diff --git a/opendbc b/opendbc index 47b79c4d5..7fbf7c2a6 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 47b79c4d5ab5adc0bdd9d228c3d9594da0355c49 +Subproject commit 7fbf7c2a685a90ff01e744cfb410f1a8a3c06278 diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 3d6295d77..49525646c 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,7 +1,7 @@ from cereal import car from opendbc.can.packer import CANPacker from selfdrive.car import apply_toyota_steer_torque_limits -from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons +from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons from selfdrive.car.chrysler.values import CAR, CarControllerParams @@ -49,7 +49,7 @@ class CarController: # *** control msgs *** if CC.cruiseControl.cancel: - can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True)) + can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, cancel=True)) # LKAS_HEARTBIT is forwarded by Panda so no need to send it here. # frame is 100Hz (0.01s period) diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 202526df0..444557191 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -16,13 +16,13 @@ class CarState(CarStateBase): ret = car.CarState.new_message() - self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"]) + self.frame = int(cp.vl["EPS_2"]["COUNTER"]) ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"], cp.vl["BCM_1"]["DOOR_OPEN_FR"], cp.vl["BCM_1"]["DOOR_OPEN_RL"], cp.vl["BCM_1"]["DOOR_OPEN_RR"]]) - ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1 + ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1 # brake pedal ret.brake = 0 @@ -35,10 +35,10 @@ class CarState(CarStateBase): ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1) ret.wheelSpeeds = self.get_wheel_speeds( - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"], - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"], - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"], - cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"], + cp.vl["ESP_6"]["WHEEL_SPEED_FL"], + cp.vl["ESP_6"]["WHEEL_SPEED_FR"], + cp.vl["ESP_6"]["WHEEL_SPEED_RL"], + cp.vl["ESP_6"]["WHEEL_SPEED_RR"], unit=1, ) ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2. @@ -51,17 +51,17 @@ class CarState(CarStateBase): ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green - ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS + ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too - ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2) + ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["CRUISE_STATE"] in (1, 2) ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0 ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] - ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] - ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] + ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"] + ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD - steer_state = cp.vl["EPS_STATUS"]["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.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"]) @@ -73,7 +73,7 @@ class CarState(CarStateBase): self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"] self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"] self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"] - self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"] + self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] return ret @@ -90,10 +90,10 @@ class CarState(CarStateBase): ("Accelerator_Position", "ECM_5"), ("SPEED_LEFT", "SPEED_1"), ("SPEED_RIGHT", "SPEED_1"), - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_FL", "ESP_6"), + ("WHEEL_SPEED_RR", "ESP_6"), + ("WHEEL_SPEED_RL", "ESP_6"), + ("WHEEL_SPEED_FR", "ESP_6"), ("STEER_ANGLE", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), @@ -101,31 +101,31 @@ class CarState(CarStateBase): ("ACC_ACTIVE", "DAS_3"), ("ACC_FAULTED", "DAS_3"), ("HIGH_BEAM_FLASH", "STEERING_LEVERS"), - ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"), - ("CRUISE_STATE", "DASHBOARD"), - ("TORQUE_DRIVER", "EPS_STATUS"), - ("TORQUE_MOTOR", "EPS_STATUS"), - ("LKAS_STATE", "EPS_STATUS"), - ("COUNTER", "EPS_STATUS",), + ("ACC_SPEED_CONFIG_KPH", "DAS_4"), + ("CRUISE_STATE", "DAS_4"), + ("COLUMN_TORQUE", "EPS_2"), + ("EPS_TORQUE_MOTOR", "EPS_2"), + ("LKAS_STATE", "EPS_2"), + ("COUNTER", "EPS_2",), ("TRACTION_OFF", "TRACTION_BUTTON"), - ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"), - ("COUNTER", "WHEEL_BUTTONS"), + ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"), + ("COUNTER", "CRUISE_BUTTONS"), ] checks = [ # sig_address, frequency ("ESP_1", 50), - ("EPS_STATUS", 100), + ("EPS_2", 100), ("SPEED_1", 100), - ("WHEEL_SPEEDS", 50), + ("ESP_6", 50), ("STEERING", 100), ("DAS_3", 50), ("GEAR", 50), ("ECM_5", 50), - ("WHEEL_BUTTONS", 50), - ("DASHBOARD", 15), + ("CRUISE_BUTTONS", 50), + ("DAS_4", 15), ("STEERING_LEVERS", 10), - ("SEATBELT_STATUS", 2), + ("ORC_1", 2), ("BCM_1", 1), ("TRACTION_BUTTON", 1), ] diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 896a6b15d..53b79cab7 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -48,10 +48,9 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame): return packer.make_can_msg("LKAS_COMMAND", 0, values) -def create_wheel_buttons(packer, frame, cancel=False): - # WHEEL_BUTTONS (571) Message sent to cancel ACC. +def create_cruise_buttons(packer, frame, cancel=False): values = { - "ACC_CANCEL": cancel, - "COUNTER": frame % 0x10 + "ACC_Cancel": cancel, + "COUNTER": frame % 0x10, } - return packer.make_can_msg("WHEEL_BUTTONS", 0, values) + return packer.make_can_msg("CRUISE_BUTTONS", 0, values) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a1cb2bf36..90444b1fa 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d7c610172f3ff10b68403abc19b260c91c848ebb \ No newline at end of file +806984d4206056fb132625c5dad6c0ca1835a2d6 \ No newline at end of file