dat[:6]) % 256
else:
# Checksum of first 6 Bytes and last Byte as seen on 2018 Kia Stinger
checksum = (sum(dat[:6]) + dat[7]) % 256
values["CF_Lkas_Chksum"] = checksum
return packer.make_can_msg("LKAS11", 0, values)
def create_clu11(packer, frame, clu11, button, CP):
values = {s: clu11[s] for s in [
"CF_Clu_CruiseSwState",
"CF_Clu_CruiseSwMain",
"CF_Clu_SldMainSW",
"CF_Clu_ParityBit1",
"CF_Clu_VanzDecimal",
"CF_Clu_Vanz",
"CF_Clu_SPEED_UNIT",
"CF_Clu_DetentOut",
"CF_Clu_RheostatLevel",
"CF_Clu_CluInfo",
"CF_Clu_AmpInfo",
"CF_Clu_AliveCnt1",
]}
values["CF_Clu_CruiseSwState"] = button
values["CF_Clu_AliveCnt1"] = frame % 0x10
# send buttons to camera on camera-scc based cars
bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0
return packer.make_can_msg("CLU11", bus, values)
def create_lfahda_mfc(packer, enabled, lfa_icon):
values = {
"LFA_Icon_State": lfa_icon,
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_data: CanLeadData,
hud_control, set_speed, stopping, long_override, use_fca, CP,
main_cruise_enabled, tuning, ESCC: EnhancedSmartCruiseControl | None = None):
commands = []
def get_scc11_values():
values = {
"MainMode_ACC": 1 if main_cruise_enabled else 0,
"TauGapSet": hud_control.leadDistanceBars,
"VSetDis": set_speed if enabled else 0,
"AliveCounterACC": idx % 0x10,
"ObjValid": int(lead_data.lead_visible), # close lead makes controls tighter
"ACC_ObjStatus": int(lead_data.lead_visible), # close lead makes controls tighter
"ACC_ObjLatPos": 0,
"ACC_ObjRelSpd": lead_data.lead_rel_speed,
"ACC_ObjDist": int(lead_data.lead_distance), # close lead makes controls tighter
}
if _use_stock_scc_surrogates(CP):
values["ObjValid"] = 1
values["ACC_ObjStatus"] = 1
values["ACC_ObjDist"] = 1
return values
def get_scc12_values():
scc12_values = {
"ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
"StopReq": 1 if tuning.stopping else 0,
"aReqRaw": tuning.desired_accel,
"aReqValue": tuning.actual_accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw
"CR_VSM_Alive": idx % 0xF,
}
# show AEB disabled indicator on dash with SCC12 if not sending FCA messages.
# these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal
if not use_fca:
scc12_values["CF_VSM_ConfMode"] = 1
scc12_values["AEB_Status"] = 1 # AEB disabled
# Since we have ESCC available, we can update SCC12 with ESCC values.
if ESCC and ESCC.enabled:
ESCC.update_scc12(scc12_values)
return scc12_values
def calculate_scc12_checksum(values):
scc12_dat = packer.make_can_msg("SCC12", 0, values)[1]
values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
return values
def get_scc14_values():
values = {
"ComfortBandUpper": tuning.comfort_band_upper, # stock usually is 0 but sometimes uses higher values
"ComfortBandLower": tuning.comfort_band_lower, # stock usually is 0 but sometimes uses higher values
"JerkUpperLimit": tuning.jerk_upper, # stock usually is 1.0 but sometimes uses higher values
"JerkLowerLimit": tuning.jerk_lower, # stock usually is 0.5 but sometimes uses higher values
"ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
"ObjGap": lead_data.object_gap, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
}
if not _use_stock_scc_surrogates(CP):
values["ObjDistStat"] = lead_data.object_rel_gap
return values
def get_fca11_values():
return {
"CR_FCA_Alive": idx % 0xF,
"PAINT1_Status": 1,
"FCA_DrvSetStatus": 1,
"FCA_Status": 1,
}
def calculate_fca11_checksum(values):
fca11_dat = packer.make_can_msg("FCA11", 0, values)[1]
values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
return values
scc11_values = get_scc11_values()
commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
scc12_values = get_scc12_values()
scc12_values = calculate_scc12_checksum(scc12_values)
commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
scc14_values = get_scc14_values()
commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
# Only send FCA11 on cars where it exists on the bus
# On Camera SCC cars, FCA11 is not disabled, so we forward stock FCA11 back to the car forward hooks
# If we don't use ESCC since ESCC does not block FCA11 from stock radar
if use_fca and not ((CP.flags & HyundaiFlags.CAMERA_SCC) or (ESCC and ESCC.enabled)):
# note that some vehicles most likely have an alternate checksum/counter definition
# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
fca11_values = get_fca11_values()
fca11_values = calculate_fca11_checksum(fca11_values)
commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
return commands
def create_acc_opt(packer, CP, ESCC: EnhancedSmartCruiseControl | None = None):
"""
Creates SCC13 and FCA12. If ESCC is enabled, it will only create SCC13 since ESCC does not block FCA12.
:param packer:
:param ESCC:
:return:
"""
def get_scc13_values():
return {
"SCCDrvModeRValue": 2,
"SCC_Equip": 1,
"Lead_Veh_Dep_Alert_USM": 2,
}
def get_fca12_values():
return {
"FCA_DrvSetState": 2,
"FCA_USM": 1, # AEB disabled
}
commands = []
scc13_values = get_scc13_values()
commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
# If ESCC is available and enabled, we skip FCA12, since ESCC does not block FCA12
if ESCC and ESCC.enabled:
return commands
# TODO: this needs to be detected and conditionally sent on unsupported long cars
# On Camera SCC cars, FCA12 is not disabled, so we forward stock FCA12 back to the car forward hooks
if not (CP.flags & HyundaiFlags.CAMERA_SCC):
fca12_values = get_fca12_values()
commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
return commands
def create_frt_radar_opt(packer):
frt_radar11_values = {
"CF_FCA_Equip_Front_Radar": 1,
}
return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)

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import copy
import numpy as np
from opendbc.car import CanBusBase
from opendbc.car.crc import CRC16_XMODEM
from opendbc.car.hyundai.values import HyundaiFlags
from opendbc.iqpilot.car.hyundai.lead_data_ext import CanFdLeadData
class CanBus(CanBusBase):
def __init__(self, CP, fingerprint=None, lka_steering=None) -> None:
super().__init__(CP, fingerprint)
if lka_steering is None:
lka_steering = CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value if CP is not None else False
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. LKA steering cars
# have a different harness than the LFA steering variants in order to split
# a different bus, since the steering is done by different ECUs.
self._a, self._e = 1, 0
if lka_steering:
self._a, self._e = 0, 1
self._a += self.offset
self._e += self.offset
self._cam = 2 + self.offset
@property
def ECAN(self):
return self._e
@property
def ACAN(self):
return self._a
@property
def CAM(self):
return self._cam
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, lkas_icon):
common_values = {
"LKA_MODE": 2,
"LKA_ICON": lkas_icon,
"TORQUE_REQUEST": apply_torque,
"LKA_ASSIST": 0,
"STEER_REQ": 1 if lat_active else 0,
"STEER_MODE": 0,
"HAS_LANE_SAFETY": 0, # hide LKAS settings
"NEW_SIGNAL_2": 0,
"DAMP_FACTOR": 100, # can potentially tuned for better perf [3, 200]
}
lkas_values = copy.copy(common_values)
lkas_values["LKA_AVAILABLE"] = 0
lfa_values = copy.copy(common_values)
lfa_values["NEW_SIGNAL_1"] = 0
ret = []
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
else:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
return ret
def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
suppress_msg = "CAM_0x362" if lka_steering_alt else "CAM_0x2a4"
msg_bytes = 32 if lka_steering_alt else 24
values = {f"BYTE{i}": lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
values["COUNTER"] = lfa_block_msg["COUNTER"]
values["SET_ME_0"] = 0
values["SET_ME_0_2"] = 0
values["LEFT_LANE_LINE"] = 0
values["RIGHT_LANE_LINE"] = 0
return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
def create_buttons(packer, CP, CAN, cnt, btn):
values = {
"COUNTER": cnt,
"SET_ME_1": 1,
"CRUISE_BUTTONS": btn,
}
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_LKA_STEERING else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# CAN FD camera-based SCC requires additional signals to be preserved
# verbatim from the previous SCC_CONTROL frame to avoid checksum or
# state validation faults. Classic CAN SCC only validates a subset.
if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"NEW_SIGNAL_1",
"MainMode_ACC",
"ACCMode",
"ZEROS_9",
"CRUISE_STANDSTILL",
"ZEROS_5",
"DISTANCE_SETTING",
"VSetDis",
]}
else:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"ACCMode",
"VSetDis",
"CRUISE_STANDSTILL",
]}
values.update({
"ACCMode": 4,
"aReqRaw": 0.0,
"aReqValue": 0.0,
})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_lfahda_cluster(packer, CAN, enabled, lfa_icon):
values = {
"HDA_ICON": 1 if enabled else 0,
"LFA_ICON": lfa_icon,
}
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
lead_data: CanFdLeadData, main_cruise_enabled, tuning):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
a_val, a_raw = 0, 0
else:
a_raw = accel # noqa: F841
a_val = np.clip(accel, accel_last - jn, accel_last + jn) # noqa: F841
values = {
"ACCMode": 0 if not enabled else (2 if gas_override else 1),
"MainMode_ACC": 1 if main_cruise_enabled else 0,
"StopReq": 1 if tuning.stopping else 0,
"aReqValue": tuning.actual_accel,
"aReqRaw": tuning.actual_accel,
"VSetDis": set_speed,
"JerkLowerLimit": tuning.jerk_lower,
"JerkUpperLimit": tuning.jerk_upper,
"ACC_ObjDist": int(lead_data.lead_distance),
"ACC_ObjRelSpd": lead_data.lead_rel_speed,
"ObjValid": int(not lead_data.lead_visible),
"SCC_ObjSta": 0 if not (enabled and lead_data.lead_visible) else (1 if gas_override else 2),
"SET_ME_2": 0x4,
"SET_ME_3": 0x3,
"SET_ME_TMP_64": 0x64,
"DISTANCE_SETTING": hud_control.leadDistanceBars,
}
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_spas_messages(packer, CAN, left_blink, right_blink):
ret = []
values = {
}
ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
blink = 0
if left_blink:
blink = 3
elif right_blink:
blink = 4
values = {
"BLINKER_CONTROL": blink,
}
ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
return ret
def create_fca_warning_light(packer, CAN, frame):
ret = []
if frame % 2 == 0:
values = {
'AEB_SETTING': 0x1, # show AEB disabled icon
'SET_ME_2': 0x2,
'SET_ME_FF': 0xff,
'SET_ME_FC': 0xfc,
'SET_ME_9': 0x9,
}
ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
return ret
def create_adrv_messages(packer, CAN, frame):
# messages needed to car happy after disabling
# the ADAS Driving ECU to do longitudinal control
ret = []
values = {
}
ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
ret.extend(create_fca_warning_light(packer, CAN, frame))
if frame % 5 == 0:
values = {
'SET_ME_1C': 0x1c,
'SET_ME_FF': 0xff,
'SET_ME_TMP_F': 0xf,
'SET_ME_TMP_F_2': 0xf,
}
ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
values = {
'SET_ME_E1': 0xe1,
'SET_ME_3A': 0x3a,
}
ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))
if frame % 20 == 0:
values = {
'SET_ME_15': 0x15,
}
ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))
if frame % 100 == 0:
values = {
'SET_ME_22': 0x22,
'SET_ME_41': 0x41,
}
ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
return ret
def hkg_can_fd_checksum(address: int, sig, d: bytearray) -> int:
crc = 0
for i in range(2, len(d)):
crc = ((crc << 8) ^ CRC16_XMODEM[(crc >> 8) ^ d[i]]) & 0xFFFF
crc = ((crc << 8) ^ CRC16_XMODEM[(crc >> 8) ^ ((address >> 0) & 0xFF)]) & 0xFFFF
crc = ((crc << 8) ^ CRC16_XMODEM[(crc >> 8) ^ ((address >> 8) & 0xFF)]) & 0xFFFF
if len(d) == 8:
crc ^= 0x5F29
elif len(d) == 16:
crc ^= 0x041D
elif len(d) == 24:
crc ^= 0x819D
elif len(d) == 32:
crc ^= 0x9F5B
return crc

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opendbc_repo/opendbc/car/hyundai/interface.py Normal file
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from opendbc.car import Bus, get_safety_config, structs, uds
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, \
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags
from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
from opendbc.car.interfaces import CarInterfaceBase
from opendbc.car.disable_ecu import disable_ecu
from opendbc.car.hyundai.carcontroller import CarController
from opendbc.car.hyundai.carstate import CarState
from opendbc.car.hyundai.radar_interface import RadarInterface
from opendbc.iqpilot.car.hyundai.escc import ESCC_MSG
from opendbc.iqpilot.car.hyundai.longitudinal.helpers import get_longitudinal_tune
from opendbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ, HyundaiSafetyFlagsIQ
ButtonType = structs.CarState.ButtonEvent.Type
Ecu = structs.CarParams.Ecu
# Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)
class CarInterface(CarInterfaceBase):
CarState = CarState
CarController = CarController
RadarInterface = RadarInterface
DRIVABLE_GEARS = (structs.CarState.GearShifter.sport, structs.CarState.GearShifter.manumatic)
@staticmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
ret.brand = "hyundai"
# "LKA steering" if LKAS or LKAS_ALT messages are seen coming from the camera.
# Generally means our LKAS message is forwarded to another ECU (commonly ADAS ECU)
# that finally retransmits our steering command in LFA or LFA_ALT to the MDPS.
# "LFA steering" if camera directly sends LFA to the MDPS
cam_can = CanBus(None, fingerprint).CAM
lka_steering = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
CAN = CanBus(None, fingerprint, lka_steering)
if ret.flags & HyundaiFlags.CANFD:
# Shared configuration for CAN-FD cars
ret.alphaLongitudinalAvailable = candidate not in CANFD_UNSUPPORTED_LONGITUDINAL_CAR
if lka_steering and Ecu.adas not in [fw.ecu for fw in car_fw]:
# this needs to be figured out for cars without an ADAS ECU
ret.alphaLongitudinalAvailable = False
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
# Check if the car is hybrid. Only HEV/PHEV cars have 0xFA on E-CAN.
if 0xFA in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.HYBRID.value
if lka_steering:
# detect LKA steering
ret.flags |= HyundaiFlags.CANFD_LKA_STEERING.value
if 0x110 in fingerprint[CAN.CAM]:
ret.flags |= HyundaiFlags.CANFD_LKA_STEERING_ALT.value
else:
# no LKA steering
if 0x1cf not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
if not ret.flags & HyundaiFlags.RADAR_SCC:
ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
# Some LKA steering cars have alternative messages for gear checks
# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
if 0x130 not in fingerprint[CAN.ECAN]:
if 0x40 not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
else:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
if ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEERING.value
if ret.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT.value
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
else:
# Shared configuration for non CAN-FD cars
ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
ret.enableBsm = 0x58b in fingerprint[0]
# Send LFA message on cars with HDA
if 0x485 in fingerprint[2]:
ret.flags |= HyundaiFlags.SEND_LFA.value
# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
ret.flags |= HyundaiFlags.USE_FCA.value
if ret.flags & HyundaiFlags.LEGACY:
# these cars require a special panda safety mode due to missing counters and checksums in the messages
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiLegacy)]
else:
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
if ret.flags & HyundaiFlags.CAMERA_SCC:
ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
# These cars have the LFA button on the steering wheel
if 0x391 in fingerprint[0]:
ret.flags |= HyundaiFlags.HAS_LDA_BUTTON.value
# Common lateral control setup
ret.centerToFront = ret.wheelbase * 0.4
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if ret.flags & HyundaiFlags.ALT_LIMITS:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.ALT_LIMITS.value
if ret.flags & HyundaiFlags.ALT_LIMITS_2:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.ALT_LIMITS_2.value
# see https://github.com/commaai/opendbc/pull/1137/
ret.dashcamOnly = True
# Common longitudinal control setup
ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint]
ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.startingState = True
ret.vEgoStarting = 0.1
ret.startAccel = 1.0
ret.longitudinalActuatorDelay = 0.5
if ret.openpilotLongitudinalControl:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.LONG.value
if ret.flags & HyundaiFlags.HYBRID:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.HYBRID_GAS.value
elif ret.flags & HyundaiFlags.EV:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.EV_GAS.value
elif ret.flags & HyundaiFlags.FCEV:
ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FCEV_GAS.value
# Car specific configuration overrides
if candidate == CAR.KIA_OPTIMA_G4_FL:
ret.steerActuatorDelay = 0.2
# Dashcam cars are missing a test route, or otherwise need validation
# TODO: Optima Hybrid 2017 uses a different SCC12 checksum
if candidate in (CAR.KIA_OPTIMA_H,):
ret.dashcamOnly = True
return ret
@staticmethod
def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
# identical logic used in _get_params
# "LKA steering" if LKAS or LKAS_ALT messages are seen coming from the camera.
# Generally means our LKAS message is forwarded to another ECU (commonly ADAS ECU)
# that finally retransmits our steering command in LFA or LFA_ALT to the MDPS.
# "LFA steering" if camera directly sends LFA to the MDPS
cam_can = CanBus(None, fingerprint).CAM
lka_steering = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
CAN = CanBus(None, fingerprint, lka_steering)
if not stock_cp.flags & HyundaiFlags.CANFD:
# TODO-IQ: add route with ESCC message for process replay
if ESCC_MSG in fingerprint[0]:
ret.flags |= HyundaiFlagsIQ.ENHANCED_SCC.value
if ret.flags & HyundaiFlagsIQ.ENHANCED_SCC:
ret.iqSafetyFlags |= HyundaiSafetyFlagsIQ.ESCC
stock_cp.radarUnavailable = False
if stock_cp.flags & HyundaiFlags.HAS_LDA_BUTTON:
ret.iqSafetyFlags |= HyundaiSafetyFlagsIQ.HAS_LDA_BUTTON
if stock_cp.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC):
stock_cp.radarUnavailable = False
if stock_cp.flags & HyundaiFlags.ALT_LIMITS_2:
stock_cp.dashcamOnly = False
if ret.flags & HyundaiFlagsIQ.NON_SCC:
stock_cp.alphaLongitudinalAvailable = False
stock_cp.openpilotLongitudinalControl = False
stock_cp.pcmCruise = True
ret.iqSafetyFlags |= HyundaiSafetyFlagsIQ.NON_SCC
# untested non-SCC platforms, need user validations
if stock_cp.carFingerprint in (CAR.HYUNDAI_BAYON_1ST_GEN_NON_SCC, CAR.KIA_FORTE_2021_NON_SCC,
CAR.KIA_SELTOS_2023_NON_SCC, CAR.GENESIS_G70_2021_NON_SCC):
stock_cp.dashcamOnly = True
if stock_cp.flags & HyundaiFlags.CANFD:
if 0x1fa in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlagsIQ.SPEED_LIMIT_AVAILABLE.value
else:
# Detect smartMDPS, which bypasses EPS low-speed lockout, allowing iqpilot to send steering commands down to 0
if 0x2AA in fingerprint[0]:
stock_cp.minSteerSpeed = 0.0
stock_cp.flags &= ~HyundaiFlags.MIN_STEER_32_MPH.value
if 0x544 in fingerprint[0]:
ret.flags |= HyundaiFlagsIQ.SPEED_LIMIT_AVAILABLE.value
if 0x53E in fingerprint[2]:
ret.flags |= HyundaiFlagsIQ.HAS_LKAS12.value
return ret
@staticmethod
def _get_longitudinal_tuning_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams) -> structs.IQCarParams:
if ret.flags & (HyundaiFlagsIQ.LONG_TUNING_DYNAMIC | HyundaiFlagsIQ.LONG_TUNING_PREDICTIVE):
get_longitudinal_tune(stock_cp)
return ret
@staticmethod
def init(CP, CP_IQ, can_recv, can_send, communication_control=None):
# 0x80 silences response
if communication_control is None:
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
if CP.openpilotLongitudinalControl and not ((CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)) or
(CP_IQ.flags & HyundaiFlagsIQ.ENHANCED_SCC)):
addr, bus = 0x7d0, CanBus(CP).ECAN if CP.flags & HyundaiFlags.CANFD else 0
if CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
addr, bus = 0x730, CanBus(CP).ECAN
disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control)
# for blinkers
if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
disable_ecu(can_recv, can_send, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=communication_control)
@staticmethod
def deinit(CP, can_recv, can_send):
communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX, uds.MESSAGE_TYPE.NORMAL])
CarInterface.init(CP, can_recv, can_send, communication_control)

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opendbc_repo/opendbc/car/hyundai/radar_interface.py Normal file
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import math
from opendbc.can import CANParser
from opendbc.car import Bus, structs
from opendbc.car.interfaces import RadarInterfaceBase
from opendbc.car.hyundai.values import DBC
from opendbc.iqpilot.car.hyundai.radar_interface_ext import RadarInterfaceExt
RADAR_START_ADDR = 0x500
RADAR_MSG_COUNT = 32
# POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
def get_radar_can_parser(CP):
if Bus.radar not in DBC[CP.carFingerprint]:
return None
messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, 1)
class RadarInterface(RadarInterfaceBase, RadarInterfaceExt):
def __init__(self, CP, CP_IQ):
RadarInterfaceBase.__init__(self, CP, CP_IQ)
RadarInterfaceExt.__init__(self, CP, CP_IQ)
self.updated_messages = set()
self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
self.track_id = 0
self.radar_off_can = CP.radarUnavailable
self.rcp = get_radar_can_parser(CP)
if self.rcp is None:
self.initialize_radar_ext(self.trigger_msg)
def update(self, can_strings):
if self.radar_off_can or (self.rcp is None):
return super().update(None)
vls = self.rcp.update(can_strings)
self.updated_messages.update(vls)
if self.trigger_msg not in self.updated_messages:
return None
rr = self._update(self.updated_messages)
self.updated_messages.clear()
return rr
def _update(self, updated_messages):
ret = structs.RadarData()
if self.rcp is None:
return ret
if not self.rcp.can_valid:
ret.errors.canError = True
if self.use_radar_interface_ext:
return self.update_ext(ret)
for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
if addr not in self.pts:
self.pts[addr] = structs.RadarData.RadarPoint()
self.pts[addr].trackId = self.track_id
self.track_id += 1
valid = msg['STATE'] in (3, 4)
if valid:
azimuth = math.radians(msg['AZIMUTH'])
self.pts[addr].measured = True
self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST']
self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
self.pts[addr].vRel = msg['REL_SPEED']
self.pts[addr].aRel = msg['REL_ACCEL']
self.pts[addr].yvRel = float('nan')
else:
del self.pts[addr]
ret.points = list(self.pts.values())
return ret

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opendbc_repo/opendbc/car/hyundai/tests/__init__.py Normal file
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opendbc_repo/opendbc/car/hyundai/tests/print_platform_codes.py Executable file
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#!/usr/bin/env python3
from opendbc.car.structs import CarParams
from opendbc.car.hyundai.values import PLATFORM_CODE_ECUS, get_platform_codes
from opendbc.car.hyundai.fingerprints import FW_VERSIONS
Ecu = CarParams.Ecu
if __name__ == "__main__":
for car_model, ecus in FW_VERSIONS.items():
print()
print(car_model)
for ecu in sorted(ecus):
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
platform_codes = get_platform_codes(ecus[ecu])
codes = {code for code, _ in platform_codes}
dates = {date for _, date in platform_codes if date is not None}
print(f' (Ecu.{ecu[0]}, {hex(ecu[1])}, {ecu[2]}):')
print(f' Codes: {codes}')
print(f' Dates: {dates}')

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opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py Normal file
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from hypothesis import settings, given, strategies as st
import pytest
from opendbc.car import gen_empty_fingerprint
from opendbc.car.structs import CarParams
from opendbc.car.fw_versions import build_fw_dict
from opendbc.car.hyundai.interface import CarInterface
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
NON_SCC_CAR
from opendbc.car.hyundai.fingerprints import FW_VERSIONS
Ecu = CarParams.Ecu
# Some platforms have date codes in a different format we don't yet parse (or are missing).
# For now, assert list of expected missing date cars
NO_DATES_PLATFORMS = {
# CAN FD
CAR.KIA_SPORTAGE_5TH_GEN,
CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
CAR.HYUNDAI_TUCSON_4TH_GEN,
# CAN
CAR.HYUNDAI_ELANTRA,
CAR.HYUNDAI_ELANTRA_GT_I30,
CAR.KIA_CEED,
CAR.KIA_FORTE,
CAR.KIA_OPTIMA_G4,
CAR.KIA_OPTIMA_G4_FL,
CAR.KIA_SORENTO,
CAR.HYUNDAI_KONA,
CAR.HYUNDAI_KONA_EV,
CAR.HYUNDAI_KONA_EV_2022,
CAR.HYUNDAI_KONA_HEV,
CAR.HYUNDAI_SONATA_LF,
CAR.HYUNDAI_VELOSTER,
CAR.HYUNDAI_KONA_2022,
}
CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar}
class TestHyundaiFingerprint:
def test_feature_detection(self):
# LKA steering
for lka_steering in (True, False):
fingerprint = gen_empty_fingerprint()
if lka_steering:
cam_can = CanBus(None, fingerprint).CAM
fingerprint[cam_can] = [0x50, 0x110] # LKA steering messages
CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], False, False, False)
assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering
# radar available
for radar in (True, False):
fingerprint = gen_empty_fingerprint()
if radar:
fingerprint[1][RADAR_START_ADDR] = 8
CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False)
assert CP.radarUnavailable != radar
def test_alternate_limits(self):
# Alternate lateral control limits, for high torque cars, verify Panda safety mode flag is set
fingerprint = gen_empty_fingerprint()
for car_model in CAR:
CP = CarInterface.get_params(car_model, fingerprint, [], False, False, False)
assert bool(CP.flags & HyundaiFlags.ALT_LIMITS) == bool(CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.ALT_LIMITS)
def test_can_features(self):
# Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set()
# Test CAN FD car not in CAN feature lists
can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
for car_model in CANFD_CAR:
assert car_model not in can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list"
def test_hybrid_ev_sets(self):
assert HYBRID_CAR & EV_CAR == set(), "Shared cars between hybrid and EV"
assert CANFD_CAR & HYBRID_CAR == set(), "Hard coding CAN FD cars as hybrid is no longer supported"
def test_canfd_ecu_whitelist(self):
# Asserts only expected Ecus can exist in database for CAN-FD cars
for car_model in CANFD_CAR:
ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS
ecu_strings = ", ".join([f"Ecu.{ecu}" for ecu in ecus_not_in_whitelist])
assert len(ecus_not_in_whitelist) == 0, \
f"{car_model}: Car model has unexpected ECUs: {ecu_strings}"
def test_blacklisted_parts(self, subtests):
# Asserts no ECUs known to be shared across platforms exist in the database.
# Tucson having Santa Cruz camera and EPS for example
for car_model, ecus in FW_VERSIONS.items():
with subtests.test(car_model=car_model.value):
if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
pytest.skip("Skip checking Santa Cruz for its parts")
for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
if b"-" not in code:
continue
part = code.split(b"-")[1]
assert not part.startswith(b'CW'), "Car has bad part number"
def test_correct_ecu_response_database(self, subtests):
"""
Assert standard responses for certain ECUs, since they can
respond to multiple queries with different data
"""
expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
for car_model, ecus in FW_VERSIONS.items():
with subtests.test(car_model=car_model.value):
for ecu, fws in ecus.items():
assert all(fw.startswith(expected_fw_prefix) for fw in fws), \
f"FW from unexpected request in database: {(ecu, fws)}"
@settings(max_examples=100)
@given(data=st.data())
def test_platform_codes_fuzzy_fw(self, data):
"""Ensure function doesn't raise an exception"""
fw_strategy = st.lists(st.binary())
fws = data.draw(fw_strategy)
get_platform_codes(fws)
def test_expected_platform_codes(self, subtests):
# Ensures we don't accidentally add multiple platform codes for a car unless it is intentional
for car_model, ecus in FW_VERSIONS.items():
with subtests.test(car_model=car_model.value):
for ecu, fws in ecus.items():
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
# Third and fourth character are usually EV/hybrid identifiers
codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
if car_model == CAR.HYUNDAI_PALISADE:
assert codes == {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}"
elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
assert codes == {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}"
else:
assert len(codes) == 1, f"Car has multiple platform codes: {car_model} {codes}"
# Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
# fingerprint in the absence of full FW matches:
def test_platform_code_ecus_available(self, subtests):
# TODO: add queries for these non-CAN FD cars to get EPS
no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
for car_model, ecus in FW_VERSIONS.items():
with subtests.test(car_model=car_model.value):
for platform_code_ecu in PLATFORM_CODE_ECUS:
if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
continue
if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
continue
if car_model in NON_SCC_CAR:
continue
assert platform_code_ecu in [e[0] for e in ecus]
def test_fw_format(self, subtests):
# Asserts:
# - every supported ECU FW version returns one platform code
# - every supported ECU FW version has a part number
# - expected parsing of ECU FW dates
for car_model, ecus in FW_VERSIONS.items():
with subtests.test(car_model=car_model.value):
for ecu, fws in ecus.items():
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
if car_model in NON_SCC_CAR:
continue
codes = set()
for fw in fws:
result = get_platform_codes([fw])
assert 1 == len(result), f"Unable to parse FW: {fw}"
codes |= result
if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
assert all(date is None for _, date in codes)
else:
assert all(date is not None for _, date in codes)
if car_model == CAR.HYUNDAI_GENESIS:
pytest.skip("No part numbers for car model")
# Hyundai places the ECU part number in their FW versions, assert all parsable
# Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
assert all(b"-" in code for code, _ in codes), \
f"FW does not have part number: {fw}"
def test_platform_codes_spot_check(self):
# Asserts basic platform code parsing behavior for a few cases
results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
assert results == {(b"DH", b"150210")}
# Some cameras and all radars do not have dates
results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "])
assert results == {(b"AEhe-G2000", None)}
results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "])
assert results == {(b"CV1-CV000", None)}
results = get_platform_codes([
b"\xf1\x00DH LKAS 1.1 -150210",
b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ",
b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ",
])
assert results == {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)}
results = get_platform_codes([
b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222",
b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103",
b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405",
b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720",
])
assert results == {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
(b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")}
def test_fuzzy_excluded_platforms(self):
# Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
# This list can be shrunk as we combine platforms and detect features
excluded_platforms = {
CAR.GENESIS_G70, # shared platform code, part number, and date
CAR.GENESIS_G70_2020,
}
excluded_platforms |= CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST # shared platform codes
excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match
platforms_with_shared_codes = set()
for platform, fw_by_addr in FW_VERSIONS.items():
car_fw = []
for ecu, fw_versions in fw_by_addr.items():
ecu_name, addr, sub_addr = ecu
for fw in fw_versions:
car_fw.append(CarParams.CarFw(ecu=ecu_name, fwVersion=fw, address=addr,
subAddress=0 if sub_addr is None else sub_addr))
if platform in NON_SCC_CAR:
continue
CP = CarParams(carFw=car_fw)
matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS)
if len(matches) == 1:
assert list(matches)[0] == platform
else:
platforms_with_shared_codes.add(platform)
assert platforms_with_shared_codes == excluded_platforms

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opendbc_repo/opendbc/car/hyundai/tests/test_hyundaican.py Normal file
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from opendbc.can import CANParser, CANPacker
from opendbc.car import Bus
from opendbc.car.hyundai import hyundaican
from opendbc.car.hyundai.values import CAR, DBC
class DummyHudControl:
leadDistanceBars = 3
leadVisible = True
class DummyLeadData:
lead_visible = False
lead_rel_speed = -7
lead_distance = 42
object_gap = 5
object_rel_gap = 2
class DummyTuning:
comfort_band_upper = 0.2
comfort_band_lower = 0.3
jerk_upper = 1.7
jerk_lower = 1.2
desired_accel = 0.4
actual_accel = 0.3
stopping = False
class DummyCP:
carFingerprint = CAR.HYUNDAI_PALISADE
flags = 0
def _decode(msg_name: str, addr: int, dat: bytes):
cp = CANParser(DBC[CAR.HYUNDAI_PALISADE][Bus.pt], [(msg_name, 0)], 0)
cp.update([(0, [(addr, dat, 0)])])
return cp.vl[msg_name]
def test_palisade_uses_stock_scc_surrogates():
packer = CANPacker(DBC[CAR.HYUNDAI_PALISADE][Bus.pt])
cp = DummyCP()
hud = DummyHudControl()
tuning = DummyTuning()
lead = DummyLeadData()
scc11 = hyundaican.create_acc_commands(
packer, True, 0.5, 3.0, 1, lead, hud, 72, False, False, True, cp, False, tuning
)[0]
scc14 = hyundaican.create_acc_commands(
packer, True, 0.5, 3.0, 1, lead, hud, 72, False, False, True, cp, False, tuning
)[2]
scc11_vals = _decode("SCC11", scc11[0], scc11[1])
assert scc11_vals["ObjValid"] == 1
assert scc11_vals["ACC_ObjStatus"] == 1
assert scc11_vals["ACC_ObjDist"] == 1
scc14_vals = _decode("SCC14", scc14[0], scc14[1])
assert "ObjDistStat" not in scc14_vals or scc14_vals["ObjDistStat"] == 0

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import re
from dataclasses import dataclass, field
from enum import IntFlag
from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, SupportType
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, p16
from opendbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ
Ecu = CarParams.Ecu
class CarControllerParams:
ACCEL_MIN = -3.5 # m/s
ACCEL_MAX = 2.0 # m/s
def __init__(self, CP):
self.STEER_DELTA_UP = 3
self.STEER_DELTA_DOWN = 7
self.STEER_DRIVER_ALLOWANCE = 50
self.STEER_DRIVER_MULTIPLIER = 2
self.STEER_DRIVER_FACTOR = 1
self.STEER_THRESHOLD = 150
self.STEER_STEP = 1 # 100 Hz
if CP.flags & HyundaiFlags.CANFD:
self.STEER_MAX = 270
self.STEER_DRIVER_ALLOWANCE = 250
self.STEER_DRIVER_MULTIPLIER = 2
self.STEER_THRESHOLD = 250
self.STEER_DELTA_UP = 2
self.STEER_DELTA_DOWN = 3
# To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list.
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
self.STEER_MAX = 255
# these cars have significantly more torque than most HKG; limit to 70% of max
elif CP.flags & HyundaiFlags.ALT_LIMITS:
self.STEER_MAX = 270
self.STEER_DELTA_UP = 2
self.STEER_DELTA_DOWN = 3
elif CP.flags & HyundaiFlags.ALT_LIMITS_2:
self.STEER_MAX = 170
self.STEER_DELTA_UP = 2
self.STEER_DELTA_DOWN = 3
# Default for most HKG
else:
self.STEER_MAX = 384
class HyundaiSafetyFlags(IntFlag):
EV_GAS = 1
HYBRID_GAS = 2
LONG = 4
CAMERA_SCC = 8
CANFD_LKA_STEERING = 16
CANFD_ALT_BUTTONS = 32
ALT_LIMITS = 64
CANFD_LKA_STEERING_ALT = 128
FCEV_GAS = 256
ALT_LIMITS_2 = 512
class HyundaiFlags(IntFlag):
# Dynamic Flags
# Default assumption: all cars use LFA (ADAS) steering from the camera.
# CANFD_LKA_STEERING/CANFD_LKA_STEERING_ALT cars typically have both LKA (camera) and LFA (ADAS) steering messages,
# with LKA commands forwarded to the ADAS DRV ECU.
# Most HDA2 trims are assumed to be equipped with the ADAS DRV ECU, though some variants may not be equipped with one.
CANFD_LKA_STEERING = 1
CANFD_ALT_BUTTONS = 2
CANFD_ALT_GEARS = 2 ** 2
CANFD_CAMERA_SCC = 2 ** 3
ALT_LIMITS = 2 ** 4
ENABLE_BLINKERS = 2 ** 5
CANFD_ALT_GEARS_2 = 2 ** 6
SEND_LFA = 2 ** 7
USE_FCA = 2 ** 8
CANFD_LKA_STEERING_ALT = 2 ** 9
# these cars use a different gas signal
HYBRID = 2 ** 10
EV = 2 ** 11
# Static flags
# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py
MANDO_RADAR = 2 ** 12
CANFD = 2 ** 13
# The radar does SCC on these cars when HDA I, rather than the camera
RADAR_SCC = 2 ** 14
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC = 2 ** 15
CHECKSUM_CRC8 = 2 ** 16
CHECKSUM_6B = 2 ** 17
# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY = 2 ** 18
# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
UNSUPPORTED_LONGITUDINAL = 2 ** 19
# These CAN FD cars do not accept communication control to disable the ADAS ECU,
# responds with 0x7F2822 - 'conditions not correct'
CANFD_NO_RADAR_DISABLE = 2 ** 20
CLUSTER_GEARS = 2 ** 21
TCU_GEARS = 2 ** 22
MIN_STEER_32_MPH = 2 ** 23
HAS_LDA_BUTTON = 2 ** 24
FCEV = 2 ** 25
ALT_LIMITS_2 = 2 ** 26
@dataclass
class HyundaiCarDocs(CarDocs):
package: str = "Smart Cruise Control (SCC)"
@dataclass
class HyundaiNonSccCarDocs(CarDocs):
package: str = "No Smart Cruise Control (Non-SCC)"
support_type: SupportType = SupportType.COMMUNITY
support_link: str = "community"
@dataclass
class HyundaiPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
def init(self):
if self.flags & HyundaiFlags.MANDO_RADAR:
self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: 'hyundai_kia_mando_front_radar_generated'}
if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
@dataclass
class HyundaiNonSccPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
def init(self):
self.iq_flags |= HyundaiFlagsIQ.NON_SCC
if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
@dataclass
class HyundaiCanFDPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_canfd_generated"})
def init(self):
self.flags |= HyundaiFlags.CANFD
class CAR(Platforms):
# Hyundai
HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
)
HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
[
HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
flags=HyundaiFlags.HYBRID,
)
HYUNDAI_ELANTRA = HyundaiPlatformConfig(
[
# TODO: 2017-18 could be Hyundai G
HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
HyundaiCarDocs("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
],
# steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
)
HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig(
[
HyundaiCarDocs("Hyundai Elantra GT 2017-20", car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
HYUNDAI_ELANTRA.specs,
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
)
HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Elantra 2021-23", video="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
flags=HyundaiFlags.CHECKSUM_CRC8,
)
HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video="https://youtu.be/_EdYQtV52-c",
car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
)
HYUNDAI_GENESIS = HyundaiPlatformConfig(
[
# TODO: check 2015 packages
HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
HyundaiCarDocs("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
],
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
)
HYUNDAI_IONIQ = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
)
HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
)
HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
)
HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV,
)
HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
)
HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID,
)
HYUNDAI_KONA = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona 2020", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b]))],
CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.ALT_LIMITS,
)
HYUNDAI_KONA_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
)
HYUNDAI_KONA_EV = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
)
HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
)
HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r]))],
CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
)
HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages,
CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.ALT_LIMITS,
)
HYUNDAI_NEXO_1ST_GEN = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Nexo 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=3990 * CV.LB_TO_KG, wheelbase=2.79, steerRatio=14.19), # https://www.hyundainews.com/assets/documents/original/42768-2021NEXOProductGuideSpecs.pdf
flags=HyundaiFlags.FCEV,
)
HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video="https://youtu.be/bjDR0YjM__s",
car_parts=CarParts.common([CarHarness.hyundai_d]))],
CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
)
HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video="https://youtu.be/VnHzSTygTS4",
car_parts=CarParts.common([CarHarness.hyundai_l]))],
HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
)
HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
)
HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
)
HYUNDAI_SONATA = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video="https://www.youtube.com/watch?v=ix63r9kE3Fw",
car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
)
HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
)
HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
)
HYUNDAI_TUCSON = HyundaiPlatformConfig(
[
HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
],
CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
flags=HyundaiFlags.TCU_GEARS,
)
HYUNDAI_PALISADE = HyundaiPlatformConfig(
[
HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
)
HYUNDAI_VELOSTER = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
)
HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
HYUNDAI_SONATA.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
)
HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV,
)
HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
HYUNDAI_IONIQ_5.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
)
HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
)
HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
# weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
)
HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
flags=HyundaiFlags.CHECKSUM_CRC8,
)
# Kia
KIA_FORTE = HyundaiPlatformConfig(
[
HyundaiCarDocs("Kia Forte 2019-21", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
HyundaiCarDocs("Kia Forte 2022-23", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
)
KIA_K5_2021 = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims)
flags=HyundaiFlags.CHECKSUM_CRC8,
)
KIA_K5_HEV_2020 = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
KIA_K5_2021.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
)
KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
# mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
)
KIA_NIRO_EV = HyundaiPlatformConfig(
[
HyundaiCarDocs("Kia Niro EV 2019", "All", video="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarDocs("Kia Niro EV 2020", "All", video="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
HyundaiCarDocs("Kia Niro EV 2021", "All", video="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarDocs("Kia Niro EV 2022", "All", video="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
],
CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385), # average of all the cars
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
)
KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia Niro EV (without HDA II) 2023-25", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarDocs("Kia Niro EV (with HDA II) 2025", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_r])),
],
KIA_NIRO_EV.specs,
flags=HyundaiFlags.EV,
)
KIA_NIRO_PHEV = HyundaiPlatformConfig(
[
HyundaiCarDocs("Kia Niro Hybrid 2018", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_d])),
],
KIA_NIRO_EV.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH,
)
KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
[
HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarDocs("Kia Niro Plug-in Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
KIA_NIRO_EV.specs,
flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
)
KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
[
HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
],
KIA_NIRO_EV.specs,
flags=HyundaiFlags.HYBRID,
)
KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))],
KIA_NIRO_EV.specs,
)
KIA_OPTIMA_G4 = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control",
car_parts=CarParts.common([CarHarness.hyundai_b]))], # TODO: may support 2016, 2018
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
)
KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))],
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
)
# TODO: may support adjacent years. may have a non-zero minimum steering speed
KIA_OPTIMA_H = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
)
KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
)
KIA_SELTOS = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
flags=HyundaiFlags.CHECKSUM_CRC8,
)
KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
],
# weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
)
KIA_SORENTO = HyundaiPlatformConfig(
[
HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarDocs("Kia Sorento 2019", video="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
],
CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1), # 10% higher at the center seems reasonable
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
)
KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
flags=HyundaiFlags.RADAR_SCC,
)
KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
],
CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms
flags=HyundaiFlags.RADAR_SCC,
)
KIA_STINGER = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia Stinger 2018-20", video="https://www.youtube.com/watch?v=MJ94qoofYw0",
car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable
)
KIA_STINGER_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
KIA_STINGER.specs,
)
KIA_CEED = HyundaiPlatformConfig(
[HyundaiCarDocs("Kia Ceed 2019-21", car_parts=CarParts.common([CarHarness.hyundai_e]))],
CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.LEGACY,
)
KIA_EV6 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
],
CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV,
)
KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
],
CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
flags=HyundaiFlags.RADAR_SCC,
)
# Genesis
GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
HyundaiCarDocs("Genesis GV60 (Performance Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
],
CarSpecs(mass=2205, wheelbase=2.9, steerRatio=17.6),
flags=HyundaiFlags.EV,
)
GENESIS_G70 = HyundaiPlatformConfig(
[HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
flags=HyundaiFlags.LEGACY,
)
GENESIS_G70_2020 = HyundaiPlatformConfig(
[
# TODO: 2021 MY harness is unknown
HyundaiCarDocs("Genesis G70 2019-21", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
# TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown
HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
],
GENESIS_G70.specs,
flags=HyundaiFlags.MANDO_RADAR,
)
GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
[
# TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
],
CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
flags=HyundaiFlags.RADAR_SCC,
)
GENESIS_GV70_ELECTRIFIED_1ST_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Genesis GV70 Electrified (Australia Only) 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarDocs("Genesis GV70 Electrified (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
],
CarSpecs(mass=2260, wheelbase=2.87, steerRatio=17.1),
flags=HyundaiFlags.EV,
)
GENESIS_G80 = HyundaiPlatformConfig(
[HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
flags=HyundaiFlags.LEGACY,
)
GENESIS_G80_2ND_GEN_FL = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Genesis G80 (2.5T Advanced Trim, with HDA II) 2024", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
CarSpecs(mass=2060, wheelbase=3.00, steerRatio=14.0),
)
GENESIS_G90 = HyundaiPlatformConfig(
[HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
)
GENESIS_GV80 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
flags=HyundaiFlags.RADAR_SCC,
)
# port extensions
HYUNDAI_BAYON_1ST_GEN_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Hyundai Bayon Non-SCC 2021", car_parts=CarParts.common([CarHarness.hyundai_n]))],
CarSpecs(mass=1150, wheelbase=2.58, steerRatio=13.27 * 1.15),
flags=HyundaiFlags.CHECKSUM_CRC8,
)
HYUNDAI_ELANTRA_2022_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Hyundai Elantra Non-SCC 2022", car_parts=CarParts.common([CarHarness.hyundai_k]))],
HYUNDAI_ELANTRA_2021.specs,
flags=HyundaiFlags.CHECKSUM_CRC8,
)
HYUNDAI_KONA_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Hyundai Kona Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_b]))],
HYUNDAI_KONA.specs,
flags=HyundaiFlags.ALT_LIMITS,
)
HYUNDAI_KONA_EV_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Hyundai Kona Electric Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_g]))],
HYUNDAI_KONA_EV.specs,
flags=HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
)
KIA_CEED_PHEV_2022_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Kia Ceed Plug-in Hybrid Non-SCC 2022", car_parts=CarParts.common([CarHarness.hyundai_i]))],
CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
flags=HyundaiFlags.HYBRID,
)
KIA_FORTE_2019_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Kia Forte Non-SCC 2019", car_parts=CarParts.common([CarHarness.hyundai_g]))],
KIA_FORTE.specs,
iq_flags=HyundaiFlagsIQ.NON_SCC_NO_FCA,
)
KIA_FORTE_2021_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Kia Forte Non-SCC 2021", car_parts=CarParts.common([CarHarness.hyundai_g]))],
KIA_FORTE.specs,
)
KIA_SELTOS_2023_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Kia Seltos Non-SCC 2023-24", car_parts=CarParts.common([CarHarness.hyundai_l]))],
KIA_SELTOS.specs,
flags=HyundaiFlags.CHECKSUM_CRC8,
)
GENESIS_G70_2021_NON_SCC = HyundaiNonSccPlatformConfig(
[HyundaiNonSccCarDocs("Genesis G70 Non-SCC 2021", car_parts=CarParts.common([CarHarness.hyundai_f]))],
GENESIS_G70_2020.specs,
flags=HyundaiFlags.CHECKSUM_CRC8,
iq_flags=HyundaiFlagsIQ.NON_SCC_RADAR_FCA,
)
class Buttons:
NONE = 0
RES_ACCEL = 1
SET_DECEL = 2
GAP_DIST = 3
CANCEL = 4 # on newer models, this is a pause/resume button
def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
# Returns unique, platform-specific identification codes for a set of versions
codes = set() # (code-Optional[part], date)
for fw in fw_versions:
code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
part_match = PART_NUMBER_FW_PATTERN.search(fw)
date_match = DATE_FW_PATTERN.search(fw)
if code_match is not None:
code: bytes = code_match.group()
part = part_match.group() if part_match else None
date = date_match.group() if date_match else None
if part is not None:
# part number starts with generic ECU part type, add what is specific to platform
code += b"-" + part[-5:]
codes.add((code, date))
return codes
def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
# Non-electric CAN FD platforms often do not have platform code specifiers needed
# to distinguish between hybrid and ICE. All EVs so far are either exclusively
# electric or specify electric in the platform code.
fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
candidates: set[str] = set()
for candidate, fws in offline_fw_versions.items():
# Keep track of ECUs which pass all checks (platform codes, within date range)
valid_found_ecus = set()
valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
for ecu, expected_versions in fws.items():
addr = ecu[1:]
# Only check ECUs expected to have platform codes
if ecu[0] not in PLATFORM_CODE_ECUS:
continue
# Expected platform codes & dates
codes = get_platform_codes(expected_versions)
expected_platform_codes = {code for code, _ in codes}
expected_dates = {date for _, date in codes if date is not None}
# Found platform codes & dates
codes = get_platform_codes(live_fw_versions.get(addr, set()))
found_platform_codes = {code for code, _ in codes}
found_dates = {date for _, date in codes if date is not None}
# Check platform code + part number matches for any found versions
if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
break
if ecu[0] in DATE_FW_ECUS:
# If ECU can have a FW date, require it to exist
# (this excludes candidates in the database without dates)
if not len(expected_dates) or not len(found_dates):
break
# Check any date within range in the database, format is %y%m%d
if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
break
valid_found_ecus.add(addr)
# If all live ECUs pass all checks for candidate, add it as a match
if valid_expected_ecus.issubset(valid_found_ecus):
candidates.add(candidate)
return candidates - fuzzy_platform_blacklist
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf100) # Long description
HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf110) # Alt long description
HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
# Regex patterns for parsing platform code, FW date, and part number from FW versions
PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
b')[A-Z]{2}[A-Za-z0-9]{0,2})')
DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
# TODO: the hybrid variant is not out yet
CAR.KIA_CARNIVAL_4TH_GEN}
# List of ECUs expected to have platform codes, camera and radar should exist on all cars
# TODO: use abs, it has the platform code and part number on many platforms
PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
# So far we've only seen dates in fwdCamera
# TODO: there are date codes in the ABS firmware versions in hex
DATE_FW_ECUS = [Ecu.fwdCamera]
# Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we
# are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# TODO: add back whitelists
# CAN queries (OBD-II port)
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
),
# CAN & CAN-FD queries (from camera)
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
bus=0,
auxiliary=True,
),
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
bus=1,
auxiliary=True,
obd_multiplexing=False,
),
# CAN & CAN FD query to understand the three digit date code
# LKA steering cars usually use 6 digit date codes, so skip bus 1
Request(
[HYUNDAI_ECU_MANUFACTURING_DATE],
[HYUNDAI_VERSION_RESPONSE],
bus=0,
auxiliary=True,
logging=True,
),
# CAN-FD alt request logging queries for hvac and parkingAdas
Request(
[HYUNDAI_VERSION_REQUEST_ALT],
[HYUNDAI_VERSION_RESPONSE],
bus=0,
auxiliary=True,
logging=True,
),
Request(
[HYUNDAI_VERSION_REQUEST_ALT],
[HYUNDAI_VERSION_RESPONSE],
bus=1,
auxiliary=True,
logging=True,
obd_multiplexing=False,
),
],
# We lose these ECUs without the comma power on these cars.
# Note that we still attempt to match with them when they are present
non_essential_ecus={
Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
CAR.KIA_CEED, CAR.KIA_SELTOS],
},
extra_ecus=[
(Ecu.adas, 0x730, None), # ADAS Driving ECU on platforms with LKA steering
(Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms)
(Ecu.hvac, 0x7b3, None), # HVAC Control Assembly
(Ecu.cornerRadar, 0x7b7, None),
(Ecu.combinationMeter, 0x7c6, None), # CAN FD Instrument cluster
],
# Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
)
CHECKSUM = {
"crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8),
"6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B),
}
CAN_GEARS = {
# which message has the gear. hybrid and EV use ELECT_GEAR
"use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS),
"use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS),
}
CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC) # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)
HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID)
EV_CAR = CAR.with_flags(HyundaiFlags.EV)
LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)
# TODO: another PR with (HyundaiFlags.LEGACY | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.CAMERA_SCC |
# HyundaiFlags.CANFD_RADAR_SCC | HyundaiFlags.CANFD_NO_RADAR_DISABLE | )
UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
# port extensions
NON_SCC_CAR = CAR.with_iq_flags(HyundaiFlagsIQ.NON_SCC)
DBC = CAR.create_dbc_map()

26
opendbc_repo/opendbc/car/include/c++.capnp Normal file
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# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
# Licensed under the MIT License:
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
# THE SOFTWARE.
@0xbdf87d7bb8304e81;
$namespace("capnp::annotations");
annotation namespace(file): Text;
annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text;

453
opendbc_repo/opendbc/car/interfaces.py Normal file
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import os
import numpy as np
import time
import tomllib
from abc import abstractmethod, ABC
from enum import StrEnum
from typing import Any
from collections.abc import Callable
from functools import cache
from opendbc.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from opendbc.car import structs
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
from opendbc.car.common.basedir import BASEDIR
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.common.simple_kalman import KF1D, get_kalman_gain
from opendbc.car.values import PLATFORMS
from opendbc.can import CANParser
from opendbc.car.carlog import carlog
from opendbc.iqpilot.car.interfaces import CarInterfaceBaseIQ
GearShifter = structs.CarState.GearShifter
ButtonType = structs.CarState.ButtonEvent.Type
V_CRUISE_MAX = 196
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
ACCEL_MAX = 2.0
ACCEL_MIN = -3.5
TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'torque_data/params.toml')
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'torque_data/override.toml')
TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'torque_data/substitute.toml')
GEAR_SHIFTER_MAP: dict[str, structs.CarState.GearShifter] = {
'P': GearShifter.park, 'PARK': GearShifter.park,
'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
'E': GearShifter.eco, 'ECO': GearShifter.eco,
'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
'S': GearShifter.sport, 'SPORT': GearShifter.sport,
'L': GearShifter.low, 'LOW': GearShifter.low,
'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
}
TorqueFromLateralAccelCallbackType = Callable[[float, structs.CarParams.LateralTorqueTuning, bool], float]
LateralAccelFromTorqueCallbackType = Callable[[float, structs.CarParams.LateralTorqueTuning, bool], float]
@cache
def get_torque_params():
with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f:
sub = tomllib.load(f)
with open(TORQUE_PARAMS_PATH, 'rb') as f:
params = tomllib.load(f)
with open(TORQUE_OVERRIDE_PATH, 'rb') as f:
override = tomllib.load(f)
torque_params = {}
for candidate in (sub.keys() | params.keys() | override.keys()) - {'legend'}:
if sum([candidate in x for x in [sub, params, override]]) > 1:
raise RuntimeError(f'{candidate} is defined twice in torque config')
sub_candidate = sub.get(candidate, candidate)
if sub_candidate in override:
out = override[sub_candidate]
elif sub_candidate in params:
out = params[sub_candidate]
else:
raise NotImplementedError(f"Did not find torque params for {sub_candidate}")
torque_params[sub_candidate] = {key: out[i] for i, key in enumerate(params['legend'])}
if candidate in sub:
torque_params[candidate] = torque_params[sub_candidate]
return torque_params
# generic car and radar interfaces
class RadarInterfaceBase(ABC):
def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
self.CP = CP
self.CP_IQ = CP_IQ
self.rcp = None
self.pts: dict[int, structs.RadarData.RadarPoint] = {}
self.frame = 0
def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.RadarDataT | None:
self.frame += 1
if (self.frame % 5) == 0: # 20 Hz is very standard
return structs.RadarData()
return None
class CarInterfaceBase(ABC, CarInterfaceBaseIQ):
CarState: type['CarStateBase']
CarController: type['CarControllerBase']
RadarInterface: type['RadarInterfaceBase'] = RadarInterfaceBase
DRIVABLE_GEARS: tuple[structs.CarState.GearShifter, ...] = ()
def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
self.CP = CP
self.CP_IQ = CP_IQ
self.frame = 0
self.v_ego_cluster_seen = False
self.CS: CarStateBase = self.CarState(CP, CP_IQ)
self.can_parsers: dict[StrEnum, CANParser] = self.CS.get_can_parsers(CP, CP_IQ)
dbc_names = {bus: cp.dbc_name for bus, cp in self.can_parsers.items()}
self.CC: CarControllerBase = self.CarController(dbc_names, CP, CP_IQ)
def apply(self, c: structs.CarControl, c_iq: structs.IQCarControl, now_nanos: int | None = None) -> tuple[structs.CarControl.Actuators, list[CanData]]:
if now_nanos is None:
now_nanos = int(time.monotonic() * 1e9)
return self.CC.update(c, c_iq, self.CS, now_nanos)
@staticmethod
def get_pid_accel_limits(CP, CP_IQ, current_speed, cruise_speed):
return ACCEL_MIN, ACCEL_MAX
@classmethod
def get_non_essential_params(cls, candidate: str) -> structs.CarParams:
"""
Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
"""
return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False, False)
@classmethod
def get_non_essential_params_iq(cls, car_params, candidate: str) -> structs.IQCarParams:
return cls.get_params_iq(car_params, candidate, gen_empty_fingerprint(), list(), False, False, False)
@classmethod
def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw],
alpha_long: bool, is_release: bool, docs: bool) -> structs.CarParams:
ret = CarInterfaceBase.get_std_params(candidate)
platform = PLATFORMS[candidate]
ret.mass = platform.config.specs.mass
ret.wheelbase = platform.config.specs.wheelbase
ret.steerRatio = platform.config.specs.steerRatio
ret.centerToFront = ret.wheelbase * platform.config.specs.centerToFrontRatio
ret.minEnableSpeed = platform.config.specs.minEnableSpeed
ret.minSteerSpeed = platform.config.specs.minSteerSpeed
ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
ret.flags |= int(platform.config.flags)
ret = cls._get_params(ret, candidate, fingerprint, car_fw, alpha_long, is_release, docs)
# Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
if not ret.notCar:
ret.mass = ret.mass + STD_CARGO_KG
# Set params dependent on values set by the car interface
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
return ret
@classmethod
def get_params_iq(cls, car_params, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[structs.CarParams.CarFw], alpha_long: bool,
is_release_iq: bool, docs: bool) -> structs.IQCarParams:
car_params_iq = structs.IQCarParams()
platform = PLATFORMS[candidate]
car_params_iq.flags |= int(platform.config.iq_flags)
car_params_iq.pcmCruiseSpeed = True
return cls._get_params_iq(car_params, car_params_iq, candidate, fingerprint, car_fw, alpha_long, is_release_iq, docs)
@staticmethod
@abstractmethod
def _get_params(ret: structs.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release: bool, docs: bool) -> structs.CarParams:
raise NotImplementedError
@staticmethod
def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
carlog.debug(f"Car {candidate} does not have a _get_params_iq method, using defaults")
return ret
@classmethod
def get_longitudinal_tuning_iq(cls, stock_cp: structs.CarParams, ret: structs.IQCarParams) -> structs.IQCarParams:
return cls._get_longitudinal_tuning_iq(stock_cp, ret)
@staticmethod
def _get_longitudinal_tuning_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams) -> structs.IQCarParams:
"""Apply longitudinal tuning specific to the car's brand. """
carlog.debug(f"Car {stock_cp.carFingerprint} does not have a _get_longitudinal_tuning_iq method, using defaults")
return ret
@staticmethod
def pre_init(CP: structs.CarParams, CP_IQ: structs.IQCarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
"""Used to check conditions to disable longitudinal ECUs as needed and set/change car params"""
@staticmethod
def init(CP: structs.CarParams, CP_IQ: structs.IQCarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
"""Used to disable longitudinal ECUs as needed"""
@staticmethod
def pre_init(CP: structs.CarParams, CP_IQ: structs.IQCarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
"""Optional early setup hook used before interface initialization."""
@staticmethod
def deinit(CP: structs.CarParams, can_recv: CanRecvCallable, can_send: CanSendCallable):
"""Used to re-enable longitudinal ECUs as needed"""
@staticmethod
def get_steer_feedforward_default(desired_angle, v_ego):
# Proportional to realigning tire momentum: lateral acceleration.
return desired_angle * (v_ego**2)
def get_steer_feedforward_function(self):
return self.get_steer_feedforward_default
def torque_from_lateral_accel_linear(self, lateral_acceleration: float, torque_params: structs.CarParams.LateralTorqueTuning) -> float:
# The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
return lateral_acceleration / float(torque_params.latAccelFactor)
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
return self.torque_from_lateral_accel_linear
def lateral_accel_from_torque_linear(self, torque: float, torque_params: structs.CarParams.LateralTorqueTuning) -> float:
return torque * float(torque_params.latAccelFactor)
def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType:
return self.lateral_accel_from_torque_linear
# returns a set of default params to avoid repetition in car specific params
@staticmethod
def get_std_params(candidate: str) -> structs.CarParams:
ret = structs.CarParams()
ret.carFingerprint = candidate
# Car docs fields
ret.maxLateralAccel = get_torque_params()[candidate]['MAX_LAT_ACCEL_MEASURED']
ret.autoResumeSng = True # describes whether car can resume from a stop automatically
# standard ALC params
ret.tireStiffnessFactor = 1.0
ret.steerControlType = structs.CarParams.SteerControlType.torque
ret.minSteerSpeed = 0.
ret.wheelSpeedFactor = 1.0
ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA
ret.openpilotLongitudinalControl = False
ret.stopAccel = -2.0
ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
ret.vEgoStopping = 0.5
ret.vEgoStarting = 0.5
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
# TODO estimate car specific lag, use .15s for now
ret.longitudinalActuatorDelay = 0.15
ret.steerLimitTimer = 1.0
return ret
@staticmethod
def configure_torque_tune(candidate: str, tune: structs.CarParams.LateralTuning, steering_angle_deadzone_deg: float = 0.0):
params = get_torque_params()[candidate]
tune.init('torque')
tune.torque.friction = params['FRICTION']
tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
tune.torque.latAccelOffset = 0.0
tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg
def update(self, can_packets: list[tuple[int, list[CanData]]]) -> tuple[structs.CarState, structs.IQCarState]:
# parse can
for cp in self.can_parsers.values():
if cp is not None:
cp.update(can_packets)
# get CarState
ret, ret_iq = self.CS.update(self.can_parsers)
ret.canValid = all(cp.can_valid for cp in self.can_parsers.values())
ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers.values())
if ret.vEgoCluster == 0.0 and not self.v_ego_cluster_seen:
ret.vEgoCluster = ret.vEgo
else:
self.v_ego_cluster_seen = True
# Many cars apply hysteresis to the ego dash speed
ret.vEgoCluster = apply_hysteresis(ret.vEgoCluster, self.CS.out.vEgoCluster, self.CS.cluster_speed_hyst_gap)
if abs(ret.vEgo) < self.CS.cluster_min_speed:
ret.vEgoCluster = 0.0
if ret.cruiseState.speedCluster == 0:
ret.cruiseState.speedCluster = ret.cruiseState.speed
ret.buttonEnable = self.CS.update_button_enable(ret.buttonEvents)
# save for next iteration
self.CS.out = ret
self.CS.out_iq = ret_iq
return ret, ret_iq
class CarStateBase(ABC):
def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
self.CP = CP
self.CP_IQ = CP_IQ
self.car_fingerprint = CP.carFingerprint
self.out = structs.CarState()
self.out_iq = structs.IQCarState()
self.cruise_buttons = 0
self.left_blinker_cnt = 0
self.right_blinker_cnt = 0
self.steering_pressed_cnt = 0
self.left_blinker_prev = False
self.right_blinker_prev = False
self.low_speed_alert = False
self.cluster_speed_hyst_gap = 0.0
self.cluster_min_speed = 0.0 # min speed before dropping to 0
self.secoc_key: bytes = b"00" * 16
Q = [[0.0, 0.0], [0.0, 100.0]]
R = 0.3
A = [[1.0, DT_CTRL], [0.0, 1.0]]
C = [[1.0, 0.0]]
x0=[[0.0], [0.0]]
K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
@abstractmethod
def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
pass
def parse_wheel_speeds(self, cs, fl, fr, rl, rr, unit=CV.KPH_TO_MS):
cs.vEgoRaw = sum((fl, fr, rl, rr)) / 4 * unit * self.CP.wheelSpeedFactor
cs.vEgo, cs.aEgo = self.update_speed_kf(cs.vEgoRaw)
def update_speed_kf(self, v_ego_raw):
if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed
self.v_ego_kf.set_x([[v_ego_raw], [0.0]])
v_ego_x = self.v_ego_kf.update(v_ego_raw)
return float(v_ego_x[0]), float(v_ego_x[1])
def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool):
"""Update blinkers from lights. Enable output when light was seen within the last `blinker_time`
iterations"""
# TODO: Handle case when switching direction. Now both blinkers can be on at the same time
self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0)
self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
def update_steering_pressed(self, steering_pressed, steering_pressed_min_count):
"""Applies filtering on steering pressed for noisy driver torque signals."""
self.steering_pressed_cnt += 1 if steering_pressed else -1
self.steering_pressed_cnt = int(np.clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2 + 1))
return self.steering_pressed_cnt > steering_pressed_min_count
def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):
"""Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time,
or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker
is forced to the other side. On a rising edge of the stalk the timeout is reset."""
if left_blinker_stalk:
self.right_blinker_cnt = 0
if not self.left_blinker_prev:
self.left_blinker_cnt = blinker_time
if right_blinker_stalk:
self.left_blinker_cnt = 0
if not self.right_blinker_prev:
self.right_blinker_cnt = blinker_time
self.left_blinker_cnt = max(self.left_blinker_cnt - 1, 0)
self.right_blinker_cnt = max(self.right_blinker_cnt - 1, 0)
self.left_blinker_prev = left_blinker_stalk
self.right_blinker_prev = right_blinker_stalk
return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
if not self.CP.pcmCruise:
for b in buttonEvents:
# Enable OP long on falling edge of enable buttons
if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
return True
return False
@staticmethod
def parse_gear_shifter(gear: str | None) -> structs.CarState.GearShifter:
if gear is None:
return GearShifter.unknown
return GEAR_SHIFTER_MAP.get(gear.upper(), GearShifter.unknown)
@staticmethod
def get_can_parsers(CP, CP_IQ) -> dict[StrEnum, CANParser]:
return {}
class CarControllerBase(ABC):
def __init__(self, dbc_names: dict[StrEnum, str], CP: structs.CarParams, CP_IQ: structs.IQCarParams):
self.CP = CP
self.CP_IQ = CP_IQ
self.frame = 0
self.secoc_key: bytes = b"00" * 16
@abstractmethod
def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS: CarStateBase, now_nanos: int) -> tuple[structs.CarControl.Actuators, list[CanData]]:
pass
INTERFACE_ATTR_FILE = {
"FINGERPRINTS": "fingerprints",
"FW_VERSIONS": "fingerprints",
}
# interface-specific helpers
def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> dict[str | StrEnum, Any]:
# read all the folders in opendbc/car and return a dict where:
# - keys are all the car models or brand names
# - values are attr values from all car folders
result = {}
for car_folder in sorted([x[0] for x in os.walk(BASEDIR)]):
try:
brand_name = car_folder.split('/')[-1]
brand_values = __import__(f'opendbc.car.{brand_name}.{INTERFACE_ATTR_FILE.get(attr, "values")}', fromlist=[attr])
if hasattr(brand_values, attr) or not ignore_none:
attr_data = getattr(brand_values, attr, None)
else:
continue
if combine_brands:
if isinstance(attr_data, dict):
for f, v in attr_data.items():
result[f] = v
else:
result[brand_name] = attr_data
except (ImportError, OSError):
pass
return result

147
opendbc_repo/opendbc/car/isotp.py Normal file
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import binascii
import time
DEBUG = False
def msg(x):
if DEBUG:
print("S:", binascii.hexlify(x))
assert len(x) <= 7
ret = bytes([len(x)]) + x
return ret.ljust(8, b"\x00")
kmsgs = []
def recv(panda, cnt, addr, nbus):
global kmsgs
ret = []
while len(ret) < cnt:
kmsgs += panda.can_recv()
nmsgs = []
for ids, dat, bus in kmsgs:
if ids == addr and bus == nbus and len(ret) < cnt:
ret.append(dat)
else:
# leave around
nmsgs.append((ids, dat, bus))
kmsgs = nmsgs[-256:]
return ret
def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
msg = recv(panda, 1, addr, bus)[0]
# TODO: handle other subaddr also communicating
assert msg[0] == subaddr
if msg[1] & 0xf0 == 0x10:
# first
tlen = ((msg[1] & 0xf) << 8) | msg[2]
dat = msg[3:]
# 0 block size?
CONTINUE = bytes([subaddr]) + b"\x30" + b"\x00" * 6
panda.can_send(sendaddr, CONTINUE, bus)
idx = 1
for mm in recv(panda, (tlen - len(dat) + 5) // 6, addr, bus):
assert mm[0] == subaddr
assert mm[1] == (0x20 | (idx & 0xF))
dat += mm[2:]
idx += 1
elif msg[1] & 0xf0 == 0x00:
# single
tlen = msg[1] & 0xf
dat = msg[2:]
else:
print(binascii.hexlify(msg))
raise AssertionError
return dat[0:tlen]
# **** import below this line ****
def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None):
if recvaddr is None:
recvaddr = addr + 8
if len(x) <= 7 and subaddr is None:
panda.can_send(addr, msg(x), bus)
elif len(x) <= 6 and subaddr is not None:
panda.can_send(addr, bytes([subaddr]) + msg(x)[0:7], bus)
else:
if subaddr:
ss = bytes([subaddr, 0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:5]
x = x[5:]
else:
ss = bytes([0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:6]
x = x[6:]
idx = 1
sends = []
while len(x) > 0:
if subaddr:
sends.append((bytes([subaddr, 0x20 + (idx & 0xF)]) + x[0:6]).ljust(8, b"\x00"))
x = x[6:]
else:
sends.append((bytes([0x20 + (idx & 0xF)]) + x[0:7]).ljust(8, b"\x00"))
x = x[7:]
idx += 1
# actually send
panda.can_send(addr, ss, bus)
rr = recv(panda, 1, recvaddr, bus)[0]
if rr.find(b"\x30\x01") != -1:
for s in sends[:-1]:
panda.can_send(addr, s, 0)
rr = recv(panda, 1, recvaddr, bus)[0]
panda.can_send(addr, sends[-1], 0)
else:
if rate is None:
panda.can_send_many([(addr, s, bus) for s in sends])
else:
for dat in sends:
panda.can_send(addr, dat, bus)
time.sleep(rate)
def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
if sendaddr is None:
sendaddr = addr - 8
if subaddr is not None:
dat = isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr)
else:
msg = recv(panda, 1, addr, bus)[0]
if msg[0] & 0xf0 == 0x10:
# first
tlen = ((msg[0] & 0xf) << 8) | msg[1]
dat = msg[2:]
# 0 block size?
CONTINUE = b"\x30" + b"\x00" * 7
panda.can_send(sendaddr, CONTINUE, bus)
idx = 1
for mm in recv(panda, (tlen - len(dat) + 6) // 7, addr, bus):
assert mm[0] == (0x20 | (idx & 0xF))
dat += mm[1:]
idx += 1
elif msg[0] & 0xf0 == 0x00:
# single
tlen = msg[0] & 0xf
dat = msg[1:]
else:
raise AssertionError
dat = dat[0:tlen]
if DEBUG:
print("R:", binascii.hexlify(dat))
return dat

170
opendbc_repo/opendbc/car/isotp_parallel_query.py Normal file
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import time
from collections import defaultdict
from functools import partial
from opendbc.car import uds
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
from opendbc.car.carlog import carlog
from opendbc.car.fw_query_definitions import AddrType
class IsoTpParallelQuery:
def __init__(self, can_send: CanSendCallable, can_recv: CanRecvCallable, bus: int, addrs: list[int] | list[AddrType],
request: list[bytes], response: list[bytes], response_offset: int = 0x8,
functional_addrs: list[int] | None = None, response_pending_timeout: float = 10) -> None:
self.can_send = can_send
self.can_recv = can_recv
self.bus = bus
self.request = request
self.response = response
self.functional_addrs = functional_addrs or []
self.response_pending_timeout = response_pending_timeout
real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs]
for tx_addr, _ in real_addrs:
assert tx_addr not in uds.FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
self.msg_addrs = {tx_addr: uds.get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
self.msg_buffer: dict[int, list[CanData]] = defaultdict(list)
def rx(self) -> None:
"""Drain can socket and sort messages into buffers based on address"""
can_packets = self.can_recv(wait_for_one=True)
for packet in can_packets:
for msg in packet:
if msg.src == self.bus and msg.address in self.msg_addrs.values():
self.msg_buffer[msg.address].append(CanData(msg.address, msg.dat, msg.src))
def _can_tx(self, tx_addr: int, dat: bytes, bus: int):
"""Helper function to send single message"""
msg = CanData(tx_addr, dat, bus)
self.can_send([msg])
def _can_rx(self, addr, sub_addr=None):
"""Helper function to retrieve message with specified address and subaddress from buffer"""
keep_msgs = []
if sub_addr is None:
msgs = self.msg_buffer[addr]
else:
# Filter based on subaddress
msgs = []
for m in self.msg_buffer[addr]:
first_byte = m[1][0]
if first_byte == sub_addr:
msgs.append(m)
else:
keep_msgs.append(m)
self.msg_buffer[addr] = keep_msgs
return msgs
def _drain_rx(self) -> None:
self.can_recv()
self.msg_buffer = defaultdict(list)
def _create_isotp_msg(self, tx_addr: int, sub_addr: int | None, rx_addr: int):
can_client = uds.CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr,
self.bus, sub_addr=sub_addr)
# uses iso-tp frame separation time of 10 ms
# TODO: use single_frame_mode so ECUs can send as fast as they want,
# as well as reduces chances we process messages from previous queries
return uds.IsoTpMessage(can_client, timeout=0, separation_time=0.01)
def get_data(self, timeout: float, total_timeout: float = 60.) -> dict[AddrType, bytes]:
self._drain_rx()
# Create message objects
msgs = {}
request_counter = {}
request_done = {}
for tx_addr, rx_addr in self.msg_addrs.items():
msgs[tx_addr] = self._create_isotp_msg(*tx_addr, rx_addr)
request_counter[tx_addr] = 0
request_done[tx_addr] = False
# Send first request to functional addrs, subsequent responses are handled on physical addrs
if len(self.functional_addrs):
for addr in self.functional_addrs:
self._create_isotp_msg(addr, None, -1).send(self.request[0])
# Send first frame (single or first) to all addresses and receive asynchronously in the loop below.
# If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames
for msg in msgs.values():
msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0)
results = {}
start_time = time.monotonic()
addrs_responded = set() # track addresses that have ever sent a valid iso-tp frame for timeout logging
response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
while True:
self.rx()
for tx_addr, msg in msgs.items():
try:
dat, rx_in_progress = msg.recv()
except Exception:
carlog.exception(f"Error processing UDS response: {tx_addr}")
request_done[tx_addr] = True
continue
# Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
if rx_in_progress:
addrs_responded.add(tx_addr)
response_timeouts[tx_addr] = time.monotonic() + timeout
if dat is None:
continue
# Log unexpected empty responses
if len(dat) == 0:
carlog.error(f"iso-tp query empty response: {tx_addr}")
request_done[tx_addr] = True
continue
counter = request_counter[tx_addr]
expected_response = self.response[counter]
response_valid = dat.startswith(expected_response)
if response_valid:
if counter + 1 < len(self.request):
response_timeouts[tx_addr] = time.monotonic() + timeout
msg.send(self.request[counter + 1])
request_counter[tx_addr] += 1
else:
results[tx_addr] = dat[len(expected_response):]
request_done[tx_addr] = True
else:
error_code = dat[2] if len(dat) > 2 else -1
if error_code == 0x78:
response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
carlog.error(f"iso-tp query response pending: {tx_addr}")
else:
request_done[tx_addr] = True
carlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
# Mark request done if address timed out
cur_time = time.monotonic()
for tx_addr in response_timeouts:
if cur_time - response_timeouts[tx_addr] > 0:
if not request_done[tx_addr]:
if request_counter[tx_addr] > 0:
carlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
elif tx_addr in addrs_responded:
carlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
# TODO: handle functional addresses
# else:
# carlog.error(f"iso-tp query timeout with no response: {tx_addr}")
request_done[tx_addr] = True
# Break if all requests are done (finished or timed out)
if all(request_done.values()):
break
if cur_time - start_time > total_timeout:
carlog.error("iso-tp query timeout while receiving data")
break
return results

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