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