IQ.Pilot Prebuilt Release @ 27f668a

2026-09-03 18:23:24 -05:00
commit b073c5182b
2554 changed files with 679696 additions and 0 deletions
--- a/artifacts/package_runtime/iqdbc/car/tesla/interface.py
+++ b/artifacts/package_runtime/iqdbc/car/tesla/interface.py
@@ -0,0 +1,69 @@
+from iqdbc.car import Bus, get_safety_config, structs
+from iqdbc.car.interfaces import CarInterfaceBase
+from iqdbc.car.tesla.carcontroller import CarController
+from iqdbc.car.tesla.carstate import CarState
+from iqdbc.car.tesla.values import TeslaSafetyFlags, TeslaFlags, CANBUS, CAR, DBC, Ecu, is_legacy_das_steering
+from iqdbc.car.tesla.radar_interface import RadarInterface, RADAR_START_ADDR
+
+from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ, TeslaSafetyFlagsIQ
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+  RadarInterface = RadarInterface
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = "tesla"
+
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]
+
+    ret.steerLimitTimer = 0.4
+    ret.steerActuatorDelay = 0.1
+    ret.steerAtStandstill = True
+
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+
+    # Model X and HW 2.5 vehicles are missing DAS_settings
+    if 0x293 not in fingerprint[CANBUS.autopilot_party]:
+      ret.flags |= TeslaFlags.MISSING_DAS_SETTINGS.value
+
+    # Radar support is intended to work for:
+    # - Tesla Model 3 vehicles built approximately mid-2017 through early-2021
+    # - Tesla Model Y vehicles built approximately mid-2020 through early-2021
+    # - Vehicles equipped with the Continental ARS4-B radar (used on HW2 / HW2.5 / early HW3)
+    # - Radar CAN lines must be tapped and connected to CAN bus 1 (normally not used for tesla vehicles)
+    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[candidate]
+
+    ret.alphaLongitudinalAvailable = True
+    if alpha_long:
+      ret.openpilotLongitudinalControl = True
+      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value
+
+    legacy_das = any(fw.ecu == Ecu.eps and is_legacy_das_steering(candidate, fw.fwVersion) for fw in car_fw)
+    if legacy_das:
+      ret.flags |= TeslaFlags.LEGACY_DAS_STEERING.value
+      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LEGACY_DAS_STEERING.value
+
+    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X,)  # dashcam only, pending find invalidLkasSetting signal
+
+    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:
+
+    stock_cp.enableBsm = True
+
+    if candidate == CAR.TESLA_MODEL_X:
+      stock_cp.dashcamOnly = False
+
+    # Vehicle-bus messages can be slow enough to miss the initial capture window.
+    # Accept either the established 0x3DF marker or the absolute odometer frame.
+    vehicle_bus_seen = any(0x3DF in bus or 0x3B6 in bus for bus in fingerprint.values())
+    if vehicle_bus_seen:
+      ret.flags |= TeslaFlagsIQ.HAS_VEHICLE_BUS.value
+      ret.iqSafetyFlags |= TeslaSafetyFlagsIQ.HAS_VEHICLE_BUS
+
+    return ret