sadmen
/
dragonpilot
mirror of https://github.com/dragonpilot-community/dragonpilot.git
1
0
Fork 0
Code Issues 67 Packages Projects Releases Wiki Activity

Chrysler: prep for Ram port (#25040)

Browse Source 
* Chrysler: prep for Ram port

* bump opendbc

* opendbc master

* bump panda
pull/214/head
Adeeb Shihadeh 3 years ago committed by GitHub
parent d4f4809992
commit 88a30004e0
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 23 additions and 25 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      opendbc
  2. 2
      panda
  3. 4
      release/files_common
  4. 20
      selfdrive/car/chrysler/carstate.py
  5. 6
      selfdrive/car/chrysler/chryslercan.py
  6. 14
      selfdrive/car/chrysler/values.py

2
opendbc

@ -1 +1 @@
Subproject commit 9c7248ceb269928e3741103f978e9e4de2b38156 Subproject commit b2895650c744e24d48cee2f13563dcd5b030a271

2
panda

@ -1 +1 @@
Subproject commit 265245389208e1e6ada86b169e879c0a2e30426c Subproject commit 6c0d0b43c239b89baa83b4a1885d0ce21ab2335e

4
release/files_common
Unescape View File

@ -35,7 +35,6 @@ common/filter_simple.py
common/stat_live.py common/stat_live.py
common/spinner.py common/spinner.py
common/text_window.py common/text_window.py
common/SConscript
common/kalman/.gitignore common/kalman/.gitignore
common/kalman/* common/kalman/*
@ -217,7 +216,6 @@ selfdrive/locationd/generated/gps.h
selfdrive/locationd/laikad.py selfdrive/locationd/laikad.py
selfdrive/locationd/laikad_helpers.py selfdrive/locationd/laikad_helpers.py
selfdrive/locationd/locationd.cc
selfdrive/locationd/locationd.h selfdrive/locationd/locationd.h
selfdrive/locationd/locationd.cc selfdrive/locationd/locationd.cc
selfdrive/locationd/paramsd.py selfdrive/locationd/paramsd.py
@ -475,7 +473,7 @@ opendbc/can/parser_pyx.pyx
opendbc/comma_body.dbc opendbc/comma_body.dbc
opendbc/chrysler_pacifica_2017_hybrid.dbc opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
opendbc/gm_global_a_powertrain_generated.dbc opendbc/gm_global_a_powertrain_generated.dbc

20
selfdrive/car/chrysler/carstate.py
Unescape View File

@ -64,14 +64,14 @@ class CarState(CarStateBase):
steer_state = cp.vl["EPS_2"]["LKAS_STATE"] steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed) ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"]) ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"])
if self.CP.enableBsm: if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1 ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1 ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"] self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"] self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"] self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
@ -100,7 +100,7 @@ class CarState(CarStateBase):
("ACC_AVAILABLE", "DAS_3"), ("ACC_AVAILABLE", "DAS_3"),
("ACC_ACTIVE", "DAS_3"), ("ACC_ACTIVE", "DAS_3"),
("ACC_FAULTED", "DAS_3"), ("ACC_FAULTED", "DAS_3"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"), ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DAS_4"), ("ACC_SPEED_CONFIG_KPH", "DAS_4"),
("CRUISE_STATE", "DAS_4"), ("CRUISE_STATE", "DAS_4"),
("COLUMN_TORQUE", "EPS_2"), ("COLUMN_TORQUE", "EPS_2"),
@ -132,10 +132,10 @@ class CarState(CarStateBase):
if CP.enableBsm: if CP.enableBsm:
signals += [ signals += [
("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"), ("RIGHT_STATUS", "BSM_1"),
("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"), ("LEFT_STATUS", "BSM_1"),
] ]
checks.append(("BLIND_SPOT_WARNINGS", 2)) checks.append(("BSM_1", 2))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@ -144,13 +144,13 @@ class CarState(CarStateBase):
signals = [ signals = [
# sig_name, sig_address # sig_name, sig_address
("COUNTER", "LKAS_COMMAND"), ("COUNTER", "LKAS_COMMAND"),
("CAR_MODEL", "LKAS_HUD"), ("CAR_MODEL", "DAS_6"),
("LKAS_STATUS_OK", "LKAS_HEARTBIT") ("LKAS_STATUS_OK", "LKAS_HEARTBIT")
] ]
checks = [ checks = [
("LKAS_COMMAND", 100), ("LKAS_COMMAND", 100),
("LKAS_HEARTBIT", 10), ("LKAS_HEARTBIT", 10),
("LKAS_HUD", 4), ("DAS_6", 4),
] ]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

6
selfdrive/car/chrysler/chryslercan.py
Unescape View File

@ -35,14 +35,14 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_mo
"LKAS_ALERTS": alerts, # byte 3, last 4 bits "LKAS_ALERTS": alerts, # byte 3, last 4 bits
} }
return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6 return packer.make_can_msg("DAS_6", 0, values) # 0x2a6
def create_lkas_command(packer, apply_steer, moving_fast, frame): def create_lkas_command(packer, apply_steer, moving_fast, frame):
# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel. # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
values = { values = {
"LKAS_STEERING_TORQUE": apply_steer, "STEERING_TORQUE": apply_steer,
"LKAS_HIGH_TORQUE": int(moving_fast), "LKAS_CONTROL_BIT": int(moving_fast),
"COUNTER": frame % 0x10, "COUNTER": frame % 0x10,
} }
return packer.make_can_msg("LKAS_COMMAND", 0, values) return packer.make_can_msg("LKAS_COMMAND", 0, values)

14
selfdrive/car/chrysler/values.py
Unescape View File

@ -101,13 +101,13 @@ FINGERPRINTS = {
DBC = { DBC = {
CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
} }
STEER_THRESHOLD = 120 STEER_THRESHOLD = 120

Write Preview
Loading…
Cancel
Save