179 lines
6.2 KiB
Python
179 lines
6.2 KiB
Python
from dataclasses import dataclass, field
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from enum import Enum, IntFlag
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from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
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from iqdbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
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from iqdbc.car.structs import CarParams, CarState
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from iqdbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType
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from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = CarParams.Ecu
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class Footnote(Enum):
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HW_TYPE = CarFootnote(
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"Some 2023 model years have HW4. To check which hardware type your vehicle has, look for " +
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"<b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. </br></br>" +
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"See <a href=\"https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3\">this page</a> for more information.",
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Column.MODEL)
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SETUP = CarFootnote(
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"See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/tesla\" target=\"_blank\">Tesla</a>.",
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Column.MAKE, setup_note=True)
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@dataclass
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class TeslaCarDocsHW3(CarDocs):
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package: str = "All"
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car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.tesla_a]))
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footnotes: list[Enum] = field(default_factory=lambda: [Footnote.HW_TYPE, Footnote.SETUP])
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@dataclass
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class TeslaCarDocsHW4(CarDocs):
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package: str = "All"
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car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.tesla_b]))
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footnotes: list[Enum] = field(default_factory=lambda: [Footnote.HW_TYPE, Footnote.SETUP])
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@dataclass
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class TeslaCarHW4ModelSXDocs(TeslaCarDocsHW4):
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support_type: SupportType = SupportType.COMMUNITY
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support_link: str = "community"
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@dataclass
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class TeslaPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: {Bus.party: 'tesla_model3_party', Bus.adas: 'tesla_model3_vehicle'})
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class CAR(Platforms):
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TESLA_MODEL_3 = TeslaPlatformConfig(
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[
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# TODO: do we support 2017? It's HW3
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TeslaCarDocsHW3("Tesla Model 3 (with HW3) 2019-23"),
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TeslaCarDocsHW4("Tesla Model 3 (with HW4) 2024-25"),
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],
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CarSpecs(mass=1899., wheelbase=2.875, steerRatio=12.0),
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{Bus.party: 'tesla_model3_party', Bus.radar: 'tesla_radar_continental_generated', Bus.adas: 'tesla_model3_vehicle'},
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)
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TESLA_MODEL_Y = TeslaPlatformConfig(
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[
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TeslaCarDocsHW3("Tesla Model Y (with HW3) 2020-23"),
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TeslaCarDocsHW4("Tesla Model Y (with HW4) 2024-25"),
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],
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CarSpecs(mass=2072., wheelbase=2.890, steerRatio=12.0),
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{Bus.party: 'tesla_model3_party', Bus.radar: 'tesla_radar_continental_generated', Bus.adas: 'tesla_model3_vehicle'},
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)
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TESLA_MODEL_X = TeslaPlatformConfig(
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[TeslaCarHW4ModelSXDocs("Tesla Model X (with HW4) 2024")],
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CarSpecs(mass=2495., wheelbase=2.960, steerRatio=12.0),
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)
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
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bus=0,
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)
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]
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)
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# Cars with this EPS FW have a 2-bit DAS_steeringControlType and use TeslaFlags.LEGACY_DAS_STEERING
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LEGACY_DAS_STEERING_FW = {
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CAR.TESLA_MODEL_3: [
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b'TeM3_E014p10_0.0.0 (16),E014.17.00',
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b'TeM3_E014p10_0.0.0 (16),EL014.17.00',
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b'TeM3_ES014p11_0.0.0 (25),ES014.19.0',
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b'TeMYG4_DCS_Update_0.0.0 (13),E4014.28.1',
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b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0',
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b'TeMYG4_Legacy3Y_0.0.0 (2),E4015.02.0',
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b'TeMYG4_Legacy3Y_0.0.0 (5),E4015.03.2',
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b'TeMYG4_Legacy3Y_0.0.0 (5),E4L015.03.2',
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b'TeMYG4_Main_0.0.0 (59),E4H014.29.0',
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b'TeMYG4_Main_0.0.0 (65),E4H015.01.0',
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b'TeMYG4_Main_0.0.0 (67),E4H015.02.1',
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b'TeMYG4_SingleECU_0.0.0 (33),E4S014.27',
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],
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CAR.TESLA_MODEL_Y: [
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b'TeM3_E014p10_0.0.0 (16),Y002.18.00',
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b'TeM3_E014p10_0.0.0 (16),YP002.18.00',
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b'TeM3_ES014p11_0.0.0 (16),YS002.17',
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b'TeM3_ES014p11_0.0.0 (25),YS002.19.0',
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b'TeMYG4_DCS_Update_0.0.0 (13),Y4002.27.1',
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b'TeMYG4_DCS_Update_0.0.0 (13),Y4P002.27.1',
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b'TeMYG4_DCS_Update_0.0.0 (9),Y4P002.25.0',
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b'TeMYG4_Legacy3Y_0.0.0 (2),Y4003.02.0',
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b'TeMYG4_Legacy3Y_0.0.0 (2),Y4P003.02.0',
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b'TeMYG4_Legacy3Y_0.0.0 (5),Y4003.03.2',
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b'TeMYG4_Legacy3Y_0.0.0 (5),Y4P003.03.2',
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b'TeMYG4_SingleECU_0.0.0 (28),Y4S002.23.0',
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b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
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],
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CAR.TESLA_MODEL_X: [
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b'TeM3_SP_XP002p2_0.0.0 (23),XPR003.6.0',
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b'TeM3_SP_XP002p2_0.0.0 (36),XPR003.10.0',
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],
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}
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class CANBUS:
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party = 0
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vehicle = 1
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autopilot_party = 2
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GEAR_MAP = {
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"DI_GEAR_INVALID": CarState.GearShifter.unknown,
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"DI_GEAR_P": CarState.GearShifter.park,
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"DI_GEAR_R": CarState.GearShifter.reverse,
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"DI_GEAR_N": CarState.GearShifter.neutral,
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"DI_GEAR_D": CarState.GearShifter.drive,
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"DI_GEAR_SNA": CarState.GearShifter.unknown,
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}
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# Add extra tolerance for average banked road since safety doesn't have the roll
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AVERAGE_ROAD_ROLL = 0.06 # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
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class CarControllerParams:
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ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
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# EPAS faults above this angle
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360, # deg
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# Tesla uses a vehicle model instead, check carcontroller.py for details
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([], []),
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([], []),
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# Vehicle model angle limits
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# Add extra tolerance for average banked road since safety doesn't have the roll
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MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL), # ~3.6 m/s^2
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MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL), # ~3.6 m/s^3
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# limit angle rate to both prevent a fault and for low speed comfort (~12 mph rate down to 0 mph)
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MAX_ANGLE_RATE=5, # deg/20ms frame, EPS faults at 12 at a standstill
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)
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STEER_STEP = 2 # Angle command is sent at 50 Hz
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ACCEL_MAX = 2.0 # m/s^2
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ACCEL_MIN = -3.48 # m/s^2
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JERK_LIMIT_MAX = 4.9 # m/s^3, ACC faults at 5.0
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JERK_LIMIT_MIN = -4.9 # m/s^3, ACC faults at 5.0
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JERK_UP = 1.0 # m/s^3
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class TeslaSafetyFlags(IntFlag):
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LONG_CONTROL = 1
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LEGACY_DAS_STEERING = 2
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class TeslaFlags(IntFlag):
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LONG_CONTROL = 1
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LEGACY_DAS_STEERING = 2
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MISSING_DAS_SETTINGS = 4
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DBC = CAR.create_dbc_map()
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STEER_THRESHOLD = 1
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