IQ.Pilot Prebuilt Release @ 7a91404

artifacts/package_runtime/iqdbc/car/psa/values.py

@@ -0,0 +1,54 @@
+from dataclasses import dataclass, field
+
+from iqdbc.car.structs import CarParams
+from iqdbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from iqdbc.car.lateral import AngleSteeringLimits
+from iqdbc.car.docs_definitions import CarDocs, CarHarness, CarParts
+from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Ecu = CarParams.Ecu
+
+
+class CarControllerParams:
+  STEER_STEP = 1
+
+  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    390, # deg
+    ([0., 5., 25.], [2.5, 1.5, .2]),
+    ([0., 5., 25.], [5., 2., .3]),
+  )
+  STEER_DRIVER_ALLOWANCE = 5  # Driver intervention threshold, 0.5 Nm
+
+
+@dataclass
+class PSACarDocs(CarDocs):
+  package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.psa_a]))
+
+
+@dataclass
+class PSAPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.pt: 'psa_aee2010_r3',
+  })
+
+
+class CAR(Platforms):
+  PSA_PEUGEOT_208 = PSAPlatformConfig(
+    [PSACarDocs("Peugeot 208 2019-25")],
+    CarSpecs(mass=1530, wheelbase=2.54, steerRatio=17.6),
+  )
+
+
+# Placeholder, FW Query will be added in separate PR
+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()