forked from IQ.Lvbs/IQ.Pilot
265 lines
10 KiB
Python
265 lines
10 KiB
Python
import re
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from collections import defaultdict
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from dataclasses import dataclass, field
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from enum import Enum, IntFlag
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from functools import cache
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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, LiveFwVersions, OfflineFwVersions, 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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# 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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# e.g. TeMYG4_Main_0.0.0 (87),Y4003.09.3
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# 11111_22222_______33____45__666666
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# 1 = EPS firmware program, 2 = build lineage, 3 = build number, 4 = model code,
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# 5 = trim/hardware variant, 6 = series and software version
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#
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# Only the model code identifies the vehicle: 1 and 2 are shared across models (Model 3 and
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# Model Y both ship TeM3_ and TeMYG4_ firmware) and 3 is only monotone within one lineage.
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FW_PATTERN = re.compile(rb'^Te[A-Z0-9]+_[A-Za-z0-9_]+_0\.0\.0 \(\d+\),' +
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rb'(?P<model>E4|E|Y4|Y|XP)[A-Z]{0,2}(?P<series>\d{3})\.(?P<version>\d+(?:\.\d+)*)$')
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def get_platform_codes(fw_versions: list[bytes] | set[bytes]) -> set[tuple[bytes, bytes, tuple[int, ...]]]:
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codes = set()
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for fw in fw_versions:
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match = FW_PATTERN.match(fw)
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if match is not None:
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codes.add((match.group('model'), match.group('series'),
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tuple(int(v) for v in match.group('version').split(b'.'))))
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return codes
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@cache
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def _das_steering_cutoffs() -> dict[tuple[str, bytes, bytes], tuple[tuple[int, ...] | None, tuple[int, ...] | None]]:
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"""Per (platform, model code, series) family, the oldest known modern version and the newest
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known legacy version. Tesla only ever moves a family forward, so these bound the split."""
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# imported here because fingerprints.py imports this module
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from iqdbc.car.tesla.fingerprints import FW_VERSIONS
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legacy: defaultdict[tuple, set] = defaultdict(set)
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modern: defaultdict[tuple, set] = defaultdict(set)
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for platform, ecus in FW_VERSIONS.items():
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known_legacy = LEGACY_DAS_STEERING_FW.get(platform, [])
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for fws in ecus.values():
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for fw in fws:
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for model, series, version in get_platform_codes([fw]):
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(legacy if fw in known_legacy else modern)[(platform, model, series)].add(version)
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return {k: (min(modern[k]) if k in modern else None, max(legacy[k]) if k in legacy else None)
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for k in set(legacy) | set(modern)}
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def is_legacy_das_steering(candidate: str, fw: bytes) -> bool:
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"""Whether an EPS FW uses the 2-bit DAS_steeringControlType. Unknown firmware newer than
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anything in a family is treated as modern: cars only move forward, and someone left behind
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on legacy software can force the platform with CarPlatformBundle."""
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if fw in LEGACY_DAS_STEERING_FW.get(candidate, []):
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return True
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codes = get_platform_codes([fw])
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if not len(codes):
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return False
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model, series, version = next(iter(codes))
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first_modern, last_legacy = _das_steering_cutoffs().get((candidate, model, series), (None, None))
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if first_modern is not None:
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return version < first_modern
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return last_legacy is not None and version <= last_legacy
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def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, vin: str, offline_fw_versions: OfflineFwVersions) -> set[str]:
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# Tesla fingerprints on the EPS alone and Ecu.eps is in FUZZY_EXCLUDE_ECUS, so the generic fuzzy
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# matcher can never match a Tesla. Match on the model code, which survives the EPS version bumps
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# that ship with Tesla software updates. The series is deliberately not required to be known:
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# Tesla bumps it within a platform (E4014 -> E4015, Y4002 -> Y4003).
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offline_codes: defaultdict[bytes, set[str]] = defaultdict(set)
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for candidate, ecus in offline_fw_versions.items():
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for fws in ecus.values():
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for model, _, _ in get_platform_codes(fws):
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offline_codes[model].add(candidate)
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candidates: set[str] = set()
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for ecu, addr, sub_addr in {e for ecus in offline_fw_versions.values() for e in ecus}:
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if ecu != Ecu.eps:
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continue
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for model, _, _ in get_platform_codes(live_fw_versions.get((addr, sub_addr), set())):
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candidates |= offline_codes[model]
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return candidates if len(candidates) == 1 else set()
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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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match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
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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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