70 lines
3.0 KiB
Python
70 lines
3.0 KiB
Python
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
|