from dataclasses import dataclass, field from enum import Enum, IntFlag from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms from iqdbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL from iqdbc.car.structs import CarParams, CarState from iqdbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = CarParams.Ecu class Footnote(Enum): HW_TYPE = CarFootnote( "Some 2023 model years have HW4. To check which hardware type your vehicle has, look for " + "Autopilot computer under Software -> Additional Vehicle Information on your vehicle's touchscreen.

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