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Merge branch 'master' into run_fullframe

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pull/24762/head
ZwX1616 3 years ago
parent f4ea7ec053 f9af3ddf4c
commit 23f1032a5d
277 changed files with 5775 additions and 42822 deletions
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  1. 14
      .github/ISSUE_TEMPLATE/bug_report.yml
  2. 12
      .github/ISSUE_TEMPLATE/car_bug_report.yml
  3. 2
      .github/workflows/prebuilt.yaml
  4. 1
      .gitignore
  5. 6
      .pre-commit-config.yaml
  6. 3
      Jenkinsfile
  7. 2
      Pipfile
  8. 855
      Pipfile.lock
  9. 16
      RELEASES.md
  10. 2
      SConstruct
  11. 2
      cereal
  12. 4
      common/gpio.py
  13. 13
      common/realtime.py
  14. 3
      common/transformations/orientation.py
  15. 4
      common/window.py
  16. 350
      docs/CARS.md
  17. 2
      laika_repo
  18. 1
      launch_chffrplus.sh
  19. 2
      mypy.ini
  20. 2
      opendbc
  21. 2
      panda
  22. 11
      release/files_common
  23. 5
      scripts/cell.sh
  24. BIN
      scripts/clwaste
  25. 2
      scripts/restart_modem.sh
  26. 16
      scripts/throttling.sh
  27. BIN
      scripts/waste
  28. 39
      selfdrive/athena/athenad.py
  29. 3
      selfdrive/athena/tests/test_athenad.py
  30. 4
      selfdrive/boardd/boardd.cc
  31. 2
      selfdrive/boardd/panda.cc
  32. 2
      selfdrive/boardd/panda.h
  33. 10
      selfdrive/boardd/pandad.py
  34. 61
      selfdrive/camerad/cameras/camera_common.cc
  35. 12
      selfdrive/camerad/cameras/camera_common.h
  36. 318
      selfdrive/camerad/cameras/camera_qcom2.cc
  37. 26
      selfdrive/camerad/cameras/camera_qcom2.h
  38. 6
      selfdrive/camerad/cameras/camera_replay.cc
  39. 80
      selfdrive/camerad/cameras/real_debayer.cl
  40. 18
      selfdrive/camerad/cameras/sensor2_i2c.h
  41. 2
      selfdrive/car/CARS_template.md
  42. 3
      selfdrive/car/body/carstate.py
  43. 44
      selfdrive/car/chrysler/carcontroller.py
  44. 5
      selfdrive/car/chrysler/carstate.py
  45. 2
      selfdrive/car/chrysler/chryslercan.py
  46. 6
      selfdrive/car/chrysler/interface.py
  47. 20
      selfdrive/car/chrysler/values.py
  48. 6
      selfdrive/car/gm/carstate.py
  49. 5
      selfdrive/car/gm/interface.py
  50. 62
      selfdrive/car/honda/values.py
  51. 15
      selfdrive/car/hyundai/carstate.py
  52. 14
      selfdrive/car/hyundai/interface.py
  53. 4
      selfdrive/car/hyundai/values.py
  54. 8
      selfdrive/car/interfaces.py
  55. 20
      selfdrive/car/mazda/values.py
  56. 16
      selfdrive/car/nissan/values.py
  57. 37
      selfdrive/car/subaru/values.py
  58. 1
      selfdrive/car/tests/routes.py
  59. 3
      selfdrive/car/tests/test_car_interfaces.py
  60. 16
      selfdrive/car/tests/test_fw_fingerprint.py
  61. 5
      selfdrive/car/tests/test_models.py
  62. 3
      selfdrive/car/toyota/carcontroller.py
  63. 37
      selfdrive/car/toyota/carstate.py
  64. 24
      selfdrive/car/toyota/interface.py
  65. 5
      selfdrive/car/toyota/radar_interface.py
  66. 4
      selfdrive/car/toyota/tunes.py
  67. 45
      selfdrive/car/toyota/values.py
  68. 6
      selfdrive/car/volkswagen/carstate.py
  69. 4
      selfdrive/car/volkswagen/interface.py
  70. 10
      selfdrive/car/volkswagen/values.py
  71. 3
      selfdrive/common/params.cc
  72. 85
      selfdrive/controls/controlsd.py
  73. 2
      selfdrive/controls/lib/drive_helpers.py
  74. 40
      selfdrive/controls/lib/events.py
  75. 4
      selfdrive/controls/lib/latcontrol.py
  76. 2
      selfdrive/controls/lib/latcontrol_angle.py
  77. 2
      selfdrive/controls/lib/latcontrol_indi.py
  78. 11
      selfdrive/controls/lib/latcontrol_pid.py
  79. 24
      selfdrive/controls/lib/latcontrol_torque.py
  80. 25
      selfdrive/controls/lib/longcontrol.py
  81. 5
      selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
  82. 19
      selfdrive/debug/compare_fingerprints.py
  83. 49
      selfdrive/debug/cycle_alerts.py
  84. 2
      selfdrive/debug/dump.py
  85. 2
      selfdrive/debug/hyundai_enable_radar_points.py
  86. 23
      selfdrive/debug/internal/core_voltage_sweep.py
  87. 67
      selfdrive/debug/internal/sensor_test_bootloop.py
  88. 6
      selfdrive/hardware/base.py
  89. 2
      selfdrive/hardware/tici/agnos.py
  90. 37
      selfdrive/hardware/tici/hardware.py
  91. 3
      selfdrive/hardware/tici/pins.py
  92. 44
      selfdrive/hardware/tici/power_monitor.py
  93. 14
      selfdrive/hardware/tici/precise_power_measure.py
  94. 18
      selfdrive/hardware/tici/restart_modem.sh
  95. 70
      selfdrive/hardware/tici/test_power_draw.py
  96. 80
      selfdrive/locationd/laikad.py
  97. 23
      selfdrive/locationd/test/test_laikad.py
  98. 80
      selfdrive/locationd/test/test_ublox_processing.py
  99. 1
      selfdrive/loggerd/.gitignore
  100. 14
      selfdrive/loggerd/SConscript
  101. Some files were not shown because too many files have changed in this diff Show More

14
.github/ISSUE_TEMPLATE/bug_report.yml
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@ -22,23 +22,11 @@ body:
validations: validations:
required: true required: true
- type: dropdown
id: hw
attributes:
label: What hardware does this issue affect?
multiple: true
options:
- comma three
- comma two
- EON Gold
validations:
required: true
- type: input - type: input
id: route id: route
attributes: attributes:
label: Provide a route where the issue occurs label: Provide a route where the issue occurs
description: Ensure the route is fully uploaded at https://useradmin.comma.ai description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
placeholder: 77611a1fac303767|2020-05-11--16-37-07 placeholder: 77611a1fac303767|2020-05-11--16-37-07
validations: validations:
required: true required: true

12
.github/ISSUE_TEMPLATE/car_bug_report.yml
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@ -21,18 +21,6 @@ body:
validations: validations:
required: true required: true
- type: dropdown
id: hw
attributes:
label: What hardware does this issue affect?
multiple: true
options:
- comma three
- comma two
- EON Gold
validations:
required: true
- type: input - type: input
id: car id: car
attributes: attributes:

2
.github/workflows/prebuilt.yaml
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@ -3,6 +3,8 @@ on:
schedule: schedule:
- cron: '0 * * * *' - cron: '0 * * * *'
workflow_dispatch:
env: env:
BASE_IMAGE: openpilot-base BASE_IMAGE: openpilot-base
DOCKER_REGISTRY: ghcr.io/commaai DOCKER_REGISTRY: ghcr.io/commaai

1
.gitignore vendored
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@ -56,6 +56,7 @@ selfdrive/modeld/_dmonitoringmodeld
/src/ /src/
one one
body
openpilot openpilot
notebooks notebooks
xx xx

6
.pre-commit-config.yaml
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@ -20,10 +20,12 @@ repos:
hooks: hooks:
- id: mypy - id: mypy
exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/' exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites', additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
'types-pycurl']
args: args:
- --warn-redundant-casts
- --warn-unreachable - --warn-unreachable
- --warn-unused-ignores
#- --html-report=/home/batman/openpilot
- repo: https://github.com/PyCQA/flake8 - repo: https://github.com/PyCQA/flake8
rev: 4.0.1 rev: 4.0.1
hooks: hooks:

3
Jenkinsfile vendored
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@ -30,7 +30,7 @@ END"""
def phone_steps(String device_type, steps) { def phone_steps(String device_type, steps) {
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) { lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 60, unit: 'MINUTES') { timeout(time: 20, unit: 'MINUTES') {
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),) phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
steps.each { item -> steps.each { item ->
phone(device_ip, item[0], item[1]) phone(device_ip, item[0], item[1])
@ -120,6 +120,7 @@ pipeline {
steps { steps {
phone_steps("tici2", [ phone_steps("tici2", [
["build", "cd selfdrive/manager && ./build.py"], ["build", "cd selfdrive/manager && ./build.py"],
["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"],
["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],

2
Pipfile
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@ -4,6 +4,7 @@ url = "https://pypi.org/simple"
verify_ssl = true verify_ssl = true
[dev-packages] [dev-packages]
azure-storage-blob = "~=2.1"
control = "*" control = "*"
coverage = "*" coverage = "*"
dictdiffer = "*" dictdiffer = "*"
@ -81,6 +82,7 @@ tqdm = "*"
urllib3 = "*" urllib3 = "*"
utm = "*" utm = "*"
websocket_client = "*" websocket_client = "*"
hatanaka = "*"
[requires] [requires]
python_version = "3.8" python_version = "3.8"

855
Pipfile.lock generated
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16
RELEASES.md
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@ -1,11 +1,25 @@
Version 0.8.14 (2022-0X-XX) Version 0.8.14 (2022-0X-XX)
======================== ========================
* bigmodel! * New driving model
* Bigger model, using both of comma three's road-facing cameras
* Better at cut-in detection and tight turns
* New driver monitoring model
* Tweaked network structure to improve output resolution for dsp
* Fixed bug in quantization aware training to reduce quantizing errors
* Resulted in 7x less MSE and no more random biases at runtime
* New lateral controller based on physical wheel torque model
* Much smoother control, consistent across the speed range
* Effective feedforward that uses road roll
* Simplified tuning, all car-specific parameters can be derived from data
* Initially used on TSS2 Corolla and TSS-P RAV4
* Added toggle to disable disengaging on the accelerator pedal
* comma body support * comma body support
* Audi RS3 support thanks to jyoung8607!
* Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin! * Hyundai Ioniq Plug-in Hybrid 2019 support thanks to sunnyhaibin!
* Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin! * Hyundai Tucson Diesel 2019 support thanks to sunnyhaibin!
* Toyota Alphard Hybrid 2021 support * Toyota Alphard Hybrid 2021 support
* Toyota Avalon Hybrid 2022 support * Toyota Avalon Hybrid 2022 support
* Toyota RAV4 Hybrid 2022 support
Version 0.8.13 (2022-02-18) Version 0.8.13 (2022-02-18)
======================== ========================

2
SConstruct
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@ -183,9 +183,7 @@ env = Environment(
"#third_party/acados/include/blasfeo/include", "#third_party/acados/include/blasfeo/include",
"#third_party/acados/include/hpipm/include", "#third_party/acados/include/hpipm/include",
"#third_party/catch2/include", "#third_party/catch2/include",
"#third_party/bzip2",
"#third_party/libyuv/include", "#third_party/libyuv/include",
"#third_party/openmax/include",
"#third_party/json11", "#third_party/json11",
"#third_party/curl/include", "#third_party/curl/include",
"#third_party/libgralloc/include", "#third_party/libgralloc/include",

2
cereal

@ -1 +1 @@
Subproject commit 29f4fe89ef710ff86a5aeb998a357187d0619fb8 Subproject commit c7d3a0acbae267ef93d30044e1941e060dac9e48

4
common/gpio.py
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@ -1,4 +1,4 @@
def gpio_init(pin, output): def gpio_init(pin: int, output: bool) -> None:
try: try:
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f: with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
f.write(b"out" if output else b"in") f.write(b"out" if output else b"in")
@ -6,7 +6,7 @@ def gpio_init(pin, output):
print(f"Failed to set gpio {pin} direction: {e}") print(f"Failed to set gpio {pin} direction: {e}")
def gpio_set(pin, high): def gpio_set(pin: int, high: bool) -> None:
try: try:
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f: with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
f.write(b"1" if high else b"0") f.write(b"1" if high else b"0")

13
common/realtime.py
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@ -2,6 +2,7 @@
import gc import gc
import os import os
import time import time
from collections import deque
from typing import Optional, List, Union from typing import Optional, List, Union
from setproctitle import getproctitle # pylint: disable=no-name-in-module from setproctitle import getproctitle # pylint: disable=no-name-in-module
@ -59,6 +60,8 @@ class Ratekeeper:
self._frame = 0 self._frame = 0
self._remaining = 0.0 self._remaining = 0.0
self._process_name = getproctitle() self._process_name = getproctitle()
self._dts = deque([self._interval], maxlen=100)
self._last_monitor_time = sec_since_boot()
@property @property
def frame(self) -> int: def frame(self) -> int:
@ -68,6 +71,12 @@ class Ratekeeper:
def remaining(self) -> float: def remaining(self) -> float:
return self._remaining return self._remaining
@property
def lagging(self) -> bool:
avg_dt = sum(self._dts) / len(self._dts)
expected_dt = self._interval * (1 / 0.9)
return avg_dt > expected_dt
# Maintain loop rate by calling this at the end of each loop # Maintain loop rate by calling this at the end of each loop
def keep_time(self) -> bool: def keep_time(self) -> bool:
lagged = self.monitor_time() lagged = self.monitor_time()
@ -77,6 +86,10 @@ class Ratekeeper:
# this only monitor the cumulative lag, but does not enforce a rate # this only monitor the cumulative lag, but does not enforce a rate
def monitor_time(self) -> bool: def monitor_time(self) -> bool:
prev = self._last_monitor_time
self._last_monitor_time = sec_since_boot()
self._dts.append(self._last_monitor_time - prev)
lagged = False lagged = False
remaining = self._next_frame_time - sec_since_boot() remaining = self._next_frame_time - sec_since_boot()
self._next_frame_time += self._interval self._next_frame_time += self._interval

3
common/transformations/orientation.py
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@ -1,5 +1,6 @@
# pylint: skip-file # pylint: skip-file
import numpy as np import numpy as np
from typing import Callable
from common.transformations.transformations import (ecef_euler_from_ned_single, from common.transformations.transformations import (ecef_euler_from_ned_single,
euler2quat_single, euler2quat_single,
@ -11,7 +12,7 @@ from common.transformations.transformations import (ecef_euler_from_ned_single,
rot2quat_single) rot2quat_single)
def numpy_wrap(function, input_shape, output_shape): def numpy_wrap(function, input_shape, output_shape) -> Callable[..., np.ndarray]:
"""Wrap a function to take either an input or list of inputs and return the correct shape""" """Wrap a function to take either an input or list of inputs and return the correct shape"""
def f(*inps): def f(*inps):
*args, inp = inps *args, inp = inps

4
common/window.py
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@ -2,7 +2,7 @@ import sys
import pygame # pylint: disable=import-error import pygame # pylint: disable=import-error
import cv2 # pylint: disable=import-error import cv2 # pylint: disable=import-error
class Window(): class Window:
def __init__(self, w, h, caption="window", double=False, halve=False): def __init__(self, w, h, caption="window", double=False, halve=False):
self.w = w self.w = w
self.h = h self.h = h
@ -54,7 +54,7 @@ class Window():
if __name__ == "__main__": if __name__ == "__main__":
import numpy as np import numpy as np
win = Window(200, 200, double=True) win = Window(200, 200, double=True)
img = np.zeros((200, 200, 3), np.uint8) img: np.ndarray = np.zeros((200, 200, 3), np.uint8)
while 1: while 1:
print("draw") print("draw")
img += 1 img += 1

350
docs/CARS.md
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@ -12,25 +12,25 @@ How We Rate The Cars
--- ---
### openpilot Adaptive Cruise Control (ACC) ### openpilot Adaptive Cruise Control (ACC)
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes. - <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
- <a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions. - <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system. - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
### Stop and Go ### Stop and Go
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph. - <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed. - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
### Steer to 0 ### Steer to 0
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph. - <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds. - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
### Steering Torque ### Steering Torque
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving. - <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns. - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
### Actively Maintained ### Actively Maintained
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target. - <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma. - <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
**All supported cars can move between the tiers as support changes.** **All supported cars can move between the tiers as support changes.**
@ -38,179 +38,181 @@ How We Rate The Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|
|comma|body|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G70 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Genesis|G70 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Palisade 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Palisade 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Sonata 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Electric 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Niro Electric 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Telluride 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX Hybrid 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|UX Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Alphard 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Alphard Hybrid 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla Hatchback 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Mirai 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius Prime 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
## Silver Cars ## Silver Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|
|Audi|A3 2014-19|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|Q2 2018|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|Q3 2020-21|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Audi|S3 2015-17|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G70 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G80 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona Electric 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Ceed 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Forte 2018-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|K5 2021-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Forte 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|K5 2021-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Optima 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Niro Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Seltos 2021|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Sorento 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Stinger 2018|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Sorento 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|CT Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|ES Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|NX Hybrid 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX 2016-18|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RX Hybrid 2016-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-5 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Ateca 2018|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|SEAT|Leon 2014-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2018-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Forester 2019-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Impreza 2017-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Forester 2019-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Karoq 2019|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Octavia RS 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Scala 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Škoda|Superb 2015-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|C-HR 2017-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|C-HR Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Camry Hybrid 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Highlander Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Sienna 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf 2015-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Passat 2016-18[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Polo 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Passat 2016-18[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Tiguan 2020-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Touran 2017|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
## Bronze Cars ## Bronze Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained| |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:| |---|---|---|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Acura|RDX 2016-18|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Acura|RDX 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Genesis|G90 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>| |Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Accord 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Accord Hybrid 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2016-18|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2015-16|Touring|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|e 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Fit 2018-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Freed 2020|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|HR-V 2019-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Insight 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Inspire 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Odyssey 2018-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Passport 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Pilot 2016-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Honda|Ridgeline 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Kia|Optima 2017|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|IS 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Lexus|RC 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Mazda|CX-9 2021|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|Altima 2019-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|Leaf 2018-22|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|Rogue 2018-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Nissan|X-Trail 2017|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Ascent 2019-20|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Ascent 2019-20|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Crosstrek 2020-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Subaru|Impreza 2020-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Avalon 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Corolla 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius 2016-20|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius Prime 2017-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|Prius v 2017|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Toyota|RAV4 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>| |Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
<a id="footnotes"></a> <a id="footnotes"></a>

2
laika_repo

@ -1 +1 @@
Subproject commit e47ba47de2ad62f3c31cfdffa5aa381557a45d08 Subproject commit be1a213a5ffa3cafe2b4f2d53f6df5d2452ad910

1
launch_chffrplus.sh
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@ -62,7 +62,6 @@ function launch {
cd $BASEDIR cd $BASEDIR
echo "Restarting launch script ${LAUNCHER_LOCATION}" echo "Restarting launch script ${LAUNCHER_LOCATION}"
unset REQUIRED_NEOS_VERSION
unset AGNOS_VERSION unset AGNOS_VERSION
exec "${LAUNCHER_LOCATION}" exec "${LAUNCHER_LOCATION}"
else else

2
mypy.ini
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@ -1,4 +1,4 @@
[mypy] [mypy]
python_version = 3.8 python_version = 3.8
ignore_missing_imports = True ignore_missing_imports = True
plugins = numpy.typing.mypy_plugin

2
opendbc

@ -1 +1 @@
Subproject commit e19ba095c3ee288d629284e24ec7e0deaf645f3f Subproject commit 919154efe2bd07c4dd124d7e6a11a4afc8685f9d

2
panda

@ -1 +1 @@
Subproject commit 7dd9493eb102ba8b96362c7265b06851ec1d4bac Subproject commit eb662e4e5014a3fc3c04512d708f61080c7707c1

11
release/files_common
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@ -299,19 +299,21 @@ selfdrive/proclogd/proclog.h
selfdrive/loggerd/SConscript selfdrive/loggerd/SConscript
selfdrive/loggerd/encoder.h selfdrive/loggerd/encoder.h
selfdrive/loggerd/omx_encoder.cc selfdrive/loggerd/v4l_encoder.cc
selfdrive/loggerd/omx_encoder.h selfdrive/loggerd/v4l_encoder.h
selfdrive/loggerd/video_writer.cc selfdrive/loggerd/video_writer.cc
selfdrive/loggerd/video_writer.h selfdrive/loggerd/video_writer.h
selfdrive/loggerd/remote_encoder.cc
selfdrive/loggerd/remote_encoder.h
selfdrive/loggerd/logger.cc selfdrive/loggerd/logger.cc
selfdrive/loggerd/logger.h selfdrive/loggerd/logger.h
selfdrive/loggerd/loggerd.cc selfdrive/loggerd/loggerd.cc
selfdrive/loggerd/loggerd.h selfdrive/loggerd/loggerd.h
selfdrive/loggerd/encoderd.cc
selfdrive/loggerd/main.cc selfdrive/loggerd/main.cc
selfdrive/loggerd/bootlog.cc selfdrive/loggerd/bootlog.cc
selfdrive/loggerd/raw_logger.cc selfdrive/loggerd/raw_logger.cc
selfdrive/loggerd/raw_logger.h selfdrive/loggerd/raw_logger.h
selfdrive/loggerd/include/msm_media_info.h
selfdrive/loggerd/__init__.py selfdrive/loggerd/__init__.py
selfdrive/loggerd/config.py selfdrive/loggerd/config.py
@ -444,9 +446,6 @@ third_party/SConscript
third_party/linux/** third_party/linux/**
third_party/opencl/** third_party/opencl/**
third_party/zlib/*
third_party/bzip2/*
third_party/openmax/**
third_party/json11/json11.cpp third_party/json11/json11.cpp
third_party/json11/json11.hpp third_party/json11/json11.hpp

5
scripts/cell.sh
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@ -0,0 +1,5 @@
#!/usr/bin/bash
nmcli connection modify --temporary lte ipv4.route-metric 1
nmcli connection modify --temporary lte ipv6.route-metric 1
nmcli con up lte

BIN
scripts/clwaste
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2
scripts/restart_modem.sh
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@ -1,2 +0,0 @@
#!/usr/bin/bash
echo "restart" > /sys/kernel/debug/msm_subsys/modem

16
scripts/throttling.sh
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@ -1,16 +0,0 @@
#!/data/data/com.termux/files/usr/bin/bash
watch -n1 '
cat /sys/kernel/debug/clk/pwrcl_clk/measure
cat /sys/kernel/debug/clk/perfcl_clk/measure
cat /sys/devices/system/cpu/cpu*/cpufreq/scaling_cur_freq
cat /sys/class/kgsl/kgsl-3d0/gpuclk
echo
echo -n "CPU0 " ; cat /sys/devices/virtual/thermal/thermal_zone5/temp
echo -n "CPU1 " ; cat /sys/devices/virtual/thermal/thermal_zone7/temp
echo -n "CPU2 " ; cat /sys/devices/virtual/thermal/thermal_zone10/temp
echo -n "CPU3 " ; cat /sys/devices/virtual/thermal/thermal_zone12/temp
echo -n "MEM " ; cat /sys/devices/virtual/thermal/thermal_zone2/temp
echo -n "GPU " ; cat /sys/devices/virtual/thermal/thermal_zone16/temp
echo -n "BAT " ; cat /sys/devices/virtual/thermal/thermal_zone29/temp
'

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scripts/waste
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39
selfdrive/athena/athenad.py
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@ -1,5 +1,6 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import base64 import base64
import bz2
import hashlib import hashlib
import io import io
import json import json
@ -30,7 +31,7 @@ from common.api import Api
from common.basedir import PERSIST from common.basedir import PERSIST
from common.file_helpers import CallbackReader from common.file_helpers import CallbackReader
from common.params import Params from common.params import Params
from common.realtime import sec_since_boot from common.realtime import sec_since_boot, set_core_affinity
from selfdrive.hardware import HARDWARE, PC, TICI from selfdrive.hardware import HARDWARE, PC, TICI
from selfdrive.loggerd.config import ROOT from selfdrive.loggerd.config import ROOT
from selfdrive.loggerd.xattr_cache import getxattr, setxattr from selfdrive.loggerd.xattr_cache import getxattr, setxattr
@ -64,6 +65,13 @@ UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', '
cur_upload_items: Dict[int, Any] = {} cur_upload_items: Dict[int, Any] = {}
def strip_bz2_extension(fn):
if fn.endswith('.bz2'):
return fn[:-4]
return fn
class AbortTransferException(Exception): class AbortTransferException(Exception):
pass pass
@ -227,14 +235,29 @@ def upload_handler(end_event: threading.Event) -> None:
def _do_upload(upload_item, callback=None): def _do_upload(upload_item, callback=None):
with open(upload_item.path, "rb") as f: path = upload_item.path
compress = False
# If file does not exist, but does exist without the .bz2 extension we will compress on the fly
if not os.path.exists(path) and os.path.exists(strip_bz2_extension(path)):
path = strip_bz2_extension(path)
compress = True
with open(path, "rb") as f:
if compress:
cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
data = bz2.compress(f.read())
size = len(data)
data = io.BytesIO(data)
else:
size = os.fstat(f.fileno()).st_size size = os.fstat(f.fileno()).st_size
data = f
if callback: if callback:
f = CallbackReader(f, callback, size) data = CallbackReader(data, callback, size)
return requests.put(upload_item.url, return requests.put(upload_item.url,
data=f, data=data,
headers={**upload_item.headers, 'Content-Length': str(size)}, headers={**upload_item.headers, 'Content-Length': str(size)},
timeout=30) timeout=30)
@ -335,8 +358,9 @@ def uploadFilesToUrls(files_data):
if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file: if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file:
failed.append(fn) failed.append(fn)
continue continue
path = os.path.join(ROOT, fn) path = os.path.join(ROOT, fn)
if not os.path.exists(path): if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
failed.append(fn) failed.append(fn)
continue continue
@ -680,6 +704,11 @@ def backoff(retries):
def main(): def main():
try:
set_core_affinity([0, 1, 2, 3])
except Exception:
cloudlog.exception("failed to set core affinity")
params = Params() params = Params()
dongle_id = params.get("DongleId", encoding='utf-8') dongle_id = params.get("DongleId", encoding='utf-8')
UploadQueueCache.initialize(upload_queue) UploadQueueCache.initialize(upload_queue)

3
selfdrive/athena/tests/test_athenad.py
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@ -81,7 +81,8 @@ class TestAthenadMethods(unittest.TestCase):
def test_listDataDirectory(self): def test_listDataDirectory(self):
route = '2021-03-29--13-32-47' route = '2021-03-29--13-32-47'
segments = [0, 1, 2, 3, 11] segments = [0, 1, 2, 3, 11]
filenames = ['qlog.bz2', 'qcamera.ts', 'rlog.bz2', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
files = [f'{route}--{s}/{f}' for s in segments for f in filenames] files = [f'{route}--{s}/{f}' for s in segments for f in filenames]
for file in files: for file in files:
fn = os.path.join(athenad.ROOT, file) fn = os.path.join(athenad.ROOT, file)

4
selfdrive/boardd/boardd.cc
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@ -135,7 +135,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
util::sleep_for(20); util::sleep_for(20);
} }
pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1); pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
std::string params; std::string params;
LOGW("waiting for params to set safety model"); LOGW("waiting for params to set safety model");
@ -156,7 +156,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size())); capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>(); cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
cereal::CarParams::SafetyModel safety_model; cereal::CarParams::SafetyModel safety_model;
uint32_t safety_param; uint16_t safety_param;
auto safety_configs = car_params.getSafetyConfigs(); auto safety_configs = car_params.getSafetyConfigs();
uint16_t alternative_experience = car_params.getAlternativeExperience(); uint16_t alternative_experience = car_params.getAlternativeExperience();

2
selfdrive/boardd/panda.cc
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@ -247,7 +247,7 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
return transferred; return transferred;
} }
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param) { void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
usb_write(0xdc, (uint16_t)safety_model, safety_param); usb_write(0xdc, (uint16_t)safety_model, safety_param);
} }

2
selfdrive/boardd/panda.h
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@ -73,7 +73,7 @@ class Panda {
// Panda functionality // Panda functionality
cereal::PandaState::PandaType get_hw_type(); cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint32_t safety_param=0U); void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);
void set_alternative_experience(uint16_t alternative_experience); void set_alternative_experience(uint16_t alternative_experience);
void set_rtc(struct tm sys_time); void set_rtc(struct tm sys_time);
struct tm get_rtc(); struct tm get_rtc();

10
selfdrive/boardd/pandad.py
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@ -10,6 +10,7 @@ from functools import cmp_to_key
from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
from common.basedir import BASEDIR from common.basedir import BASEDIR
from common.params import Params from common.params import Params
from selfdrive.hardware import HARDWARE
from selfdrive.swaglog import cloudlog from selfdrive.swaglog import cloudlog
@ -27,6 +28,7 @@ def flash_panda(panda_serial: str) -> Panda:
panda = Panda(panda_serial) panda = Panda(panda_serial)
fw_signature = get_expected_signature(panda) fw_signature = get_expected_signature(panda)
internal_panda = panda.is_internal() and not panda.bootstub
panda_version = "bootstub" if panda.bootstub else panda.get_version() panda_version = "bootstub" if panda.bootstub else panda.get_version()
panda_signature = b"" if panda.bootstub else panda.get_signature() panda_signature = b"" if panda.bootstub else panda.get_signature()
@ -40,7 +42,9 @@ def flash_panda(panda_serial: str) -> Panda:
if panda.bootstub: if panda.bootstub:
bootstub_version = panda.get_version() bootstub_version = panda.get_version()
cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}") cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
panda.recover() if internal_panda:
HARDWARE.recover_internal_panda()
panda.recover(reset=(not internal_panda))
cloudlog.info("Done flashing bootloader") cloudlog.info("Done flashing bootloader")
if panda.bootstub: if panda.bootstub:
@ -89,6 +93,10 @@ def main() -> NoReturn:
panda_serials = Panda.list() panda_serials = Panda.list()
if len(panda_serials) == 0: if len(panda_serials) == 0:
if first_run:
cloudlog.info("Resetting internal panda")
HARDWARE.reset_internal_panda()
time.sleep(2) # wait to come back up
continue continue
cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}") cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")

61
selfdrive/camerad/cameras/camera_common.cc
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@ -13,7 +13,6 @@
#include "selfdrive/camerad/imgproc/utils.h" #include "selfdrive/camerad/imgproc/utils.h"
#include "selfdrive/common/clutil.h" #include "selfdrive/common/clutil.h"
#include "selfdrive/common/modeldata.h" #include "selfdrive/common/modeldata.h"
#include "selfdrive/common/params.h"
#include "selfdrive/common/swaglog.h" #include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h" #include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h" #include "selfdrive/hardware/hw.h"
@ -37,10 +36,10 @@ public:
hdr_ = ci->hdr; hdr_ = ci->hdr;
snprintf(args, sizeof(args), snprintf(args, sizeof(args),
"-cl-fast-relaxed-math -cl-denorms-are-zero " "-cl-fast-relaxed-math -cl-denorms-are-zero "
"-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d " "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
"-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d " "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d "
"-DBAYER_FLIP=%d -DHDR=%d -DCAM_NUM=%d", "-DBAYER_FLIP=%d -DHDR=%d -DCAM_NUM=%d",
ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
b->rgb_width, b->rgb_height, b->rgb_stride, b->rgb_width, b->rgb_height, b->rgb_stride,
ci->bayer_flip, ci->hdr, s->camera_num); ci->bayer_flip, ci->hdr, s->camera_num);
const char *cl_file = "cameras/real_debayer.cl"; const char *cl_file = "cameras/real_debayer.cl";
@ -82,7 +81,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
frame_buf_count = frame_cnt; frame_buf_count = frame_cnt;
// RAW frame // RAW frame
const int frame_size = ci->frame_height * ci->frame_stride; const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride;
camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count); camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count); camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
@ -147,6 +146,8 @@ bool CameraBuf::acquire() {
double start_time = millis_since_boot(); double start_time = millis_since_boot();
cur_camera_buf = &camera_bufs[cur_buf_idx];
if (debayer) { if (debayer) {
float gain = 0.0; float gain = 0.0;
float black_level = 42.0; float black_level = 42.0;
@ -237,6 +238,17 @@ kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {
return kj::mv(frame_image); return kj::mv(frame_image);
} }
kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr;
kj::Array<uint8_t> frame_image = kj::heapArray<uint8_t>(b->cur_camera_buf->len);
uint8_t *resized_dat = frame_image.begin();
memcpy(resized_dat, dat, b->cur_camera_buf->len);
return kj::mv(frame_image);
}
static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) { static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) {
// make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used. // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used.
std::unique_ptr<uint8_t[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); std::unique_ptr<uint8_t[]> buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]);
@ -377,47 +389,6 @@ std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, pro
return std::thread(processing_thread, cameras, cs, callback); return std::thread(processing_thread, cameras, cs, callback);
} }
static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
static const bool is_rhd = Params().getBool("IsRHD");
struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
const CameraBuf *b = &c->buf;
int x_offset = 0, y_offset = 0;
int frame_width = b->rgb_width, frame_height = b->rgb_height;
ExpRect def_rect;
if (Hardware::TICI()) {
x_offset = 630, y_offset = 156;
frame_width = 668, frame_height = frame_width / 1.33;
def_rect = {96, 1832, 2, 242, 1148, 4};
} else {
def_rect = {is_rhd ? 0 : b->rgb_width * 3 / 5, is_rhd ? b->rgb_width * 2 / 5 : b->rgb_width, 2,
b->rgb_height / 3, b->rgb_height, 1};
}
static ExpRect rect = def_rect;
camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
}
void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
int j = Hardware::TICI() ? 1 : 3;
if (cnt % j == 0) {
s->sm->update(0);
driver_cam_auto_exposure(c, *(s->sm));
}
MessageBuilder msg;
auto framed = msg.initEvent().initDriverCameraState();
framed.setFrameType(cereal::FrameData::FrameType::FRONT);
fill_frame_data(framed, c->buf.cur_frame_data);
if (env_send_driver) {
framed.setImage(get_frame_image(&c->buf));
}
s->pm->send("driverCameraState", msg);
}
void camerad_thread() { void camerad_thread() {
cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
#ifdef QCOM2 #ifdef QCOM2

12
selfdrive/camerad/cameras/camera_common.h
Unescape View File

@ -47,15 +47,20 @@ const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL; const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL; const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
typedef void (*release_cb)(void *cookie, int buf_idx); typedef void (*release_cb)(void *cookie, int buf_idx);
typedef struct CameraInfo { typedef struct CameraInfo {
int frame_width, frame_height; uint32_t frame_width, frame_height;
int frame_stride; uint32_t frame_stride;
bool bayer; bool bayer;
int bayer_flip; int bayer_flip;
bool hdr; bool hdr;
uint32_t frame_offset = 0;
uint32_t extra_height = 0;
int registers_offset = -1;
int stats_offset = -1;
} CameraInfo; } CameraInfo;
typedef struct FrameMetadata { typedef struct FrameMetadata {
@ -111,6 +116,7 @@ public:
FrameMetadata cur_frame_data; FrameMetadata cur_frame_data;
VisionBuf *cur_rgb_buf; VisionBuf *cur_rgb_buf;
VisionBuf *cur_yuv_buf; VisionBuf *cur_yuv_buf;
VisionBuf *cur_camera_buf;
std::unique_ptr<VisionBuf[]> camera_bufs; std::unique_ptr<VisionBuf[]> camera_bufs;
std::unique_ptr<FrameMetadata[]> camera_bufs_metadata; std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
int rgb_width, rgb_height, rgb_stride; int rgb_width, rgb_height, rgb_stride;
@ -129,9 +135,9 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data); void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
kj::Array<uint8_t> get_frame_image(const CameraBuf *b); kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip); float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback); std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
void common_process_driver_camera(MultiCameraState *s, CameraState *c, int cnt);
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx); void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
void cameras_open(MultiCameraState *s); void cameras_open(MultiCameraState *s);

318
selfdrive/camerad/cameras/camera_qcom2.cc
Unescape View File

@ -31,6 +31,9 @@ const size_t FRAME_WIDTH = 1928;
const size_t FRAME_HEIGHT = 1208; const size_t FRAME_HEIGHT = 1208;
const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment)
const size_t AR0231_REGISTERS_HEIGHT = 2;
const size_t AR0231_STATS_HEIGHT = 2;
const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
CameraInfo cameras_supported[CAMERA_ID_MAX] = { CameraInfo cameras_supported[CAMERA_ID_MAX] = {
@ -38,17 +41,24 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
.frame_width = FRAME_WIDTH, .frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT, .frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_STRIDE, .frame_stride = FRAME_STRIDE,
.extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT,
.registers_offset = 0,
.frame_offset = AR0231_REGISTERS_HEIGHT,
.stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
.bayer = true, .bayer = true,
.bayer_flip = 1, .bayer_flip = 1,
.hdr = false .hdr = false,
}, },
[CAMERA_ID_IMX390] = { [CAMERA_ID_IMX390] = {
.frame_width = FRAME_WIDTH, .frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT, .frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_STRIDE, .frame_stride = FRAME_STRIDE,
.bayer = true, .bayer = true,
.bayer_flip = 1, .bayer_flip = 1,
.hdr = false .hdr = false,
}, },
}; };
@ -87,11 +97,11 @@ int do_cam_control(int fd, int op_code, void *handle, int size) {
return ret; return ret;
} }
std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data) { std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1) {
struct cam_acquire_dev_cmd cmd = { struct cam_acquire_dev_cmd cmd = {
.session_handle = session_handle, .session_handle = session_handle,
.handle_type = CAM_HANDLE_USER_POINTER, .handle_type = CAM_HANDLE_USER_POINTER,
.num_resources = (uint32_t)(data ? 1 : 0), .num_resources = (uint32_t)(data ? num_resources : 0),
.resource_hdl = (uint64_t)data, .resource_hdl = (uint64_t)data,
}; };
int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
@ -158,6 +168,42 @@ void release_fd(int video0_fd, uint32_t handle) {
release(video0_fd, handle); release(video0_fd, handle);
} }
void *MemoryManager::alloc(int size, uint32_t *handle) {
lock.lock();
void *ptr;
if (!cached_allocations[size].empty()) {
ptr = cached_allocations[size].front();
cached_allocations[size].pop();
*handle = handle_lookup[ptr];
} else {
ptr = alloc_w_mmu_hdl(video0_fd, size, handle);
handle_lookup[ptr] = *handle;
size_lookup[ptr] = size;
}
lock.unlock();
return ptr;
}
void MemoryManager::free(void *ptr) {
lock.lock();
cached_allocations[size_lookup[ptr]].push(ptr);
lock.unlock();
}
MemoryManager::~MemoryManager() {
for (auto& x : cached_allocations) {
while (!x.second.empty()) {
void *ptr = x.second.front();
x.second.pop();
LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]);
munmap(ptr, size_lookup[ptr]);
release_fd(video0_fd, handle_lookup[ptr]);
handle_lookup.erase(ptr);
size_lookup.erase(ptr);
}
}
}
int CameraState::clear_req_queue() { int CameraState::clear_req_queue() {
struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
req_mgr_flush_request.session_hdl = session_handle; req_mgr_flush_request.session_hdl = session_handle;
@ -186,7 +232,7 @@ void CameraState::sensors_start() {
void CameraState::sensors_poke(int request_id) { void CameraState::sensors_poke(int request_id) {
uint32_t cam_packet_handle = 0; uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet); int size = sizeof(struct cam_packet);
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle); struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 0; pkt->num_cmd_buf = 0;
pkt->kmd_cmd_buf_index = -1; pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size; pkt->header.size = size;
@ -200,15 +246,14 @@ void CameraState::sensors_poke(int request_id) {
return; return;
} }
munmap(pkt, size); mm.free(pkt);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
} }
void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
// LOGD("sensors_i2c: %d", len); // LOGD("sensors_i2c: %d", len);
uint32_t cam_packet_handle = 0; uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle); struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 1; pkt->num_cmd_buf = 1;
pkt->kmd_cmd_buf_index = -1; pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size; pkt->header.size = size;
@ -218,7 +263,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload); buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
buf_desc[0].type = CAM_CMD_BUF_I2C; buf_desc[0].type = CAM_CMD_BUF_I2C;
struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
i2c_random_wr->header.count = len; i2c_random_wr->header.count = len;
i2c_random_wr->header.op_code = 1; i2c_random_wr->header.op_code = 1;
i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR; i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
@ -233,10 +278,8 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
return; return;
} }
munmap(i2c_random_wr, buf_desc[0].size); mm.free(i2c_random_wr);
release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle); mm.free(pkt);
munmap(pkt, size);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
} }
static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
@ -248,10 +291,9 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
}; };
int CameraState::sensors_init() { int CameraState::sensors_init() {
int video0_fd = multi_cam_state->video0_fd;
uint32_t cam_packet_handle = 0; uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(video0_fd, size, &cam_packet_handle); struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 2; pkt->num_cmd_buf = 2;
pkt->kmd_cmd_buf_index = -1; pkt->kmd_cmd_buf_index = -1;
pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE; pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
@ -260,7 +302,7 @@ int CameraState::sensors_init() {
buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe); buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
buf_desc[0].type = CAM_CMD_BUF_LEGACY; buf_desc[0].type = CAM_CMD_BUF_LEGACY;
struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)alloc_w_mmu_hdl(video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
auto probe = (struct cam_cmd_probe *)(i2c_info + 1); auto probe = (struct cam_cmd_probe *)(i2c_info + 1);
probe->camera_id = camera_num; probe->camera_id = camera_num;
@ -302,7 +344,7 @@ int CameraState::sensors_init() {
//buf_desc[1].size = buf_desc[1].length = 148; //buf_desc[1].size = buf_desc[1].length = 148;
buf_desc[1].size = buf_desc[1].length = 196; buf_desc[1].size = buf_desc[1].length = 196;
buf_desc[1].type = CAM_CMD_BUF_I2C; buf_desc[1].type = CAM_CMD_BUF_I2C;
struct cam_cmd_power *power_settings = (struct cam_cmd_power *)alloc_w_mmu_hdl(video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); struct cam_cmd_power *power_settings = (struct cam_cmd_power *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
memset(power_settings, 0, buf_desc[1].size); memset(power_settings, 0, buf_desc[1].size);
// power on // power on
@ -363,12 +405,9 @@ int CameraState::sensors_init() {
LOGD("probing the sensor"); LOGD("probing the sensor");
int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0); int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
munmap(i2c_info, buf_desc[0].size); mm.free(i2c_info);
release_fd(video0_fd, buf_desc[0].mem_handle); mm.free(power_settings);
munmap(power_settings, buf_desc[1].size); mm.free(pkt);
release_fd(video0_fd, buf_desc[1].mem_handle);
munmap(pkt, size);
release_fd(video0_fd, cam_packet_handle);
return ret; return ret;
} }
@ -379,7 +418,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
if (io_mem_handle != 0) { if (io_mem_handle != 0) {
size += sizeof(struct cam_buf_io_cfg); size += sizeof(struct cam_buf_io_cfg);
} }
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle); struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 2; pkt->num_cmd_buf = 2;
pkt->kmd_cmd_buf_index = 0; pkt->kmd_cmd_buf_index = 0;
// YUV has kmd_cmd_buf_offset = 1780 // YUV has kmd_cmd_buf_offset = 1780
@ -387,7 +426,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
// YUV also has patch_offset = 0x1030 and num_patches = 10 // YUV also has patch_offset = 0x1030 and num_patches = 10
if (io_mem_handle != 0) { if (io_mem_handle != 0) {
pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*2; pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf;
pkt->num_io_configs = 1; pkt->num_io_configs = 1;
} }
@ -474,16 +513,16 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
buf_desc[1].type = CAM_CMD_BUF_GENERIC; buf_desc[1].type = CAM_CMD_BUF_GENERIC;
buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON; buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
uint32_t *buf2 = (uint32_t *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle, 0x20); uint32_t *buf2 = (uint32_t *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
memcpy(buf2, &tmp, sizeof(tmp)); memcpy(buf2, &tmp, sizeof(tmp));
if (io_mem_handle != 0) { if (io_mem_handle != 0) {
io_cfg[0].mem_handle[0] = io_mem_handle; io_cfg[0].mem_handle[0] = io_mem_handle;
io_cfg[0].planes[0] = (struct cam_plane_cfg){ io_cfg[0].planes[0] = (struct cam_plane_cfg){
.width = FRAME_WIDTH, .width = ci.frame_width,
.height = FRAME_HEIGHT, .height = ci.frame_height + ci.extra_height,
.plane_stride = FRAME_STRIDE, .plane_stride = ci.frame_stride,
.slice_height = FRAME_HEIGHT, .slice_height = ci.frame_height + ci.extra_height,
.meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000) .meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000)
.meta_size = 0x0, .meta_size = 0x0,
.meta_offset = 0x0, .meta_offset = 0x0,
@ -510,24 +549,20 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
printf("ISP CONFIG FAILED\n"); printf("ISP CONFIG FAILED\n");
} }
munmap(buf2, buf_desc[1].size); mm.free(buf2);
release_fd(multi_cam_state->video0_fd, buf_desc[1].mem_handle); mm.free(pkt);
// release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle);
munmap(pkt, size);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
} }
void CameraState::enqueue_buffer(int i, bool dp) { void CameraState::enqueue_buffer(int i, bool dp) {
int ret; int ret;
int request_id = request_ids[i]; int request_id = request_ids[i];
if (buf_handle[i]) { if (buf_handle[i] && sync_objs[i]) {
release(multi_cam_state->video0_fd, buf_handle[i]);
// wait // wait
struct cam_sync_wait sync_wait = {0}; struct cam_sync_wait sync_wait = {0};
sync_wait.sync_obj = sync_objs[i]; sync_wait.sync_obj = sync_objs[i];
sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23 sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
// LOGD("fence wait: %d %d", ret, sync_wait.sync_obj); // LOGD("fence wait: %d %d", ret, sync_wait.sync_obj);
buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof
@ -535,42 +570,31 @@ void CameraState::enqueue_buffer(int i, bool dp) {
// destroy old output fence // destroy old output fence
struct cam_sync_info sync_destroy = {0}; struct cam_sync_info sync_destroy = {0};
strcpy(sync_destroy.name, "NodeOutputPortFence");
sync_destroy.sync_obj = sync_objs[i]; sync_destroy.sync_obj = sync_objs[i];
ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy)); ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
// LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj); // LOGD("fence destroy: %d %d", ret, sync_destroy.sync_obj);
} }
// do stuff
struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
req_mgr_sched_request.session_hdl = session_handle;
req_mgr_sched_request.link_hdl = link_handle;
req_mgr_sched_request.req_id = request_id;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
// LOGD("sched req: %d %d", ret, request_id);
// create output fence // create output fence
struct cam_sync_info sync_create = {0}; struct cam_sync_info sync_create = {0};
strcpy(sync_create.name, "NodeOutputPortFence"); strcpy(sync_create.name, "NodeOutputPortFence");
ret = do_cam_control(multi_cam_state->video1_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
// LOGD("fence req: %d %d", ret, sync_create.sync_obj); // LOGD("fence req: %d %d", ret, sync_create.sync_obj);
sync_objs[i] = sync_create.sync_obj; sync_objs[i] = sync_create.sync_obj;
// configure ISP to put the image in place // schedule request with camera request manager
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; struct cam_req_mgr_sched_request req_mgr_sched_request = {0};
mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu; req_mgr_sched_request.session_hdl = session_handle;
mem_mgr_map_cmd.num_hdl = 1; req_mgr_sched_request.link_hdl = link_handle;
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; req_mgr_sched_request.req_id = request_id;
mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); // LOGD("sched req: %d %d", ret, request_id);
// LOGD("map buf req: (fd: %d) 0x%x %d", bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
// poke sensor // poke sensor, must happen after schedule
sensors_poke(request_id); sensors_poke(request_id);
// LOGD("Poked sensor"); // LOGD("Poked sensor");
// push the buffer // submit request to the ife
config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1)); config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
} }
@ -616,6 +640,9 @@ void CameraState::camera_open() {
assert(sensor_fd >= 0); assert(sensor_fd >= 0);
LOGD("opened sensor for %d", camera_num); LOGD("opened sensor for %d", camera_num);
// init memorymanager for this camera
mm.init(multi_cam_state->video0_fd);
// probe the sensor // probe the sensor
LOGD("-- Probing sensor %d", camera_num); LOGD("-- Probing sensor %d", camera_num);
ret = sensors_init(); ret = sensors_init();
@ -665,23 +692,23 @@ void CameraState::camera_open() {
.lane_cfg = 0x3210, .lane_cfg = 0x3210,
.vc = 0x0, .vc = 0x0,
.dt = 0x2C, // CSI_RAW12 .dt = 0x12, // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead
.format = CAM_FORMAT_MIPI_RAW_12, .format = CAM_FORMAT_MIPI_RAW_12,
.test_pattern = 0x2, // 0x3? .test_pattern = 0x2, // 0x3?
.usage_type = 0x0, .usage_type = 0x0,
.left_start = 0, .left_start = 0,
.left_stop = FRAME_WIDTH - 1, .left_stop = ci.frame_width - 1,
.left_width = FRAME_WIDTH, .left_width = ci.frame_width,
.right_start = 0, .right_start = 0,
.right_stop = FRAME_WIDTH - 1, .right_stop = ci.frame_width - 1,
.right_width = FRAME_WIDTH, .right_width = ci.frame_width,
.line_start = 0, .line_start = 0,
.line_stop = FRAME_HEIGHT - 1, .line_stop = ci.frame_height + ci.extra_height - 1,
.height = FRAME_HEIGHT, .height = ci.frame_height + ci.extra_height,
.pixel_clk = 0x0, .pixel_clk = 0x0,
.batch_size = 0x0, .batch_size = 0x0,
@ -693,8 +720,8 @@ void CameraState::camera_open() {
.data[0] = (struct cam_isp_out_port_info){ .data[0] = (struct cam_isp_out_port_info){
.res_type = CAM_ISP_IFE_OUT_RES_RDI_0, .res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
.format = CAM_FORMAT_MIPI_RAW_12, .format = CAM_FORMAT_MIPI_RAW_12,
.width = FRAME_WIDTH, .width = ci.frame_width,
.height = FRAME_HEIGHT, .height = ci.frame_height + ci.extra_height,
.comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
}, },
}; };
@ -729,7 +756,7 @@ void CameraState::camera_open() {
{ {
uint32_t cam_packet_handle = 0; uint32_t cam_packet_handle = 0;
int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
struct cam_packet *pkt = (struct cam_packet *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, size, &cam_packet_handle); struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
pkt->num_cmd_buf = 1; pkt->num_cmd_buf = 1;
pkt->kmd_cmd_buf_index = -1; pkt->kmd_cmd_buf_index = -1;
pkt->header.size = size; pkt->header.size = size;
@ -738,7 +765,7 @@ void CameraState::camera_open() {
buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info); buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
buf_desc[0].type = CAM_CMD_BUF_GENERIC; buf_desc[0].type = CAM_CMD_BUF_GENERIC;
struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)alloc_w_mmu_hdl(multi_cam_state->video0_fd, buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
csiphy_info->lane_mask = 0x1f; csiphy_info->lane_mask = 0x1f;
csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels?? csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
@ -751,10 +778,8 @@ void CameraState::camera_open() {
int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle); int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
assert(ret_ == 0); assert(ret_ == 0);
munmap(csiphy_info, buf_desc[0].size); mm.free(csiphy_info);
release_fd(multi_cam_state->video0_fd, buf_desc[0].mem_handle); mm.free(pkt);
munmap(pkt, size);
release_fd(multi_cam_state->video0_fd, cam_packet_handle);
} }
// link devices // link devices
@ -781,6 +806,18 @@ void CameraState::camera_open() {
ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle); ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
LOGD("start isp: %d", ret); LOGD("start isp: %d", ret);
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
// configure ISP to put the image in place
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
mem_mgr_map_cmd.num_hdl = 1;
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
}
// TODO: this is unneeded, should we be doing the start i2c in a different way? // TODO: this is unneeded, should we be doing the start i2c in a different way?
//ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle); //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);
//LOGD("start sensor: %d", ret); //LOGD("start sensor: %d", ret);
@ -807,9 +844,9 @@ void cameras_open(MultiCameraState *s) {
LOGD("opened video0"); LOGD("opened video0");
// video1 is cam_sync, the target of some ioctls // video1 is cam_sync, the target of some ioctls
s->video1_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK)); s->cam_sync_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK));
assert(s->video1_fd >= 0); assert(s->cam_sync_fd >= 0);
LOGD("opened video1"); LOGD("opened video1 (cam_sync)");
// looks like there's only one of these // looks like there's only one of these
s->isp_fd = open_v4l_by_name_and_index("cam-isp"); s->isp_fd = open_v4l_by_name_and_index("cam-isp");
@ -834,7 +871,7 @@ void cameras_open(MultiCameraState *s) {
LOG("-- Subscribing"); LOG("-- Subscribing");
static struct v4l2_event_subscription sub = {0}; static struct v4l2_event_subscription sub = {0};
sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT; sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT;
sub.id = 2; // should use boot time for sof sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS;
ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
printf("req mgr subscribe: %d\n", ret); printf("req mgr subscribe: %d\n", ret);
@ -883,6 +920,11 @@ void CameraState::camera_close() {
LOGD("release isp: %d", ret); LOGD("release isp: %d", ret);
ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle); ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
LOGD("release csiphy: %d", ret); LOGD("release csiphy: %d", ret);
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
release(multi_cam_state->video0_fd, buf_handle[i]);
}
LOGD("released buffers");
} }
ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle); ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle);
@ -903,6 +945,70 @@ void cameras_close(MultiCameraState *s) {
delete s->pm; delete s->pm;
} }
std::map<uint16_t, std::pair<int, int>> CameraState::ar0231_build_register_lut(uint8_t *data) {
// This function builds a lookup table from register address, to a pair of indices in the
// buffer where to read this address. The buffer contains padding bytes,
// as well as markers to indicate the type of the next byte.
//
// 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address.
// Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional
// for contigous ranges. See page 27-29 of the AR0231 Developer guide for more information.
int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3};
auto get_next_idx = [](int cur_idx) {
return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding
};
std::map<uint16_t, std::pair<int, int>> registers;
for (int register_row = 0; register_row < 2; register_row++) {
uint8_t *registers_raw = data + ci.frame_stride * register_row;
assert(registers_raw[0] == 0x0a); // Start of line
int value_tag_count = 0;
int first_val_idx = 0;
uint16_t cur_addr = 0;
for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) {
int val_idx = get_next_idx(i);
uint8_t tag = registers_raw[i];
uint16_t val = registers_raw[val_idx];
if (tag == 0xAA) { // Register MSB tag
cur_addr = val << 8;
} else if (tag == 0xA5) { // Register LSB tag
cur_addr |= val;
cur_addr -= 2; // Next value tag will increment address again
} else if (tag == 0x5A) { // Value tag
// First tag
if (value_tag_count % 2 == 0) {
cur_addr += 2;
first_val_idx = val_idx;
} else {
registers[cur_addr] = std::make_pair(first_val_idx + ci.frame_stride * register_row, val_idx + ci.frame_stride * register_row);
}
value_tag_count++;
}
}
}
return registers;
}
std::map<uint16_t, uint16_t> CameraState::ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs) {
if (ar0231_register_lut.empty()) {
ar0231_register_lut = ar0231_build_register_lut(data);
}
std::map<uint16_t, uint16_t> registers;
for (uint16_t addr : addrs) {
auto offset = ar0231_register_lut[addr];
registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second];
}
return registers;
}
void CameraState::handle_camera_event(void *evdat) { void CameraState::handle_camera_event(void *evdat) {
if (!enabled) return; if (!enabled) return;
struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat; struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat;
@ -1082,7 +1188,49 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
s->set_camera_exposure(grey_frac); s->set_camera_exposure(grey_frac);
} }
// called by processing_thread static float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) {
// See AR0231 Developer Guide - page 36
float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2);
float t0 = 55.0 - slope * (float)calib2;
return t0 + slope * (float)data_reg;
}
static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed){
uint8_t *data = (uint8_t*)c->buf.cur_camera_buf->addr + c->ci.registers_offset;
auto registers = c->ar0231_parse_registers(data, {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc});
uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002];
framed.setFrameIdSensor(frame_id);
float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]);
float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]);
framed.setTemperaturesC({temp_0, temp_1});
}
static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
const CameraBuf *b = &c->buf;
static ExpRect rect = {96, 1832, 2, 242, 1148, 4};
camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip));
}
static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
s->sm->update(0);
driver_cam_auto_exposure(c, *(s->sm));
MessageBuilder msg;
auto framed = msg.initEvent().initDriverCameraState();
framed.setFrameType(cereal::FrameData::FrameType::FRONT);
fill_frame_data(framed, c->buf.cur_frame_data);
if (env_send_driver) {
framed.setImage(get_frame_image(&c->buf));
}
if (c->camera_id == CAMERA_ID_AR0231) {
ar0231_process_registers(s, c, framed);
}
s->pm->send("driverCameraState", msg);
}
void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
const CameraBuf *b = &c->buf; const CameraBuf *b = &c->buf;
@ -1091,12 +1239,19 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
fill_frame_data(framed, b->cur_frame_data); fill_frame_data(framed, b->cur_frame_data);
if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) { if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) {
framed.setImage(get_frame_image(b)); framed.setImage(get_frame_image(b));
} else if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) { // no overlap with qlog decimation
framed.setImage(get_raw_frame_image(b));
} }
LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera"); LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
if (c == &s->road_cam) { if (c == &s->road_cam) {
framed.setTransform(b->yuv_transform.v); framed.setTransform(b->yuv_transform.v);
LOGT(c->buf.cur_frame_data.frame_id, "%s: Transformed", "RoadCamera"); LOGT(c->buf.cur_frame_data.frame_id, "%s: Transformed", "RoadCamera");
} }
if (c->camera_id == CAMERA_ID_AR0231) {
ar0231_process_registers(s, c, framed);
}
s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg); s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986); const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986);
@ -1107,7 +1262,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
void cameras_run(MultiCameraState *s) { void cameras_run(MultiCameraState *s) {
LOG("-- Starting threads"); LOG("-- Starting threads");
std::vector<std::thread> threads; std::vector<std::thread> threads;
if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, common_process_driver_camera)); if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
if (s->road_cam.enabled) threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera)); if (s->road_cam.enabled) threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
if (s->wide_road_cam.enabled) threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera)); if (s->wide_road_cam.enabled) threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));
@ -1166,3 +1321,4 @@ void cameras_run(MultiCameraState *s) {
cameras_close(s); cameras_close(s);
} }

26
selfdrive/camerad/cameras/camera_qcom2.h
Unescape View File

@ -1,6 +1,8 @@
#pragma once #pragma once
#include <cstdint> #include <cstdint>
#include <map>
#include <utility>
#include <media/cam_req_mgr.h> #include <media/cam_req_mgr.h>
@ -9,6 +11,20 @@
#define FRAME_BUF_COUNT 4 #define FRAME_BUF_COUNT 4
class MemoryManager {
public:
void init(int _video0_fd) { video0_fd = _video0_fd; }
void *alloc(int len, uint32_t *handle);
void free(void *ptr);
~MemoryManager();
private:
std::mutex lock;
std::map<void *, uint32_t> handle_lookup;
std::map<void *, int> size_lookup;
std::map<int, std::queue<void *> > cached_allocations;
int video0_fd;
};
class CameraState { class CameraState {
public: public:
MultiCameraState *multi_cam_state; MultiCameraState *multi_cam_state;
@ -42,6 +58,8 @@ public:
void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled); void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled);
void camera_close(); void camera_close();
std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
int32_t session_handle; int32_t session_handle;
int32_t sensor_dev_handle; int32_t sensor_dev_handle;
int32_t isp_dev_handle; int32_t isp_dev_handle;
@ -60,6 +78,8 @@ public:
int camera_id; int camera_id;
CameraBuf buf; CameraBuf buf;
MemoryManager mm;
private: private:
void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset); void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
void enqueue_req_multi(int start, int n, bool dp); void enqueue_req_multi(int start, int n, bool dp);
@ -69,11 +89,15 @@ private:
int sensors_init(); int sensors_init();
void sensors_poke(int request_id); void sensors_poke(int request_id);
void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); void sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
// Register parsing
std::map<uint16_t, std::pair<int, int>> ar0231_register_lut;
std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(uint8_t *data);
}; };
typedef struct MultiCameraState { typedef struct MultiCameraState {
unique_fd video0_fd; unique_fd video0_fd;
unique_fd video1_fd; unique_fd cam_sync_fd;
unique_fd isp_fd; unique_fd isp_fd;
int device_iommu; int device_iommu;
int cdm_iommu; int cdm_iommu;

6
selfdrive/camerad/cameras/camera_replay.cc
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@ -30,9 +30,9 @@ void camera_init(VisionIpcServer *v, CameraState *s, int camera_id, unsigned int
} }
CameraInfo ci = { CameraInfo ci = {
.frame_width = s->frame->width, .frame_width = (uint32_t)s->frame->width,
.frame_height = s->frame->height, .frame_height = (uint32_t)s->frame->height,
.frame_stride = s->frame->width * 3, .frame_stride = (uint32_t)s->frame->width * 3,
}; };
s->ci = ci; s->ci = ci;
s->camera_num = camera_id; s->camera_num = camera_id;

80
selfdrive/camerad/cameras/real_debayer.cl
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@ -1,52 +1,54 @@
#ifdef HALF_AS_FLOAT
#define half float
#define half3 float3
#else
#pragma OPENCL EXTENSION cl_khr_fp16 : enable #pragma OPENCL EXTENSION cl_khr_fp16 : enable
#endif
const __constant half3 color_correction[3] = {
// post wb CCM // post wb CCM
(half3)(1.82717181, -0.31231438, 0.07307673), const __constant half3 color_correction_0 = (half3)(1.82717181, -0.31231438, 0.07307673);
(half3)(-0.5743977, 1.36858544, -0.53183455), const __constant half3 color_correction_1 = (half3)(-0.5743977, 1.36858544, -0.53183455);
(half3)(-0.25277411, -0.05627105, 1.45875782), const __constant half3 color_correction_2 = (half3)(-0.25277411, -0.05627105, 1.45875782);
};
// tone mapping params // tone mapping params
const half cpk = 0.75; const half gamma_k = 0.75;
const half cpb = 0.125; const half gamma_b = 0.125;
const half cpxk = 0.0025; const half mp_default = 0.01; // ideally midpoint should be adaptive
const half cpxb = 0.01;
half gamma_apply(half x, half mp) {
half mf(half x, half cp) { // poly approximation for s curve
half rk = 9 - 100*cp; half rk = 9 - 100*mp;
if (x > cp) { if (x > mp) {
return (rk * (x-cp) * (1-(cpk*cp+cpb)) * (1+1/(rk*(1-cp))) / (1+rk*(x-cp))) + cpk*cp + cpb; return (rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b;
} else if (x < cp) { } else if (x < mp) {
return (rk * (x-cp) * (cpk*cp+cpb) * (1+1/(rk*cp)) / (1-rk*(x-cp))) + cpk*cp + cpb; return (rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b;
} else { } else {
return x; return x;
} }
} }
half3 color_correct(half3 rgb) { half3 color_correct(half3 rgb) {
half3 ret = (0,0,0); half3 ret = (half3)(0.0, 0.0, 0.0);
half cpx = 0.01; ret += (half)rgb.x * color_correction_0;
ret += (half)rgb.x * color_correction[0]; ret += (half)rgb.y * color_correction_1;
ret += (half)rgb.y * color_correction[1]; ret += (half)rgb.z * color_correction_2;
ret += (half)rgb.z * color_correction[2]; ret.x = gamma_apply(ret.x, mp_default);
ret.x = mf(ret.x, cpx); ret.y = gamma_apply(ret.y, mp_default);
ret.y = mf(ret.y, cpx); ret.z = gamma_apply(ret.z, mp_default);
ret.z = mf(ret.z, cpx); ret = clamp(0.0, 255.0, ret*255.0);
ret = clamp(0.0h, 255.0h, ret*255.0h);
return ret; return ret;
} }
inline half val_from_10(const uchar * source, int gx, int gy, half black_level) { inline half val_from_10(const uchar * source, int gx, int gy, half black_level) {
// parse 12bit // parse 12bit
int start = gy * FRAME_STRIDE + (3 * (gx / 2)); int start = gy * FRAME_STRIDE + (3 * (gx / 2)) + (FRAME_STRIDE * FRAME_OFFSET);
int offset = gx % 2; int offset = gx % 2;
uint major = (uint)source[start + offset] << 4; uint major = (uint)source[start + offset] << 4;
uint minor = (source[start + 2] >> (4 * offset)) & 0xf; uint minor = (source[start + 2] >> (4 * offset)) & 0xf;
half pv = (half)((major + minor)/4); half pv = (half)((major + minor)/4);
// normalize // normalize
pv = max(0.0h, pv - black_level); pv = max((half)0.0, pv - black_level);
pv /= (1024.0f - black_level); pv /= (1024.0f - black_level);
// correct vignetting // correct vignetting
@ -67,7 +69,7 @@ inline half val_from_10(const uchar * source, int gx, int gy, half black_level)
pv = s * pv; pv = s * pv;
} }
pv = clamp(0.0h, 1.0h, pv); pv = clamp((half)0.0, (half)1.0, pv);
return pv; return pv;
} }
@ -104,35 +106,33 @@ __kernel void debayer10(const __global uchar * in,
half pv = val_from_10(in, x_global, y_global, black_level); half pv = val_from_10(in, x_global, y_global, black_level);
cached[localOffset] = pv; cached[localOffset] = pv;
// don't care
if (x_global < 1 || x_global >= RGB_WIDTH - 1 || y_global < 1 || y_global >= RGB_HEIGHT - 1) {
return;
}
// cache padding // cache padding
int localColOffset = -1; int localColOffset = -1;
int globalColOffset = -1; int globalColOffset = -1;
const int x_global_mod = (x_global == 0 || x_global == RGB_WIDTH - 1) ? -1: 1;
const int y_global_mod = (y_global == 0 || y_global == RGB_HEIGHT - 1) ? -1: 1;
// cache padding // cache padding
if (x_local < 1) { if (x_local < 1) {
localColOffset = x_local; localColOffset = x_local;
globalColOffset = -1; globalColOffset = -1;
cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-1, y_global, black_level); cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-x_global_mod, y_global, black_level);
} else if (x_local >= get_local_size(0) - 1) { } else if (x_local >= get_local_size(0) - 1) {
localColOffset = x_local + 2; localColOffset = x_local + 2;
globalColOffset = 1; globalColOffset = 1;
cached[localOffset + 1] = val_from_10(in, x_global+1, y_global, black_level); cached[localOffset + 1] = val_from_10(in, x_global+x_global_mod, y_global, black_level);
} }
if (y_local < 1) { if (y_local < 1) {
cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-1, black_level); cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-y_global_mod, black_level);
if (localColOffset != -1) { if (localColOffset != -1) {
cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global-1, black_level); cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+(x_global_mod*globalColOffset), y_global-y_global_mod, black_level);
} }
} else if (y_local >= get_local_size(1) - 1) { } else if (y_local >= get_local_size(1) - 1) {
cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+1, black_level); cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+y_global_mod, black_level);
if (localColOffset != -1) { if (localColOffset != -1) {
cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global+1, black_level); cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+(x_global_mod*globalColOffset), y_global+y_global_mod, black_level);
} }
} }
@ -197,7 +197,7 @@ __kernel void debayer10(const __global uchar * in,
} }
} }
rgb = clamp(0.0h, 1.0h, rgb); rgb = clamp(0.0, 1.0, rgb);
rgb = color_correct(rgb); rgb = color_correct(rgb);
out[out_idx + 0] = (uchar)(rgb.z); out[out_idx + 0] = (uchar)(rgb.z);

18
selfdrive/camerad/cameras/sensor2_i2c.h
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@ -67,7 +67,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x30A6, 0x0001}, // Y_ODD_INC_ {0x30A6, 0x0001}, // Y_ODD_INC_
{0x3402, 0x0788}, // X_OUTPUT_CONTROL {0x3402, 0x0788}, // X_OUTPUT_CONTROL
{0x3404, 0x04B8}, // Y_OUTPUT_CONTROL {0x3404, 0x04B8}, // Y_OUTPUT_CONTROL
{0x3064, 0x1802}, // SMIA_TEST {0x3064, 0x1982}, // SMIA_TEST
{0x30BA, 0x11F2}, // DIGITAL_CTRL {0x30BA, 0x11F2}, // DIGITAL_CTRL
// Enable external trigger and disable GPIO outputs // Enable external trigger and disable GPIO outputs
@ -83,10 +83,10 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
// Readout Settings // Readout Settings
{0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI {0x31AE, 0x0204}, // SERIAL_FORMAT, 4-lane MIPI
{0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12 {0x31AC, 0x0C0C}, // DATA_FORMAT_BITS, 12 -> 12
{0x3342, 0x122C}, // MIPI_F1_PDT_EDT {0x3342, 0x1212}, // MIPI_F1_PDT_EDT
{0x3346, 0x122C}, // MIPI_F2_PDT_EDT {0x3346, 0x1212}, // MIPI_F2_PDT_EDT
{0x334A, 0x122C}, // MIPI_F3_PDT_EDT {0x334A, 0x1212}, // MIPI_F3_PDT_EDT
{0x334E, 0x122C}, // MIPI_F4_PDT_EDT {0x334E, 0x1212}, // MIPI_F4_PDT_EDT
{0x3344, 0x0011}, // MIPI_F1_VDT_VC {0x3344, 0x0011}, // MIPI_F1_VDT_VC
{0x3348, 0x0111}, // MIPI_F2_VDT_VC {0x3348, 0x0111}, // MIPI_F2_VDT_VC
{0x334C, 0x0211}, // MIPI_F3_VDT_VC {0x334C, 0x0211}, // MIPI_F3_VDT_VC
@ -101,6 +101,10 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x3370, 0x03B1}, // DBLC {0x3370, 0x03B1}, // DBLC
{0x3044, 0x0400}, // DARK_CONTROL {0x3044, 0x0400}, // DARK_CONTROL
// Enable temperature sensor
{0x30B4, 0x0007}, // TEMPSENS0_CTRL_REG
{0x30B8, 0x0007}, // TEMPSENS1_CTRL_REG
// Enable dead pixel correction using // Enable dead pixel correction using
// the 1D line correction scheme // the 1D line correction scheme
{0x31E0, 0x0003}, {0x31E0, 0x0003},
@ -114,9 +118,7 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN {0x100E, 0x07B1}, // FINE_INTEGRATION_TIME3_MIN
{0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN {0x1010, 0x0139}, // FINE_INTEGRATION_TIME4_MIN
{0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_ {0x3014, 0x08CB}, // FINE_INTEGRATION_TIME_
{0x321E, 0x08CB}, // FINE_INTEGRATION_TIME2 {0x321E, 0x0894}, // FINE_INTEGRATION_TIME2
{0x321E, 0x08CB}, // FINE_INTEGRATION_TIME3
{0x321E, 0x0894}, // FINE_INTEGRATION_TIME4
{0x31D0, 0x0000}, // COMPANDING, no good in 10 bit? {0x31D0, 0x0000}, // COMPANDING, no good in 10 bit?
{0x33DA, 0x0000}, // COMPANDING {0x33DA, 0x0000}, // COMPANDING

2
selfdrive/car/CARS_template.md
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@ -1,5 +1,5 @@
{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%} {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
{% set star_icon = '<a href="#"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%} {% set star_icon = '<a href="##"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%}
# Supported Cars # Supported Cars

3
selfdrive/car/body/carstate.py
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@ -20,6 +20,9 @@ class CarState(CarStateBase):
ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'], ret.steerFaultPermanent = any([cp.vl['VAR_VALUES']['MOTOR_ERR_L'], cp.vl['VAR_VALUES']['MOTOR_ERR_R'],
cp.vl['VAR_VALUES']['FAULT']]) cp.vl['VAR_VALUES']['FAULT']])
ret.charging = cp.vl["BODY_DATA"]["CHARGER_CONNECTED"] == 1
ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
# irrelevant for non-car # irrelevant for non-car
ret.gearShifter = car.CarState.GearShifter.drive ret.gearShifter = car.CarState.GearShifter.drive
ret.cruiseState.enabled = True ret.cruiseState.enabled = True

44
selfdrive/car/chrysler/carcontroller.py
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@ -1,16 +1,16 @@
from cereal import car from cereal import car
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_toyota_steer_torque_limits from selfdrive.car import apply_toyota_steer_torque_limits
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \ from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons
create_wheel_buttons
from selfdrive.car.chrysler.values import CAR, CarControllerParams from selfdrive.car.chrysler.values import CAR, CarControllerParams
from opendbc.can.packer import CANPacker
class CarController():
class CarController:
def __init__(self, dbc_name, CP, VM): def __init__(self, dbc_name, CP, VM):
self.CP = CP self.CP = CP
self.apply_steer_last = 0 self.apply_steer_last = 0
self.ccframe = 0 self.frame = 0
self.prev_frame = -1 self.prev_lkas_frame = -1
self.hud_count = 0 self.hud_count = 0
self.car_fingerprint = CP.carFingerprint self.car_fingerprint = CP.carFingerprint
self.gone_fast_yet = False self.gone_fast_yet = False
@ -18,12 +18,13 @@ class CarController():
self.packer = CANPacker(dbc_name) self.packer = CANPacker(dbc_name)
def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert): def update(self, CC, CS):
# this seems needed to avoid steering faults and to force the sync with the EPS counter # this seems needed to avoid steering faults and to force the sync with the EPS counter
frame = CS.lkas_counter if self.prev_lkas_frame == CS.lkas_counter:
if self.prev_frame == frame:
return car.CarControl.Actuators.new_message(), [] return car.CarControl.Actuators.new_message(), []
actuators = CC.actuators
# steer torque # steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
@ -36,7 +37,7 @@ class CarController():
elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0): if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5 self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5
lkas_active = moving_fast and enabled lkas_active = moving_fast and CC.enabled
if not lkas_active: if not lkas_active:
apply_steer = 0 apply_steer = 0
@ -47,26 +48,21 @@ class CarController():
# *** control msgs *** # *** control msgs ***
if pcm_cancel_cmd: if CC.cruiseControl.cancel:
# TODO: would be better to start from frame_2b3 can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True))
new_msg = create_wheel_buttons(self.packer, self.ccframe, cancel=True)
can_sends.append(new_msg)
# LKAS_HEARTBIT is forwarded by Panda so no need to send it here. # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
# frame is 100Hz (0.01s period) # frame is 100Hz (0.01s period)
if (self.ccframe % 25 == 0): # 0.25s period if self.frame % 25 == 0: # 0.25s period
if (CS.lkas_car_model != -1): if CS.lkas_car_model != -1:
new_msg = create_lkas_hud( can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active,
self.packer, CS.out.gearShifter, lkas_active, hud_alert, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model))
self.hud_count, CS.lkas_car_model)
can_sends.append(new_msg)
self.hud_count += 1 self.hud_count += 1
new_msg = create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, frame) can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter))
can_sends.append(new_msg)
self.ccframe += 1 self.frame += 1
self.prev_frame = frame self.prev_lkas_frame = CS.lkas_counter
new_actuators = actuators.copy() new_actuators = actuators.copy()
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX

5
selfdrive/car/chrysler/carstate.py
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@ -53,6 +53,7 @@ class CarState(CarStateBase):
ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS ret.cruiseState.speed = cp.vl["DASHBOARD"]["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 # 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["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
@ -69,6 +70,7 @@ class CarState(CarStateBase):
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["LKAS_HUD"]["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["WHEEL_BUTTONS"]["COUNTER"]
return ret return ret
@ -93,6 +95,7 @@ class CarState(CarStateBase):
("STEERING_RATE", "STEERING"), ("STEERING_RATE", "STEERING"),
("TURN_SIGNALS", "STEERING_LEVERS"), ("TURN_SIGNALS", "STEERING_LEVERS"),
("ACC_STATUS_2", "ACC_2"), ("ACC_STATUS_2", "ACC_2"),
("ACC_FAULTED", "ACC_2"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"), ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD"), ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
("CRUISE_STATE", "DASHBOARD"), ("CRUISE_STATE", "DASHBOARD"),
@ -102,6 +105,7 @@ class CarState(CarStateBase):
("COUNTER", "EPS_STATUS",), ("COUNTER", "EPS_STATUS",),
("TRACTION_OFF", "TRACTION_BUTTON"), ("TRACTION_OFF", "TRACTION_BUTTON"),
("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"), ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
("COUNTER", "WHEEL_BUTTONS"),
] ]
checks = [ checks = [
@ -114,6 +118,7 @@ class CarState(CarStateBase):
("ACC_2", 50), ("ACC_2", 50),
("GEAR", 50), ("GEAR", 50),
("ACCEL_GAS_134", 50), ("ACCEL_GAS_134", 50),
("WHEEL_BUTTONS", 50),
("DASHBOARD", 15), ("DASHBOARD", 15),
("STEERING_LEVERS", 10), ("STEERING_LEVERS", 10),
("SEATBELT_STATUS", 2), ("SEATBELT_STATUS", 2),

2
selfdrive/car/chrysler/chryslercan.py
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@ -52,6 +52,6 @@ def create_wheel_buttons(packer, frame, cancel=False):
# WHEEL_BUTTONS (571) Message sent to cancel ACC. # WHEEL_BUTTONS (571) Message sent to cancel ACC.
values = { values = {
"ACC_CANCEL": cancel, "ACC_CANCEL": cancel,
"COUNTER": frame % 10 "COUNTER": frame % 0x10
} }
return packer.make_can_msg("WHEEL_BUTTONS", 0, values) return packer.make_can_msg("WHEEL_BUTTONS", 0, values)

6
selfdrive/car/chrysler/interface.py
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@ -65,8 +65,4 @@ class CarInterface(CarInterfaceBase):
# pass in a car.CarControl # pass in a car.CarControl
# to be called @ 100hz # to be called @ 100hz
def apply(self, c): def apply(self, c):
return self.CC.update(c, self.CS)
if (self.CS.frame == -1):
return car.CarControl.Actuators.new_message(), [] # if we haven't seen a frame 220, then do not update.
return self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)

20
selfdrive/car/chrysler/values.py
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@ -1,3 +1,4 @@
from dataclasses import dataclass
from typing import Dict, List, Union from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
@ -22,13 +23,18 @@ class CAR:
JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @dataclass
CAR.PACIFICA_2017_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2017-18", "Adaptive Cruise"), class ChryslerCarInfo(CarInfo):
CAR.PACIFICA_2019_HYBRID: CarInfo("Chrysler Pacifica Hybrid 2019-21", "Adaptive Cruise"), package: str = "Adaptive Cruise"
CAR.PACIFICA_2018: CarInfo("Chrysler Pacifica 2017-18", "Adaptive Cruise"),
CAR.PACIFICA_2020: CarInfo("Chrysler Pacifica 2020", "Adaptive Cruise"),
CAR.JEEP_CHEROKEE: CarInfo("Jeep Grand Cherokee 2016-18", "Adaptive Cruise", "https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR_INFO: Dict[str, Union[ChryslerCarInfo, List[ChryslerCarInfo]]] = {
CAR.JEEP_CHEROKEE_2019: CarInfo("Jeep Grand Cherokee 2019-20", "Adaptive Cruise", "https://www.youtube.com/watch?v=jBe4lWnRSu4"), CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-21"),
CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"),
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
} }
# Unique CAN messages: # Unique CAN messages:

6
selfdrive/car/gm/carstate.py
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@ -62,14 +62,14 @@ class CarState(CarStateBase):
ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1 ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0 ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1 ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
# Regen braking is braking # Regen braking is braking
if self.car_fingerprint == CAR.VOLT: if self.car_fingerprint == CAR.VOLT:
ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
return ret return ret

5
selfdrive/car/gm/interface.py
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@ -4,8 +4,7 @@ from math import fabs
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.gm.values import CAR, CruiseButtons, \ from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
AccState, CarControllerParams
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type ButtonType = car.CarState.ButtonEvent.Type
@ -190,8 +189,6 @@ class CarInterface(CarInterfaceBase):
events.add(EventName.belowEngageSpeed) events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill: if ret.cruiseState.standstill:
events.add(EventName.resumeRequired) events.add(EventName.resumeRequired)
if self.CS.pcm_acc_status == AccState.FAULTED:
events.add(EventName.accFaulted)
if ret.vEgo < self.CP.minSteerSpeed: if ret.vEgo < self.CP.minSteerSpeed:
events.add(car.CarEvent.EventName.belowSteerSpeed) events.add(car.CarEvent.EventName.belowSteerSpeed)

62
selfdrive/car/honda/values.py
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@ -1,14 +1,16 @@
from dataclasses import dataclass
from enum import Enum, IntFlag from enum import Enum, IntFlag
from typing import Dict, List, Union from typing import Dict, List, Union
from cereal import car from cereal import car
from common.conversions import Conversions as CV
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column
from common.conversions import Conversions as CV
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarControllerParams: class CarControllerParams:
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some # perform the closed loop control, and might need some
@ -53,6 +55,7 @@ class CruiseButtons:
CANCEL = 2 CANCEL = 2
MAIN = 1 MAIN = 1
# See dbc files for info on values # See dbc files for info on values
VISUAL_HUD = { VISUAL_HUD = {
VisualAlert.none: 0, VisualAlert.none: 0,
@ -97,33 +100,39 @@ class Footnote(Enum):
Column.FSR_STEERING) Column.FSR_STEERING)
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @dataclass
class HondaCarInfo(CarInfo):
package: str = "Honda Sensing"
min_steer_speed: float = 12. * CV.MPH_TO_MS
CAR_INFO: Dict[str, Union[HondaCarInfo, List[HondaCarInfo]]] = {
CAR.ACCORD: [ CAR.ACCORD: [
CarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
CarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
], ],
CAR.ACCORDH: CarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.CIVIC: CarInfo("Honda Civic 2016-18", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18"),
CAR.CIVIC_BOSCH: [ CAR.CIVIC_BOSCH: [
CarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
CarInfo("Honda Civic Hatchback 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic Hatchback 2017-21"),
], ],
CAR.ACURA_ILX: CarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
CAR.CRV: CarInfo("Honda CR-V 2015-16", "Touring", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring"),
CAR.CRV_5G: CarInfo("Honda CR-V 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21"),
# CAR.CRV_EU: CarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring # CAR.CRV_EU: HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: CarInfo("Honda CR-V Hybrid 2017-19", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19"),
CAR.FIT: CarInfo("Honda Fit 2018-19", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FIT: HondaCarInfo("Honda Fit 2018-19"),
CAR.FREED: CarInfo("Honda Freed 2020", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020"),
CAR.HRV: CarInfo("Honda HR-V 2019-20", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-20"),
CAR.ODYSSEY: CarInfo("Honda Odyssey 2018-20", "Honda Sensing"), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0.),
CAR.ACURA_RDX: CarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus"),
CAR.ACURA_RDX_3G: CarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.PILOT: CarInfo("Honda Pilot 2016-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21"),
CAR.PASSPORT: CarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS), CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All"),
CAR.RIDGELINE: CarInfo("Honda Ridgeline 2017-21", "Honda Sensing", min_steer_speed=12. * CV.MPH_TO_MS), CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22"),
CAR.INSIGHT: CarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS),
CAR.HONDA_E: CarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
} }
@ -1118,12 +1127,14 @@ FW_VERSIONS = {
CAR.PASSPORT: { CAR.PASSPORT: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [ (Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-RLV-B220\x00\x00', b'37805-RLV-B220\x00\x00',
b'37805-RLV-B210\x00\x00',
], ],
(Ecu.eps, 0x18da30f1, None): [ (Ecu.eps, 0x18da30f1, None): [
b'39990-TGS-A230\x00\x00', b'39990-TGS-A230\x00\x00',
], ],
(Ecu.fwdRadar, 0x18dab0f1, None): [ (Ecu.fwdRadar, 0x18dab0f1, None): [
b'36161-TGS-A030\x00\x00', b'36161-TGS-A030\x00\x00',
b'36161-TGS-A130\x00\x00',
], ],
(Ecu.gateway, 0x18daeff1, None): [ (Ecu.gateway, 0x18daeff1, None): [
b'38897-TG7-A040\x00\x00', b'38897-TG7-A040\x00\x00',
@ -1139,6 +1150,7 @@ FW_VERSIONS = {
], ],
(Ecu.combinationMeter, 0x18da60f1, None): [ (Ecu.combinationMeter, 0x18da60f1, None): [
b'78109-TGS-AT20\x00\x00', b'78109-TGS-AT20\x00\x00',
b'78109-TGS-AX20\x00\x00',
], ],
(Ecu.vsa, 0x18da28f1, None): [ (Ecu.vsa, 0x18da28f1, None): [
b'57114-TGS-A530\x00\x00', b'57114-TGS-A530\x00\x00',

15
selfdrive/car/hyundai/carstate.py
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@ -1,17 +1,24 @@
from collections import deque
import copy import copy
from cereal import car from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, EV_CAR, HYBRID_CAR, Buttons
from selfdrive.car.interfaces import CarStateBase from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 4
class CarState(CarStateBase): class CarState(CarStateBase):
def __init__(self, CP): def __init__(self, CP):
super().__init__(CP) super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
if self.CP.carFingerprint in FEATURES["use_cluster_gears"]: if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
@ -19,7 +26,6 @@ class CarState(CarStateBase):
else: # preferred and elect gear methods use same definition else: # preferred and elect gear methods use same definition
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
def update(self, cp, cp_cam): def update(self, cp, cp_cam):
ret = car.CarState.new_message() ret = car.CarState.new_message()
@ -108,8 +114,9 @@ class CarState(CarStateBase):
self.clu11 = copy.copy(cp.vl["CLU11"]) self.clu11 = copy.copy(cp.vl["CLU11"])
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
self.prev_cruise_buttons = self.cruise_buttons self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons = cp.vl["CLU11"]["CF_Clu_CruiseSwState"] self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
return ret return ret

14
selfdrive/car/hyundai/interface.py
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@ -10,6 +10,8 @@ from selfdrive.car.disable_ecu import disable_ecu
ButtonType = car.CarState.ButtonEvent.Type ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
class CarInterface(CarInterfaceBase): class CarInterface(CarInterfaceBase):
@staticmethod @staticmethod
@ -315,7 +317,11 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam) ret = self.CS.update(self.cp, self.cp_cam)
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise) # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
if self.CS.brake_error: if self.CS.brake_error:
events.add(EventName.brakeUnavailable) events.add(EventName.brakeUnavailable)
@ -323,12 +329,12 @@ class CarInterface(CarInterfaceBase):
if self.CS.CP.openpilotLongitudinalControl: if self.CS.CP.openpilotLongitudinalControl:
buttonEvents = [] buttonEvents = []
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons: if self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
be = car.CarState.ButtonEvent.new_message() be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.unknown be.type = ButtonType.unknown
if self.CS.cruise_buttons != 0: if self.CS.cruise_buttons[-1] != 0:
be.pressed = True be.pressed = True
but = self.CS.cruise_buttons but = self.CS.cruise_buttons[-1]
else: else:
be.pressed = False be.pressed = False
but = self.CS.prev_cruise_buttons but = self.CS.prev_cruise_buttons

4
selfdrive/car/hyundai/values.py
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@ -93,8 +93,8 @@ CAR_INFO: Dict[str, Union[HyundaiCarInfo, List[HyundaiCarInfo]]] = {
CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", "SCC + LKAS"), CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", "SCC + LKAS"),
CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21"), CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21"),
CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020"), CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020"),
CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-19"), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21"),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/_EdYQtV52-c"), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020"),
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All"), CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All"),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All"), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All"),
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All"), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All"),

8
selfdrive/car/interfaces.py
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@ -131,7 +131,7 @@ class CarInterfaceBase(ABC):
def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]: def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
pass pass
def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True): def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True):
events = Events() events = Events()
if cs_out.doorOpen: if cs_out.doorOpen:
@ -159,6 +159,8 @@ class CarInterfaceBase(ABC):
events.add(EventName.brakeHold) events.add(EventName.brakeHold)
if cs_out.parkingBrake: if cs_out.parkingBrake:
events.add(EventName.parkBrake) events.add(EventName.parkBrake)
if cs_out.accFaulted:
events.add(EventName.accFaulted)
# Handle permanent and temporary steering faults # Handle permanent and temporary steering faults
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1 self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
@ -175,8 +177,9 @@ class CarInterfaceBase(ABC):
events.add(EventName.steerUnavailable) events.add(EventName.steerUnavailable)
# we engage when pcm is active (rising edge) # we engage when pcm is active (rising edge)
# enabling can optionally be blocked by the car interface
if pcm_enable: if pcm_enable:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled: if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
events.add(EventName.pcmEnable) events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled: elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable) events.add(EventName.pcmDisable)
@ -186,6 +189,7 @@ class CarInterfaceBase(ABC):
class RadarInterfaceBase(ABC): class RadarInterfaceBase(ABC):
def __init__(self, CP): def __init__(self, CP):
self.rcp = None
self.pts = {} self.pts = {}
self.delay = 0 self.delay = 0
self.radar_ts = CP.radarTimeStep self.radar_ts = CP.radarTimeStep

20
selfdrive/car/mazda/values.py
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@ -1,3 +1,4 @@
from dataclasses import dataclass
from typing import Dict, List, Union from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
@ -27,13 +28,18 @@ class CAR:
CX5_2022 = "MAZDA CX-5 2022" CX5_2022 = "MAZDA CX-5 2022"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @dataclass
CAR.CX5: CarInfo("Mazda CX-5 2017, 2019", "All"), # TODO: verify years and torque for first 4 class MazdaCarInfo(CarInfo):
CAR.CX9: CarInfo("Mazda CX-9 2016-17", "All"), package: str = "All"
CAR.MAZDA3: CarInfo("Mazda 3 2017", "All"),
CAR.MAZDA6: CarInfo("Mazda 6 2017", "All"),
CAR.CX9_2021: CarInfo("Mazda CX-9 2021", "All", good_torque=True), CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
CAR.CX5_2022: CarInfo("Mazda CX-5 2022", "All", good_torque=True), CAR.CX5: MazdaCarInfo("Mazda CX-5 2017, 2019"), # TODO: verify years and torque for first 4
CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True),
CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True),
} }

16
selfdrive/car/nissan/values.py
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@ -1,3 +1,4 @@
from dataclasses import dataclass
from typing import Dict, List, Union from typing import Dict, List, Union
from selfdrive.car import dbc_dict from selfdrive.car import dbc_dict
@ -24,11 +25,16 @@ class CAR:
ALTIMA = "NISSAN ALTIMA 2020" ALTIMA = "NISSAN ALTIMA 2020"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @dataclass
CAR.XTRAIL: CarInfo("Nissan X-Trail 2017", "ProPILOT"), class NissanCarInfo(CarInfo):
CAR.LEAF: CarInfo("Nissan Leaf 2018-22", "ProPILOT"), package: str = "ProPILOT"
CAR.ROGUE: CarInfo("Nissan Rogue 2018-20", "ProPILOT"),
CAR.ALTIMA: CarInfo("Nissan Altima 2019-20", "ProPILOT"),
CAR_INFO: Dict[str, Union[NissanCarInfo, List[NissanCarInfo]]] = {
CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22"),
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20"),
} }
FINGERPRINTS = { FINGERPRINTS = {

37
selfdrive/car/subaru/values.py
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@ -121,9 +121,7 @@ FW_VERSIONS = {
b'\x00\x00d)\x00\x00\x00\x00', b'\x00\x00d)\x00\x00\x00\x00',
b'\x00\x00c\xf4\x00\x00\x00\x00', b'\x00\x00c\xf4\x00\x00\x00\x00',
b'\x00\x00d\xdc\x00\x00\x00\x00', b'\x00\x00d\xdc\x00\x00\x00\x00',
], b'\x00\x00dd\x00\x00\x00\x00',
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00\xac\x02\x00',
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xaa\x61\x66\x73\x07', b'\xaa\x61\x66\x73\x07',
@ -167,14 +165,19 @@ FW_VERSIONS = {
b'\xa2 \0313\000', b'\xa2 \0313\000',
b'\xa2 !i\000', b'\xa2 !i\000',
b'\xa2 !`\000', b'\xa2 !`\000',
b'\xf1\x00\xb2\x06\x04',
b'\xa2 `\x00',
], ],
(Ecu.eps, 0x746, None): [ (Ecu.eps, 0x746, None): [
b'\x9a\xc0\000\000', b'\x9a\xc0\000\000',
b'\n\xc0\004\000', b'\n\xc0\004\000',
b'\x9a\xc0\x04\x00',
], ],
(Ecu.fwdCamera, 0x787, None): [ (Ecu.fwdCamera, 0x787, None): [
b'\000\000eb\037@ \"', b'\000\000eb\037@ \"',
b'\000\000e\x8f\037@ )', b'\000\000e\x8f\037@ )',
b'\x00\x00eq\x1f@ "',
b'\x00\x00eq\x00\x00\x00\x00',
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xca!ap\a', b'\xca!ap\a',
@ -182,43 +185,52 @@ FW_VERSIONS = {
b'\xca!`0\a', b'\xca!`0\a',
b'\xcc\"f0\a', b'\xcc\"f0\a',
b'\xcc!fp\a', b'\xcc!fp\a',
b'\xf1\x00\xa2\x10\t',
b'\xca!f@\x07',
b'\xca!fp\x07',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xe6\xf5\004\000\000', b'\xe6\xf5\004\000\000',
b'\xe6\xf5$\000\000', b'\xe6\xf5$\000\000',
b'\xe7\xf6B0\000', b'\xe7\xf6B0\000',
b'\xe7\xf5D0\000', b'\xe7\xf5D0\000',
b'\xf1\x00\xd7\x10@',
b'\xe6\xf5D0\x00',
], ],
}, },
CAR.FORESTER: { CAR.FORESTER: {
(Ecu.esp, 0x7b0, None): [ (Ecu.esp, 0x7b0, None): [
b'\xa3 \030\024\000', b'\xa3 \x18\x14\x00',
b'\xa3 \024\000', b'\xa3 \024\000',
b'\xa3 \031\024\000', b'\xa3 \031\024\000',
b'\xa3 \024\001', b'\xa3 \x14\x01',
b'\xf1\x00\xbb\r\x05',
], ],
(Ecu.eps, 0x746, None): [ (Ecu.eps, 0x746, None): [
b'\x8d\xc0\004\000', b'\x8d\xc0\x04\x00',
], ],
(Ecu.fwdCamera, 0x787, None): [ (Ecu.fwdCamera, 0x787, None): [
b'\000\000e!\037@ \021', b'\x00\x00e!\x1f@ \x11',
b'\000\000e\x97\037@ 0', b'\x00\x00e\x97\x1f@ 0',
b'\000\000e`\037@ ', b'\000\000e`\037@ ',
b'\xf1\x00\xac\x02\x00', b'\xf1\x00\xac\x02\x00',
b'\x00\x00e!\x00\x00\x00\x00',
b'\x00\x00e\x97\x00\x00\x00\x00',
], ],
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xb6\"`A\a', b'\xb6"`A\x07',
b'\xcf"`0\a', b'\xcf"`0\x07',
b'\xcb\"`@\a', b'\xcb\"`@\a',
b'\xcb\"`p\a', b'\xcb\"`p\a',
b'\xf1\x00\xa2\x10\n', b'\xf1\x00\xa2\x10\n',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\032\xf6B0\000', b'\032\xf6B0\000',
b'\032\xf6F`\000', b'\x1a\xf6F`\x00',
b'\032\xf6b`\000', b'\032\xf6b`\000',
b'\032\xf6B`\000', b'\x1a\xf6B`\x00',
b'\xf1\x00\xa4\x10@', b'\xf1\x00\xa4\x10@',
b'\x1a\xf6b0\x00',
], ],
}, },
CAR.FORESTER_PREGLOBAL: { CAR.FORESTER_PREGLOBAL: {
@ -247,6 +259,7 @@ FW_VERSIONS = {
b'\xda\xfd\xe0\x80\x00', b'\xda\xfd\xe0\x80\x00',
b'\xdc\xf2`\x81\000', b'\xdc\xf2`\x81\000',
b'\xdc\xf2`\x80\x00', b'\xdc\xf2`\x80\x00',
b'\x1a\xf6F`\x00',
], ],
}, },
CAR.LEGACY_PREGLOBAL: { CAR.LEGACY_PREGLOBAL: {

1
selfdrive/car/tests/routes.py
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@ -128,6 +128,7 @@ routes = [
TestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H), TestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
TestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), TestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
TestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2), TestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
TestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
TestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), TestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
TestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH), TestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH),
TestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2), TestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),

3
selfdrive/car/tests/test_car_interfaces.py
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@ -64,7 +64,8 @@ class TestCarInterfaces(unittest.TestCase):
# Run radar interface once # Run radar interface once
radar_interface.update([]) radar_interface.update([])
if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'): if not car_params.radarOffCan and radar_interface.rcp is not None and \
hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg]) radar_interface._update([radar_interface.trigger_msg])
if __name__ == "__main__": if __name__ == "__main__":

16
selfdrive/car/tests/test_fw_fingerprint.py
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@ -4,6 +4,7 @@ import unittest
from parameterized import parameterized from parameterized import parameterized
from cereal import car from cereal import car
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.fw_versions import match_fw_to_car from selfdrive.car.fw_versions import match_fw_to_car
@ -12,6 +13,7 @@ Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
class TestFwFingerprint(unittest.TestCase): class TestFwFingerprint(unittest.TestCase):
def assertFingerprints(self, candidates, expected): def assertFingerprints(self, candidates, expected):
candidates = list(candidates) candidates = list(candidates)
@ -42,5 +44,19 @@ class TestFwFingerprint(unittest.TestCase):
self.assertTrue(passed, "Duplicate FW versions found") self.assertTrue(passed, "Duplicate FW versions found")
def test_blacklisted_ecus(self):
passed = True
blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu
for car_model, ecus in FW_VERSIONS.items():
CP = interfaces[car_model][0].get_params(car_model)
if CP.carName == 'subaru':
for ecu in ecus.keys():
if ecu[1] in blacklisted_addrs:
print(f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
passed = False
self.assertTrue(passed, "Blacklisted FW versions found")
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()

5
selfdrive/car/tests/test_models.py
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@ -15,7 +15,6 @@ from selfdrive.car.car_helpers import interfaces
from selfdrive.car.gm.values import CAR as GM from selfdrive.car.gm.values import CAR as GM
from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
from selfdrive.car.hyundai.values import CAR as HYUNDAI from selfdrive.car.hyundai.values import CAR as HYUNDAI
from selfdrive.car.toyota.values import CAR as TOYOTA
from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute from selfdrive.car.tests.routes import non_tested_cars, routes, TestRoute
from selfdrive.test.openpilotci import get_url from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader
@ -244,10 +243,6 @@ class TestCarModel(unittest.TestCase):
CS_prev = CS CS_prev = CS
# TODO: add flag to toyota safety
if self.CP.carFingerprint == TOYOTA.SIENNA and checks['brakePressed'] < 25:
checks['brakePressed'] = 0
failed_checks = {k: v for k, v in checks.items() if v > 0} failed_checks = {k: v for k, v in checks.items() if v > 0}
self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")

3
selfdrive/car/toyota/carcontroller.py
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@ -54,8 +54,7 @@ class CarController:
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits) apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
self.steer_rate_limited = new_steer != apply_steer self.steer_rate_limited = new_steer != apply_steer
# Cut steering while we're in a known fault state (2s) if not CC.latActive:
if not CC.latActive or CS.steer_state in (9, 25):
apply_steer = 0 apply_steer = 0
apply_steer_req = 0 apply_steer_req = 0
else: else:

37
selfdrive/car/toyota/carstate.py
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@ -6,7 +6,7 @@ from common.realtime import DT_CTRL
from opendbc.can.can_define import CANDefine from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, EPS_SCALE from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE
class CarState(CarStateBase): class CarState(CarStateBase):
@ -82,7 +82,10 @@ class CarState(CarStateBase):
ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
# we could use the override bit from dbc, but it's triggered at too high torque values # we could use the override bit from dbc, but it's triggered at too high torque values
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5) # steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
# 17 is a fault from a prolonged high torque delta between cmd and user
ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0 ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
@ -91,8 +94,12 @@ class CarState(CarStateBase):
ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0 ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS
if self.CP.carFingerprint in TSS2_CAR: if self.CP.carFingerprint in RADAR_ACC_CAR:
self.acc_type = cp.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp.vl["ACC_HUD"]["FCW"])
elif self.CP.carFingerprint in TSS2_CAR:
self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"] self.acc_type = cp_cam.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp_cam.vl["ACC_HUD"]["FCW"])
# some TSS2 cars have low speed lockout permanently set, so ignore on those cars # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
# these cars are identified by an ACC_TYPE value of 2. # these cars are identified by an ACC_TYPE value of 2.
@ -116,8 +123,6 @@ class CarState(CarStateBase):
ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5) ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0 ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
if self.CP.enableBsm: if self.CP.enableBsm:
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1) ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
@ -204,6 +209,16 @@ class CarState(CarStateBase):
] ]
checks.append(("BSM", 1)) checks.append(("BSM", 1))
if CP.carFingerprint in RADAR_ACC_CAR:
signals += [
("ACC_TYPE", "ACC_CONTROL"),
("FCW", "ACC_HUD"),
]
checks += [
("ACC_CONTROL", 33),
("ACC_HUD", 1),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@staticmethod @staticmethod
@ -219,8 +234,14 @@ class CarState(CarStateBase):
("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent ("PRE_COLLISION", 0), # TODO: figure out why freq is inconsistent
] ]
if CP.carFingerprint in TSS2_CAR: if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
signals.append(("ACC_TYPE", "ACC_CONTROL")) signals += [
checks.append(("ACC_CONTROL", 33)) ("ACC_TYPE", "ACC_CONTROL"),
("FCW", "ACC_HUD"),
]
checks += [
("ACC_CONTROL", 33),
("ACC_HUD", 1),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

24
selfdrive/car/toyota/interface.py
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@ -1,8 +1,9 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
from cereal import car from cereal import car
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -22,6 +23,9 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4 ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
@ -43,7 +47,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.4 ret.steerRatio = 17.4
tire_stiffness_factor = 0.5533 tire_stiffness_factor = 0.5533
ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE) set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
elif candidate in (CAR.RAV4, CAR.RAV4H): elif candidate in (CAR.RAV4, CAR.RAV4H):
stop_and_go = True if (candidate in CAR.RAV4H) else False stop_and_go = True if (candidate in CAR.RAV4H) else False
@ -51,7 +55,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 16.88 # 14.5 is spec end-to-end ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533 tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.5, FRICTION=0.06) set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=1.8, FRICTION=0.06)
elif candidate == CAR.COROLLA: elif candidate == CAR.COROLLA:
ret.wheelbase = 2.70 ret.wheelbase = 2.70
@ -83,6 +87,9 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.7 ret.steerRatio = 13.7
tire_stiffness_factor = 0.7933 tire_stiffness_factor = 0.7933
ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
if candidate in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.4, FRICTION=0.05)
else:
set_lat_tune(ret.lateralTuning, LatTunes.PID_C) set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
@ -111,7 +118,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_H) set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2): elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
stop_and_go = True stop_and_go = True
ret.wheelbase = 2.68986 ret.wheelbase = 2.68986
ret.steerRatio = 14.3 ret.steerRatio = 14.3
@ -119,7 +126,7 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_D) set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
# 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw: for fw in car_fw:
if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
@ -132,7 +139,7 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 13.9 ret.steerRatio = 13.9
tire_stiffness_factor = 0.444 # not optimized yet tire_stiffness_factor = 0.444 # not optimized yet
ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=3.0, FRICTION=0.08) set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.07)
elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH): elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
stop_and_go = True stop_and_go = True
@ -217,7 +224,10 @@ class CarInterface(CarInterfaceBase):
ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu) ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
ret.enableGasInterceptor = 0x201 in fingerprint[0] ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
if not ret.openpilotLongitudinalControl:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
# we can't use the fingerprint to detect this reliably, since # we can't use the fingerprint to detect this reliably, since
# the EV gas pedal signal can take a couple seconds to appear # the EV gas pedal signal can take a couple seconds to appear

5
selfdrive/car/toyota/radar_interface.py
Unescape View File

@ -6,6 +6,9 @@ from selfdrive.car.interfaces import RadarInterfaceBase
def _create_radar_can_parser(car_fingerprint): def _create_radar_can_parser(car_fingerprint):
if DBC[car_fingerprint]['radar'] is None:
return None
if car_fingerprint in TSS2_CAR: if car_fingerprint in TSS2_CAR:
RADAR_A_MSGS = list(range(0x180, 0x190)) RADAR_A_MSGS = list(range(0x180, 0x190))
RADAR_B_MSGS = list(range(0x190, 0x1a0)) RADAR_B_MSGS = list(range(0x190, 0x1a0))
@ -48,7 +51,7 @@ class RadarInterface(RadarInterfaceBase):
self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR
def update(self, can_strings): def update(self, can_strings):
if self.no_radar: if self.no_radar or self.rcp is None:
return super().update(None) return super().update(None)
vls = self.rcp.update_strings(can_strings) vls = self.rcp.update_strings(can_strings)

4
selfdrive/car/toyota/tunes.py
Unescape View File

@ -54,9 +54,9 @@ def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=.1):
if name == LatTunes.TORQUE: if name == LatTunes.TORQUE:
tune.init('torque') tune.init('torque')
tune.torque.useSteeringAngle = True tune.torque.useSteeringAngle = True
tune.torque.kp = 2.0 / MAX_LAT_ACCEL tune.torque.kp = 1.0 / MAX_LAT_ACCEL
tune.torque.kf = 1.0 / MAX_LAT_ACCEL tune.torque.kf = 1.0 / MAX_LAT_ACCEL
tune.torque.ki = 0.5 / MAX_LAT_ACCEL tune.torque.ki = 0.1 / MAX_LAT_ACCEL
tune.torque.friction = FRICTION tune.torque.friction = FRICTION
elif name == LatTunes.INDI_PRIUS: elif name == LatTunes.INDI_PRIUS:
tune.init('indi') tune.init('indi')

45
selfdrive/car/toyota/values.py
Unescape View File

@ -63,6 +63,7 @@ class CAR:
RAV4H = "TOYOTA RAV4 HYBRID 2017" RAV4H = "TOYOTA RAV4 HYBRID 2017"
RAV4_TSS2 = "TOYOTA RAV4 2019" RAV4_TSS2 = "TOYOTA RAV4 2019"
RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019" RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5 MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
SIENNA = "TOYOTA SIENNA 2018" SIENNA = "TOYOTA SIENNA 2018"
@ -142,6 +143,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", footnotes=[Footnote.DSU]), CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022"),
CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]), CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
@ -149,7 +151,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]), CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"), CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"),
CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-21"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22"),
CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]), CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]), CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
@ -1330,6 +1332,31 @@ FW_VERSIONS = {
b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
], ],
}, },
CAR.RAV4H_TSS2_2022: {
(Ecu.esp, 0x7b0, None): [
b'\x01F15264283100\x00\x00\x00\x00',
b'\x01F15264286200\x00\x00\x00\x00',
b'\x01F15264286100\x00\x00\x00\x00',
b'\x01F15264283200\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
b'8965B42182\x00\x00\x00\x00\x00\x00',
b'8965B42172\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634A62000\x00\x00\x00\x00',
b'\x01896634A08000\x00\x00\x00\x00',
b'\x01896634A61000\x00\x00\x00\x00',
b'\x01896634A02001\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0R01100\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
],
},
CAR.SIENNA: { CAR.SIENNA: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x01896630832100\x00\x00\x00\x00', b'\x01896630832100\x00\x00\x00\x00',
@ -1423,22 +1450,26 @@ FW_VERSIONS = {
b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00', b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
b'\x01896633T38000\x00\x00\x00\x00',
], ],
(Ecu.esp, 0x7b0, None): [ (Ecu.esp, 0x7b0, None): [
b'F152633423\x00\x00\x00\x00\x00\x00', b'F152633423\x00\x00\x00\x00\x00\x00',
b'F152633680\x00\x00\x00\x00\x00\x00', b'F152633680\x00\x00\x00\x00\x00\x00',
b'F152633681\x00\x00\x00\x00\x00\x00', b'F152633681\x00\x00\x00\x00\x00\x00',
b'F152633F50\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.eps, 0x7a1, None): [ (Ecu.eps, 0x7a1, None): [
b'8965B33252\x00\x00\x00\x00\x00\x00', b'8965B33252\x00\x00\x00\x00\x00\x00',
b'8965B33590\x00\x00\x00\x00\x00\x00', b'8965B33590\x00\x00\x00\x00\x00\x00',
b'8965B33690\x00\x00\x00\x00\x00\x00', b'8965B33690\x00\x00\x00\x00\x00\x00',
b'8965B33721\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.fwdRadar, 0x750, 0xf): [ (Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301100\x00\x00\x00\x00', b'\x018821F3301100\x00\x00\x00\x00',
b'\x018821F3301200\x00\x00\x00\x00', b'\x018821F3301200\x00\x00\x00\x00',
b'\x018821F3301300\x00\x00\x00\x00', b'\x018821F3301300\x00\x00\x00\x00',
b'\x018821F3301400\x00\x00\x00\x00', b'\x018821F3301400\x00\x00\x00\x00',
b'\x018821F6201300\x00\x00\x00\x00',
], ],
(Ecu.fwdCamera, 0x750, 0x6d): [ (Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00', b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@ -1447,6 +1478,7 @@ FW_VERSIONS = {
b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F3304200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
], ],
}, },
CAR.LEXUS_ESH: { CAR.LEXUS_ESH: {
@ -1684,6 +1716,7 @@ FW_VERSIONS = {
b'\x018966348W9000\x00\x00\x00\x00', b'\x018966348W9000\x00\x00\x00\x00',
b'\x01896634D12000\x00\x00\x00\x00', b'\x01896634D12000\x00\x00\x00\x00',
b'\x01896634D12100\x00\x00\x00\x00', b'\x01896634D12100\x00\x00\x00\x00',
b'\x01896634D43000\x00\x00\x00\x00',
], ],
(Ecu.esp, 0x7b0, None): [ (Ecu.esp, 0x7b0, None): [
b'\x01F15260E031\x00\x00\x00\x00\x00\x00', b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
@ -1704,6 +1737,7 @@ FW_VERSIONS = {
b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
], ],
}, },
CAR.LEXUS_RXH_TSS2: { CAR.LEXUS_RXH_TSS2: {
@ -1731,6 +1765,7 @@ FW_VERSIONS = {
CAR.PRIUS_TSS2: { CAR.PRIUS_TSS2: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00', b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
@ -1838,6 +1873,7 @@ DBC = {
CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@ -1851,14 +1887,17 @@ DBC = {
EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
# Toyota/Lexus Safety Sense 2.0 and 2.5 # Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2} CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022}
EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
# no resume button press required # no resume button press required

6
selfdrive/car/volkswagen/carstate.py
Unescape View File

@ -93,12 +93,11 @@ class CarState(CarStateBase):
ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"]) ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
# Update ACC radar status. # Update ACC radar status.
self.tsk_status = pt_cp.vl["TSK_06"]["TSK_Status"] if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
if self.tsk_status == 2:
# ACC okay and enabled, but not currently engaged # ACC okay and enabled, but not currently engaged
ret.cruiseState.available = True ret.cruiseState.available = True
ret.cruiseState.enabled = False ret.cruiseState.enabled = False
elif self.tsk_status in (3, 4, 5): elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
# ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5) # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5)
ret.cruiseState.available = True ret.cruiseState.available = True
ret.cruiseState.enabled = True ret.cruiseState.enabled = True
@ -106,6 +105,7 @@ class CarState(CarStateBase):
# ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7) # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
ret.cruiseState.available = False ret.cruiseState.available = False
ret.cruiseState.enabled = False ret.cruiseState.enabled = False
ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
# Update ACC setpoint. When the setpoint is zero or there's an error, the # Update ACC setpoint. When the setpoint is zero or there's an error, the
# radar sends a set-speed of ~90.69 m/s / 203mph. # radar sends a set-speed of ~90.69 m/s / 203mph.

4
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -177,10 +177,6 @@ class CarInterface(CarInterfaceBase):
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic]) events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
# Vehicle health and operation safety checks
if self.CS.tsk_status in (6, 7):
events.add(EventName.accFaulted)
# Low speed steer alert hysteresis logic # Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.): if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = True self.low_speed_alert = True

10
selfdrive/car/volkswagen/values.py
Unescape View File

@ -133,7 +133,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"), CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"),
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS]), CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS]),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS]), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS]),
CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2020-22", footnotes=[Footnote.VW_HARNESS]), CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS]),
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"), CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
CAR.TRANSPORTER_T61: [ CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020", footnotes=[Footnote.VW_HARNESS]), VWCarInfo("Volkswagen Caravelle 2020", footnotes=[Footnote.VW_HARNESS]),
@ -143,6 +143,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.AUDI_A3_MK3: [ CAR.AUDI_A3_MK3: [
VWCarInfo("Audi A3 2014-19", "ACC + Lane Assist"), VWCarInfo("Audi A3 2014-19", "ACC + Lane Assist"),
VWCarInfo("Audi A3 Sportback e-tron 2017-18", "ACC + Lane Assist"), VWCarInfo("Audi A3 Sportback e-tron 2017-18", "ACC + Lane Assist"),
VWCarInfo("Audi RS3 2018", "ACC + Lane Assist"),
VWCarInfo("Audi S3 2015-17", "ACC + Lane Assist"), VWCarInfo("Audi S3 2015-17", "ACC + Lane Assist"),
], ],
CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018", "ACC + Lane Assist"), CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018", "ACC + Lane Assist"),
@ -516,6 +517,7 @@ FW_VERSIONS = {
b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026EJ\xf1\x893661',
b'\xf1\x8704L906027G \xf1\x899893', b'\xf1\x8704L906027G \xf1\x899893',
b'\xf1\x875N0906259 \xf1\x890002', b'\xf1\x875N0906259 \xf1\x890002',
b'\xf1\x875NA907115E \xf1\x890005',
b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115B \xf1\x890005',
b'\xf1\x8783A907115G \xf1\x890001', b'\xf1\x8783A907115G \xf1\x890001',
], ],
@ -526,6 +528,7 @@ FW_VERSIONS = {
b'\xf1\x870DL300011N \xf1\x892001', b'\xf1\x870DL300011N \xf1\x892001',
b'\xf1\x870DL300011N \xf1\x892012', b'\xf1\x870DL300011N \xf1\x892012',
b'\xf1\x870DL300013A \xf1\x893005', b'\xf1\x870DL300013A \xf1\x893005',
b'\xf1\x870DL300013G \xf1\x892119',
b'\xf1\x870DL300013G \xf1\x892120', b'\xf1\x870DL300013G \xf1\x892120',
], ],
(Ecu.srs, 0x715, None): [ (Ecu.srs, 0x715, None): [
@ -533,6 +536,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100', b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02316143231313500314641011750179333423100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02312110031333300314240583752379333423100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\02331310031333336313140013950399333423100',
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100', b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
], ],
(Ecu.eps, 0x712, None): [ (Ecu.eps, 0x712, None): [
@ -617,6 +621,7 @@ FW_VERSIONS = {
b'\xf1\x878V0906259K \xf1\x890001', b'\xf1\x878V0906259K \xf1\x890001',
b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0906264B \xf1\x890003',
b'\xf1\x878V0907115B \xf1\x890007', b'\xf1\x878V0907115B \xf1\x890007',
b'\xf1\x878V0907404A \xf1\x890005',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300044T \xf1\x895245',
@ -628,12 +633,14 @@ FW_VERSIONS = {
b'\xf1\x870DD300046A \xf1\x891602', b'\xf1\x870DD300046A \xf1\x891602',
b'\xf1\x870DD300046F \xf1\x891602', b'\xf1\x870DD300046F \xf1\x891602',
b'\xf1\x870DD300046G \xf1\x891601', b'\xf1\x870DD300046G \xf1\x891601',
b'\xf1\x870DL300012E \xf1\x892012',
b'\xf1\x870GC300013M \xf1\x892402', b'\xf1\x870GC300013M \xf1\x892402',
b'\xf1\x870GC300042J \xf1\x891402', b'\xf1\x870GC300042J \xf1\x891402',
], ],
(Ecu.srs, 0x715, None): [ (Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114', b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114',
b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100', b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
@ -643,6 +650,7 @@ FW_VERSIONS = {
(Ecu.eps, 0x712, None): [ (Ecu.eps, 0x712, None): [
b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1', b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1',
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0',

3
selfdrive/common/params.cc
Unescape View File

@ -94,6 +94,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CompletedTrainingVersion", PERSISTENT}, {"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT}, {"DisablePowerDown", PERSISTENT},
{"DisableRadar_Allow", PERSISTENT}, {"DisableRadar_Allow", PERSISTENT},
{"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
@ -134,7 +135,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"LastPeripheralPandaType", PERSISTENT}, {"LastPeripheralPandaType", PERSISTENT},
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
{"LastSystemShutdown", CLEAR_ON_MANAGER_START}, {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
{"LastUpdateException", PERSISTENT}, {"LastUpdateException", CLEAR_ON_MANAGER_START},
{"LastUpdateTime", PERSISTENT}, {"LastUpdateTime", PERSISTENT},
{"LiveParameters", PERSISTENT}, {"LiveParameters", PERSISTENT},
{"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},

85
selfdrive/controls/controlsd.py
Unescape View File

@ -59,7 +59,7 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
class Controls: class Controls:
def __init__(self, sm=None, pm=None, can_sock=None, CI=None): def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH) config_realtime_process(4, Priority.CTRL_HIGH)
# Setup sockets # Setup sockets
self.pm = pm self.pm = pm
@ -73,7 +73,7 @@ class Controls:
self.can_sock = can_sock self.can_sock = can_sock
if can_sock is None: if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100 can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
self.can_sock = messaging.sub_sock('can', timeout=can_timeout) self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
if TICI: if TICI:
@ -100,7 +100,6 @@ class Controls:
'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet, 'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan']) ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
# set alternative experiences from parameters # set alternative experiences from parameters
self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator") self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0 self.CP.alternativeExperience = 0
@ -163,7 +162,7 @@ class Controls:
self.last_functional_fan_frame = 0 self.last_functional_fan_frame = 0
self.events_prev = [] self.events_prev = []
self.current_alert_types = [ET.PERMANENT] self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = False self.logged_comm_issue = None
self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0} self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
self.last_actuators = car.CarControl.Actuators.new_message() self.last_actuators = car.CarControl.Actuators.new_message()
@ -214,11 +213,17 @@ class Controls:
self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else
EventName.gasPressedOverride) EventName.gasPressedOverride)
self.events.add_from_msg(CS.events)
if not self.CP.notCar: if not self.CP.notCar:
self.events.add_from_msg(self.sm['driverMonitoringState'].events) self.events.add_from_msg(self.sm['driverMonitoringState'].events)
# Handle car events. Ignore when CAN is invalid
if CS.canTimeout:
self.events.add(EventName.canBusMissing)
elif not CS.canValid:
self.events.add(EventName.canError)
else:
self.events.add_from_msg(CS.events)
# Create events for temperature, disk space, and memory # Create events for temperature, disk space, and memory
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red: if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
self.events.add(EventName.overheat) self.events.add(EventName.overheat)
@ -226,7 +231,7 @@ class Controls:
# under 7% of space free no enable allowed # under 7% of space free no enable allowed
self.events.add(EventName.outOfSpace) self.events.add(EventName.outOfSpace)
# TODO: make tici threshold the same # TODO: make tici threshold the same
if self.sm['deviceState'].memoryUsagePercent > (90 if TICI else 65) and not SIMULATION: if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
self.events.add(EventName.lowMemory) self.events.add(EventName.lowMemory)
# TODO: enable this once loggerd CPU usage is more reasonable # TODO: enable this once loggerd CPU usage is more reasonable
@ -235,7 +240,7 @@ class Controls:
# self.events.add(EventName.highCpuUsage) # self.events.add(EventName.highCpuUsage)
# Alert if fan isn't spinning for 5 seconds # Alert if fan isn't spinning for 5 seconds
if self.sm['peripheralState'].pandaType in (PandaType.uno, PandaType.dos): if self.sm['peripheralState'].pandaType == PandaType.dos:
if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction) self.events.add(EventName.fanMalfunction)
@ -265,11 +270,6 @@ class Controls:
LaneChangeState.laneChangeFinishing): LaneChangeState.laneChangeFinishing):
self.events.add(EventName.laneChange) self.events.add(EventName.laneChange)
if CS.canTimeout:
self.events.add(EventName.canBusMissing)
elif not CS.canValid:
self.events.add(EventName.canError)
for i, pandaState in enumerate(self.sm['pandaStates']): for i, pandaState in enumerate(self.sm['pandaStates']):
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
if i < len(self.CP.safetyConfigs): if i < len(self.CP.safetyConfigs):
@ -285,13 +285,29 @@ class Controls:
if log.PandaState.FaultType.relayMalfunction in pandaState.faults: if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
self.events.add(EventName.relayMalfunction) self.events.add(EventName.relayMalfunction)
# Check for HW or system issues # Handle HW and system malfunctions
# Order is very intentional here. Be careful when modifying this.
num_events = len(self.events)
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
else:
if not SIMULATION and not self.rk.lagging:
if not self.sm.all_alive(self.camera_packets):
self.events.add(EventName.cameraMalfunction)
elif not self.sm.all_freq_ok(self.camera_packets):
self.events.add(EventName.cameraFrameRate)
if self.rk.lagging:
self.events.add(EventName.controlsdLagging)
if len(self.sm['radarState'].radarErrors): if len(self.sm['radarState'].radarErrors):
self.events.add(EventName.radarFault) self.events.add(EventName.radarFault)
elif not self.sm.valid["pandaStates"]: if not self.sm.valid['pandaStates']:
self.events.add(EventName.usbError) self.events.add(EventName.usbError)
elif not self.sm.all_checks() or self.can_rcv_error:
# generic catch-all. ideally, a more specific event should be added above instead
no_system_errors = len(self.events) != num_events
if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors and CS.canValid and not CS.canTimeout:
if not self.sm.all_alive(): if not self.sm.all_alive():
self.events.add(EventName.commIssue) self.events.add(EventName.commIssue)
elif not self.sm.all_freq_ok(): elif not self.sm.all_freq_ok():
@ -299,14 +315,17 @@ class Controls:
else: # invalid or can_rcv_error. else: # invalid or can_rcv_error.
self.events.add(EventName.commIssue) self.events.add(EventName.commIssue)
if not self.logged_comm_issue: logs = {
invalid = [s for s, valid in self.sm.valid.items() if not valid] 'invalid': [s for s, valid in self.sm.valid.items() if not valid],
not_alive = [s for s, alive in self.sm.alive.items() if not alive] 'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
not_freq_ok = [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok] 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
cloudlog.event("commIssue", invalid=invalid, not_alive=not_alive, not_freq_ok=not_freq_ok, can_error=self.can_rcv_error, error=True) 'can_error': self.can_rcv_error,
self.logged_comm_issue = True }
if logs != self.logged_comm_issue:
cloudlog.event("commIssue", error=True, **logs)
self.logged_comm_issue = logs
else: else:
self.logged_comm_issue = False self.logged_comm_issue = None
if not self.sm['liveParameters'].valid: if not self.sm['liveParameters'].valid:
self.events.add(EventName.vehicleModelInvalid) self.events.add(EventName.vehicleModelInvalid)
@ -324,7 +343,7 @@ class Controls:
# Check for mismatch between openpilot and car's PCM # Check for mismatch between openpilot and car's PCM
cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0 self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
if self.cruise_mismatch_counter > int(3. / DT_CTRL): if self.cruise_mismatch_counter > int(6. / DT_CTRL):
self.events.add(EventName.cruiseMismatch) self.events.add(EventName.cruiseMismatch)
# Check for FCW # Check for FCW
@ -353,21 +372,11 @@ class Controls:
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
self.events.add(EventName.noGps) self.events.add(EventName.noGps)
if not self.sm.all_alive(self.camera_packets):
self.events.add(EventName.cameraMalfunction)
elif not self.sm.all_freq_ok(self.camera_packets):
self.events.add(EventName.cameraFrameRate)
if self.sm['modelV2'].frameDropPerc > 20: if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging) self.events.add(EventName.modeldLagging)
if self.sm['liveLocationKalman'].excessiveResets: if self.sm['liveLocationKalman'].excessiveResets:
self.events.add(EventName.localizerMalfunction) self.events.add(EventName.localizerMalfunction)
# Check if all manager processes are running
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
# Only allow engagement with brake pressed when stopped behind another stopped car # Only allow engagement with brake pressed when stopped behind another stopped car
speeds = self.sm['longitudinalPlan'].speeds speeds = self.sm['longitudinalPlan'].speeds
if len(speeds) > 1: if len(speeds) > 1:
@ -538,7 +547,7 @@ class Controls:
# Check which actuators can be enabled # Check which actuators can be enabled
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CS.vEgo > self.CP.minSteerSpeed and not CS.standstill CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
CC.longActive = self.active and not self.events.any(ET.OVERRIDE) CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl
actuators = CC.actuators actuators = CC.actuators
actuators.longControlState = self.LoC.long_control_state actuators.longControlState = self.LoC.long_control_state
@ -557,15 +566,15 @@ class Controls:
# accel PID loop # accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS) pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL
actuators.accel = self.LoC.update(CC.longActive, CS, self.CP, long_plan, pid_accel_limits, t_since_plan) actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
# Steering PID loop and lateral MPC # Steering PID loop and lateral MPC
desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo, desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
lat_plan.psis, lat_plan.psis,
lat_plan.curvatures, lat_plan.curvatures,
lat_plan.curvatureRates) lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.CP, self.VM, actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params,
params, self.last_actuators, desired_curvature, self.last_actuators, desired_curvature,
desired_curvature_rate, self.sm['liveLocationKalman']) desired_curvature_rate, self.sm['liveLocationKalman'])
else: else:
lac_log = log.ControlsState.LateralDebugState.new_message() lac_log = log.ControlsState.LateralDebugState.new_message()

2
selfdrive/controls/lib/drive_helpers.py
Unescape View File

@ -79,7 +79,7 @@ def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last): def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
for b in buttonEvents: for b in buttonEvents:
# 250kph or above probably means we never had a set speed # 250kph or above probably means we never had a set speed
if b.type == car.CarState.ButtonEvent.Type.accelCruise and v_cruise_last < 250: if b.type in (car.CarState.ButtonEvent.Type.accelCruise, car.CarState.ButtonEvent.Type.resumeCruise) and v_cruise_last < 250:
return v_cruise_last return v_cruise_last
return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX))) return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))

40
selfdrive/controls/lib/events.py
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@ -251,6 +251,32 @@ def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_
AlertStatus.normal, AlertSize.mid, AlertStatus.normal, AlertSize.mid,
Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.) Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
# *** debug alerts ***
def out_of_space_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
full_perc = round(100. - sm['deviceState'].freeSpacePercent)
return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
def overheat_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
cpu = max(sm['deviceState'].cpuTempC, default=0.)
gpu = max(sm['deviceState'].gpuTempC, default=0.)
temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
return NormalPermanentAlert("System Overheated", f"{temp} °C")
def low_memory_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
def high_cpu_usage_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
x = max(sm['deviceState'].cpuUsagePercent, default=0.)
return NormalPermanentAlert("High CPU Usage", f"{x}% used")
def modeld_lagging_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
return NormalPermanentAlert("Driving model lagging", f"{sm['modelV2'].frameDropPerc}% frames dropped")
def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: def wrong_car_mode_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
text = "Cruise Mode Disabled" text = "Cruise Mode Disabled"
@ -578,7 +604,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
}, },
EventName.outOfSpace: { EventName.outOfSpace: {
ET.PERMANENT: NormalPermanentAlert("Out of Storage"), ET.PERMANENT: out_of_space_alert,
ET.NO_ENTRY: NoEntryAlert("Out of Storage"), ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
}, },
@ -609,7 +635,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
}, },
EventName.overheat: { EventName.overheat: {
ET.PERMANENT: NormalPermanentAlert("System Overheated"), ET.PERMANENT: overheat_alert,
ET.SOFT_DISABLE: soft_disable_alert("System Overheated"), ET.SOFT_DISABLE: soft_disable_alert("System Overheated"),
ET.NO_ENTRY: NoEntryAlert("System Overheated"), ET.NO_ENTRY: NoEntryAlert("System Overheated"),
}, },
@ -669,6 +695,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
ET.NO_ENTRY: NoEntryAlert("Low Communication Rate between Processes"), ET.NO_ENTRY: NoEntryAlert("Low Communication Rate between Processes"),
}, },
EventName.controlsdLagging: {
ET.SOFT_DISABLE: soft_disable_alert("Controls Lagging"),
ET.NO_ENTRY: NoEntryAlert("Controls Process Lagging: Reboot Your Device"),
},
# Thrown when manager detects a service exited unexpectedly while driving # Thrown when manager detects a service exited unexpectedly while driving
EventName.processNotRunning: { EventName.processNotRunning: {
ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"), ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"),
@ -685,6 +716,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
EventName.modeldLagging: { EventName.modeldLagging: {
ET.SOFT_DISABLE: soft_disable_alert("Driving model lagging"), ET.SOFT_DISABLE: soft_disable_alert("Driving model lagging"),
ET.NO_ENTRY: NoEntryAlert("Driving model lagging"), ET.NO_ENTRY: NoEntryAlert("Driving model lagging"),
ET.PERMANENT: modeld_lagging_alert,
}, },
# Besides predicting the path, lane lines and lead car data the model also # Besides predicting the path, lane lines and lead car data the model also
@ -706,14 +738,14 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
EventName.lowMemory: { EventName.lowMemory: {
ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"), ET.SOFT_DISABLE: soft_disable_alert("Low Memory: Reboot Your Device"),
ET.PERMANENT: NormalPermanentAlert("Low Memory", "Reboot your Device"), ET.PERMANENT: low_memory_alert,
ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"), ET.NO_ENTRY: NoEntryAlert("Low Memory: Reboot Your Device"),
}, },
EventName.highCpuUsage: { EventName.highCpuUsage: {
#ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"), #ET.SOFT_DISABLE: soft_disable_alert("System Malfunction: Reboot Your Device"),
#ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"), #ET.PERMANENT: NormalPermanentAlert("System Malfunction", "Reboot your Device"),
ET.NO_ENTRY: NoEntryAlert("System Malfunction: Reboot Your Device"), ET.NO_ENTRY: high_cpu_usage_alert,
}, },
EventName.accFaulted: { EventName.accFaulted: {

4
selfdrive/controls/lib/latcontrol.py
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@ -1,7 +1,7 @@
from abc import abstractmethod, ABC from abc import abstractmethod, ABC
from common.realtime import DT_CTRL
from common.numpy_fast import clip from common.numpy_fast import clip
from common.realtime import DT_CTRL
MIN_STEER_SPEED = 0.3 MIN_STEER_SPEED = 0.3
@ -16,7 +16,7 @@ class LatControl(ABC):
self.steer_max = 1.0 self.steer_max = 1.0
@abstractmethod @abstractmethod
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
pass pass
def reset(self): def reset(self):

2
selfdrive/controls/lib/latcontrol_angle.py
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@ -7,7 +7,7 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
class LatControlAngle(LatControl): class LatControlAngle(LatControl):
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
angle_log = log.ControlsState.LateralAngleState.new_message() angle_log = log.ControlsState.LateralAngleState.new_message()
if CS.vEgo < MIN_STEER_SPEED or not active: if CS.vEgo < MIN_STEER_SPEED or not active:

2
selfdrive/controls/lib/latcontrol_indi.py
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@ -63,7 +63,7 @@ class LatControlINDI(LatControl):
self.steer_filter.x = 0. self.steer_filter.x = 0.
self.speed = 0. self.speed = 0.
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
self.speed = CS.vEgo self.speed = CS.vEgo
# Update Kalman filter # Update Kalman filter
y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]]) y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])

11
selfdrive/controls/lib/latcontrol_pid.py
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@ -1,8 +1,8 @@
import math import math
from selfdrive.controls.lib.pid import PIDController
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
from cereal import log from cereal import log
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
from selfdrive.controls.lib.pid import PIDController
class LatControlPID(LatControl): class LatControlPID(LatControl):
@ -10,14 +10,14 @@ class LatControlPID(LatControl):
super().__init__(CP, CI) super().__init__(CP, CI)
self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV), self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV), (CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf, pos_limit=1.0, neg_limit=-1.0) k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.get_steer_feedforward = CI.get_steer_feedforward_function() self.get_steer_feedforward = CI.get_steer_feedforward_function()
def reset(self): def reset(self):
super().reset() super().reset()
self.pid.reset() self.pid.reset()
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
pid_log = log.ControlsState.LateralPIDState.new_message() pid_log = log.ControlsState.LateralPIDState.new_message()
pid_log.steeringAngleDeg = float(CS.steeringAngleDeg) pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
pid_log.steeringRateDeg = float(CS.steeringRateDeg) pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@ -33,9 +33,6 @@ class LatControlPID(LatControl):
pid_log.active = False pid_log.active = False
self.pid.reset() self.pid.reset()
else: else:
self.pid.pos_limit = self.steer_max
self.pid.neg_limit = -self.steer_max
# offset does not contribute to resistive torque # offset does not contribute to resistive torque
steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo) steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)

24
selfdrive/controls/lib/latcontrol_torque.py
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@ -1,9 +1,10 @@
import math import math
from selfdrive.controls.lib.pid import PIDController
from cereal import log
from common.numpy_fast import interp from common.numpy_fast import interp
from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
from selfdrive.controls.lib.pid import PIDController
from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from cereal import log
# At higher speeds (25+mph) we can assume: # At higher speeds (25+mph) we can assume:
# Lateral acceleration achieved by a specific car correlates to # Lateral acceleration achieved by a specific car correlates to
@ -12,7 +13,7 @@ from cereal import log
# This controller applies torque to achieve desired lateral # This controller applies torque to achieve desired lateral
# accelerations. To compensate for the low speed effects we # accelerations. To compensate for the low speed effects we
# use a LOW_SPEED_FACTOR in the error. Additionally there is # use a LOW_SPEED_FACTOR in the error. Additionally, there is
# friction in the steering wheel that needs to be overcome to # friction in the steering wheel that needs to be overcome to
# move it at all, this is compensated for too. # move it at all, this is compensated for too.
@ -24,12 +25,10 @@ JERK_THRESHOLD = 0.2
class LatControlTorque(LatControl): class LatControlTorque(LatControl):
def __init__(self, CP, CI): def __init__(self, CP, CI):
super().__init__(CP, CI) super().__init__(CP, CI)
self.CP = CP
self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki, self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki,
k_f=CP.lateralTuning.torque.kf, pos_limit=1.0, neg_limit=-1.0) k_f=CP.lateralTuning.torque.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.get_steer_feedforward = CI.get_steer_feedforward_function() self.get_steer_feedforward = CI.get_steer_feedforward_function()
self.steer_max = 1.0
self.pid.pos_limit = self.steer_max
self.pid.neg_limit = -self.steer_max
self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle
self.friction = CP.lateralTuning.torque.friction self.friction = CP.lateralTuning.torque.friction
@ -37,12 +36,13 @@ class LatControlTorque(LatControl):
super().reset() super().reset()
self.pid.reset() self.pid.reset()
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk): def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
pid_log = log.ControlsState.LateralTorqueState.new_message() pid_log = log.ControlsState.LateralTorqueState.new_message()
if CS.vEgo < MIN_STEER_SPEED or not active: if CS.vEgo < MIN_STEER_SPEED or not active:
output_torque = 0.0 output_torque = 0.0
pid_log.active = False pid_log.active = False
if not active:
self.pid.reset() self.pid.reset()
else: else:
if self.use_steering_angle: if self.use_steering_angle:
@ -59,14 +59,14 @@ class LatControlTorque(LatControl):
pid_log.error = error pid_log.error = error
ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
# convert friction into lateral accel units for feedforward
friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
ff += friction_compensation / self.CP.lateralTuning.torque.kf
output_torque = self.pid.update(error, output_torque = self.pid.update(error,
override=CS.steeringPressed, feedforward=ff, override=CS.steeringPressed, feedforward=ff,
speed=CS.vEgo, speed=CS.vEgo,
freeze_integrator=CS.steeringRateLimited) freeze_integrator=CS.steeringRateLimited)
friction_compensation = interp(desired_lateral_jerk, [-JERK_THRESHOLD, JERK_THRESHOLD], [-self.friction, self.friction])
output_torque += friction_compensation
pid_log.active = True pid_log.active = True
pid_log.p = self.pid.p pid_log.p = self.pid.p
pid_log.i = self.pid.i pid_log.i = self.pid.i
@ -74,6 +74,8 @@ class LatControlTorque(LatControl):
pid_log.f = self.pid.f pid_log.f = self.pid.f
pid_log.output = -output_torque pid_log.output = -output_torque
pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS) pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS)
pid_log.actualLateralAccel = actual_lateral_accel
pid_log.desiredLateralAccel = desired_lateral_accel
# TODO left is positive in this convention # TODO left is positive in this convention
return -output_torque, 0.0, pid_log return -output_torque, 0.0, pid_log

25
selfdrive/controls/lib/longcontrol.py
Unescape View File

@ -1,8 +1,8 @@
from cereal import car from cereal import car
from common.numpy_fast import clip, interp from common.numpy_fast import clip, interp
from common.realtime import DT_CTRL from common.realtime import DT_CTRL
from selfdrive.controls.lib.pid import PIDController
from selfdrive.controls.lib.drive_helpers import CONTROL_N from selfdrive.controls.lib.drive_helpers import CONTROL_N
from selfdrive.controls.lib.pid import PIDController
from selfdrive.modeld.constants import T_IDXS from selfdrive.modeld.constants import T_IDXS
LongCtrlState = car.CarControl.Actuators.LongControlState LongCtrlState = car.CarControl.Actuators.LongControlState
@ -50,8 +50,9 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
return long_control_state return long_control_state
class LongControl(): class LongControl:
def __init__(self, CP): def __init__(self, CP):
self.CP = CP
self.long_control_state = LongCtrlState.off # initialized to off self.long_control_state = LongCtrlState.off # initialized to off
self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV), self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV), (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
@ -64,7 +65,7 @@ class LongControl():
self.pid.reset() self.pid.reset()
self.v_pid = v_pid self.v_pid = v_pid
def update(self, active, CS, CP, long_plan, accel_limits, t_since_plan): def update(self, active, CS, long_plan, accel_limits, t_since_plan):
"""Update longitudinal control. This updates the state machine and runs a PID loop""" """Update longitudinal control. This updates the state machine and runs a PID loop"""
# Interp control trajectory # Interp control trajectory
speeds = long_plan.speeds speeds = long_plan.speeds
@ -72,11 +73,11 @@ class LongControl():
v_target = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds) v_target = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels) a_target = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels)
v_target_lower = interp(CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds) v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target_lower = 2 * (v_target_lower - v_target) / CP.longitudinalActuatorDelayLowerBound - a_target a_target_lower = 2 * (v_target_lower - v_target) / self.CP.longitudinalActuatorDelayLowerBound - a_target
v_target_upper = interp(CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds) v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds)
a_target_upper = 2 * (v_target_upper - v_target) / CP.longitudinalActuatorDelayUpperBound - a_target a_target_upper = 2 * (v_target_upper - v_target) / self.CP.longitudinalActuatorDelayUpperBound - a_target
a_target = min(a_target_lower, a_target_upper) a_target = min(a_target_lower, a_target_upper)
v_target_future = speeds[-1] v_target_future = speeds[-1]
@ -93,7 +94,7 @@ class LongControl():
# Update state machine # Update state machine
output_accel = self.last_output_accel output_accel = self.last_output_accel
self.long_control_state = long_control_state_trans(CP, active, self.long_control_state, CS.vEgo, self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
v_target, v_target_future, CS.brakePressed, v_target, v_target_future, CS.brakePressed,
CS.cruiseState.standstill) CS.cruiseState.standstill)
@ -107,8 +108,8 @@ class LongControl():
# Toyota starts braking more when it thinks you want to stop # Toyota starts braking more when it thinks you want to stop
# Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
prevent_overshoot = not CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid
deadzone = interp(CS.vEgo, CP.longitudinalTuning.deadzoneBP, CP.longitudinalTuning.deadzoneV) deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
freeze_integrator = prevent_overshoot freeze_integrator = prevent_overshoot
error = self.v_pid - CS.vEgo error = self.v_pid - CS.vEgo
@ -121,8 +122,8 @@ class LongControl():
# Intention is to stop, switch to a different brake control until we stop # Intention is to stop, switch to a different brake control until we stop
elif self.long_control_state == LongCtrlState.stopping: elif self.long_control_state == LongCtrlState.stopping:
# Keep applying brakes until the car is stopped # Keep applying brakes until the car is stopped
if not CS.standstill or output_accel > CP.stopAccel: if not CS.standstill or output_accel > self.CP.stopAccel:
output_accel -= CP.stoppingDecelRate * DT_CTRL output_accel -= self.CP.stoppingDecelRate * DT_CTRL
output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
self.reset(CS.vEgo) self.reset(CS.vEgo)

5
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@ -345,6 +345,11 @@ class LongitudinalMpc:
self.crash_cnt = 0 self.crash_cnt = 0
def update_with_xva(self, x, v, a): def update_with_xva(self, x, v, a):
# v, and a are in local frame, but x is wrt the x[0] position
# In >90degree turns, x goes to 0 (and may even be -ve)
# So, we use integral(v) + x[0] to obtain the forward-distance
xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1])
x = np.cumsum(np.insert(xforward, 0, x[0]))
self.yref[:,1] = x self.yref[:,1] = x
self.yref[:,2] = v self.yref[:,2] = v
self.yref[:,3] = a self.yref[:,3] = a

19
selfdrive/debug/compare_fingerprints.py
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@ -1,19 +0,0 @@
#!/usr/bin/env python3
# flake8: noqa
# put 2 fingeprints and print the diffs
f1 = {
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
}
f2 = {
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8
}
for k in f1:
if k not in f2 or f1[k] != f2[k]:
print(k, "not in f2")
for k in f2:
if k not in f1 or f2[k] != f1[k]:
print(k, "not in f1")

49
selfdrive/debug/cycle_alerts.py
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@ -1,15 +1,11 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
# flake8: noqa
# pylint: skip-file
# type: ignore
import time import time
from cereal import car, log from cereal import car, log
import cereal.messaging as messaging import cereal.messaging as messaging
from common.realtime import DT_CTRL from common.realtime import DT_CTRL
from selfdrive.car.honda.interface import CarInterface from selfdrive.car.honda.interface import CarInterface
from selfdrive.controls.lib.events import ET, EVENTS, Events from selfdrive.controls.lib.events import ET, Events
from selfdrive.controls.lib.alertmanager import AlertManager from selfdrive.controls.lib.alertmanager import AlertManager
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
@ -33,10 +29,26 @@ def cycle_alerts(duration=200, is_metric=False):
(EventName.driverDistracted, ET.WARNING), (EventName.driverDistracted, ET.WARNING),
] ]
# debug alerts
alerts = [
(EventName.highCpuUsage, ET.NO_ENTRY),
(EventName.lowMemory, ET.PERMANENT),
(EventName.overheat, ET.PERMANENT),
(EventName.outOfSpace, ET.PERMANENT),
(EventName.modeldLagging, ET.PERMANENT),
]
CP = CarInterface.get_params("HONDA CIVIC 2016") CP = CarInterface.get_params("HONDA CIVIC 2016")
sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration', sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman']) 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
sm['deviceState'].freeSpacePercent = 55
sm['deviceState'].memoryUsagePercent = 55
sm['deviceState'].cpuTempC = [1, 2, 100]
sm['deviceState'].gpuTempC = [211, 2, 100]
sm['deviceState'].cpuUsagePercent = [23, 54]
sm['modelV2'].frameDropPerc = 20
pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState']) pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
events = Events() events = Events()
@ -44,30 +56,27 @@ def cycle_alerts(duration=200, is_metric=False):
frame = 0 frame = 0
while True: while True:
current_alert_types = [ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY,
ET.ENABLE, ET.WARNING]
for alert, et in alerts: for alert, et in alerts:
events.clear() events.clear()
events.add(alert) events.add(alert)
a = events.create_alerts([et, ], [CP, sm, is_metric, 0]) a = events.create_alerts([et, ], [CP, sm, is_metric, 0])
AM.add_many(frame, a) AM.add_many(frame, a)
AM.process_alerts(frame) alert = AM.process_alerts(frame, [])
print(AM.alert) print(alert)
for _ in range(duration): for _ in range(duration):
dat = messaging.new_message() dat = messaging.new_message()
dat.init('controlsState') dat.init('controlsState')
dat.controlsState.enabled = True dat.controlsState.enabled = False
dat.controlsState.alertText1 = AM.alert_text_1 if alert:
dat.controlsState.alertText2 = AM.alert_text_2 dat.controlsState.alertText1 = alert.alert_text_1
dat.controlsState.alertSize = AM.alert_size dat.controlsState.alertText2 = alert.alert_text_2
dat.controlsState.alertStatus = AM.alert_status dat.controlsState.alertSize = alert.alert_size
dat.controlsState.alertBlinkingRate = AM.alert_rate dat.controlsState.alertStatus = alert.alert_status
dat.controlsState.alertType = AM.alert_type dat.controlsState.alertBlinkingRate = alert.alert_rate
dat.controlsState.alertSound = AM.audible_alert dat.controlsState.alertType = alert.alert_type
dat.controlsState.alertSound = alert.audible_alert
pm.send('controlsState', dat) pm.send('controlsState', dat)
dat = messaging.new_message() dat = messaging.new_message()

2
selfdrive/debug/dump.py
Unescape View File

@ -13,7 +13,7 @@ from cereal.services import service_list
if __name__ == "__main__": if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Dump communcation sockets. See cereal/services.py for a complete list of available sockets.') parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')
parser.add_argument('--pipe', action='store_true') parser.add_argument('--pipe', action='store_true')
parser.add_argument('--raw', action='store_true') parser.add_argument('--raw', action='store_true')
parser.add_argument('--json', action='store_true') parser.add_argument('--json', action='store_true')

2
selfdrive/debug/hyundai_enable_radar_points.py
Unescape View File

@ -74,7 +74,7 @@ if __name__ == "__main__":
print("\nyou didn't type 'OK! (aborted)") print("\nyou didn't type 'OK! (aborted)")
sys.exit(0) sys.exit(0)
panda = Panda() # type: ignore panda = Panda()
panda.set_safety_mode(Panda.SAFETY_ELM327) panda.set_safety_mode(Panda.SAFETY_ELM327)
uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug) uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug)

23
selfdrive/debug/internal/core_voltage_sweep.py
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@ -1,23 +0,0 @@
#!/usr/bin/env python3
import os
import sys
import time
print("starting at")
os.system("cat /sys/kernel/debug/regulator/pm8994_s11/voltage")
print("volts")
os.system("echo 99e8000.cpr3-ctrl > /sys/devices/soc/spm-regulator-10/regulator/regulator.56/99e8000.cpr3-ctrl-vdd/driver/unbind")
os.system("echo 1 > /sys/kernel/debug/regulator/pm8994_s11/enable")
if len(sys.argv) > 1:
i = int(sys.argv[1])
os.system("echo %d %d > /sys/kernel/debug/regulator/pm8994_s11/voltage" % (i,i))
os.system("cat /sys/kernel/debug/regulator/pm8994_s11/voltage")
else:
for i in range(900000, 465000, -10000):
print("setting voltage to",i)
os.system("echo %d %d > /sys/kernel/debug/regulator/pm8994_s11/voltage" % (i,i))
os.system("cat /sys/kernel/debug/regulator/pm8994_s11/voltage")
time.sleep(1)

67
selfdrive/debug/internal/sensor_test_bootloop.py
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@ -1,67 +0,0 @@
#!/usr/bin/python3
import sys
import os
import stat
import subprocess
import json
from common.text_window import TextWindow
import time
# Required for sensord not to bus-error on startup
# commaai/cereal#22
try:
os.mkdir("/dev/shm")
except FileExistsError:
pass
except PermissionError:
print("WARNING: failed to make /dev/shm")
try:
with open('/tmp/sensor-test-results.json') as infile:
data = json.load(infile)
except Exception:
data = {'sensor-pass': 0, 'sensor-fail': 0}
STARTUP_SCRIPT = "/data/data/com.termux/files/continue.sh"
try:
with open(STARTUP_SCRIPT, 'w') as startup_script:
startup_script.write("#!/usr/bin/bash\n\n/data/openpilot/selfdrive/debug/internal/sensor_test_bootloop.py\n")
os.chmod(STARTUP_SCRIPT, stat.S_IRWXU)
except Exception:
print("Failed to install new startup script -- aborting")
sys.exit(-1)
sensord_env = {**os.environ, 'SENSOR_TEST': '1'}
process = subprocess.run("./sensord", cwd="/data/openpilot/selfdrive/sensord", env=sensord_env) # pylint: disable=subprocess-run-check
if process.returncode == 40:
text = "Current run: SUCCESS\n"
data['sensor-pass'] += 1
else:
text = "Current run: FAIL\n"
data['sensor-fail'] += 1
timestr = str(int(time.time()))
with open('/tmp/dmesg-' + timestr + '.log', 'w') as dmesg_out:
subprocess.call('dmesg', stdout=dmesg_out, shell=False)
with open("/tmp/logcat-" + timestr + '.log', 'w') as logcat_out:
subprocess.call(['logcat', '-d'], stdout=logcat_out, shell=False)
text += "Sensor pass history: " + str(data['sensor-pass']) + "\n"
text += "Sensor fail history: " + str(data['sensor-fail']) + "\n"
print(text)
with open('/tmp/sensor-test-results.json', 'w') as outfile:
json.dump(data, outfile, indent=4)
with TextWindow(text) as status:
for _ in range(100):
if status.get_status() == 1:
with open(STARTUP_SCRIPT, 'w') as startup_script:
startup_script.write("#!/usr/bin/bash\n\ncd /data/openpilot\nexec ./launch_openpilot.sh\n")
os.chmod(STARTUP_SCRIPT, stat.S_IRWXU)
break
time.sleep(0.1)
subprocess.Popen("reboot")

6
selfdrive/hardware/base.py
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@ -158,3 +158,9 @@ class HardwareBase(ABC):
@abstractmethod @abstractmethod
def get_networks(self): def get_networks(self):
pass pass
def reset_internal_panda(self):
pass
def recover_internal_panda(self):
pass

2
selfdrive/hardware/tici/agnos.py
Unescape View File

@ -16,7 +16,7 @@ class StreamingDecompressor:
def __init__(self, url: str) -> None: def __init__(self, url: str) -> None:
self.buf = b"" self.buf = b""
self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}) self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}) # type: ignore
self.it = self.req.iter_content(chunk_size=1024 * 1024) self.it = self.req.iter_content(chunk_size=1024 * 1024)
self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO) self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
self.eof = False self.eof = False

37
selfdrive/hardware/tici/hardware.py
Unescape View File

@ -2,13 +2,16 @@ import json
import math import math
import os import os
import subprocess import subprocess
import time
from enum import IntEnum from enum import IntEnum
from functools import cached_property from functools import cached_property
from pathlib import Path from pathlib import Path
from cereal import log from cereal import log
from common.gpio import gpio_set, gpio_init
from selfdrive.hardware.base import HardwareBase, ThermalConfig from selfdrive.hardware.base import HardwareBase, ThermalConfig
from selfdrive.hardware.tici import iwlist from selfdrive.hardware.tici import iwlist
from selfdrive.hardware.tici.pins import GPIO
from selfdrive.hardware.tici.amplifier import Amplifier from selfdrive.hardware.tici.amplifier import Amplifier
NM = 'org.freedesktop.NetworkManager' NM = 'org.freedesktop.NetworkManager'
@ -415,12 +418,12 @@ class Tici(HardwareBase):
# offline big cluster, leave core 4 online for boardd # offline big cluster, leave core 4 online for boardd
for i in range(5, 8): for i in range(5, 8):
val = "0" if powersave_enabled else "1" val = '0' if powersave_enabled else '1'
sudo_write(val, f"/sys/devices/system/cpu/cpu{i}/online") sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
for n in ('0', '4'): for n in ('0', '4'):
gov = 'ondemand' if powersave_enabled else 'performance' gov = 'ondemand' if powersave_enabled else 'performance'
sudo_write(gov, f"/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor") sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
# *** IRQ config *** # *** IRQ config ***
affine_irq(5, 565) # kgsl-3d0 affine_irq(5, 565) # kgsl-3d0
@ -450,19 +453,25 @@ class Tici(HardwareBase):
sudo_write("f", "/proc/irq/default_smp_affinity") sudo_write("f", "/proc/irq/default_smp_affinity")
# *** GPU config *** # *** GPU config ***
sudo_write("0", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel") # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
sudo_write("0", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/max_pwrlevel")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on") sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
sudo_write("1000000", "/sys/class/kgsl/kgsl-3d0/idle_timer") sudo_write("1000000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor") sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
sudo_write("596", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
# setup governors # setup governors
sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor") sudo_write("performance", "/sys/class/devfreq/soc:qcom,cpubw/governor")
sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor") sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu0/governor")
sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor") sudo_write("performance", "/sys/class/devfreq/soc:qcom,memlat-cpu4/governor")
# *** VIDC (encoder) config ***
sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling")
sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation")
def configure_modem(self): def configure_modem(self):
sim_id = self.get_sim_info().get('sim_id', '') sim_id = self.get_sim_info().get('sim_id', '')
@ -509,6 +518,24 @@ class Tici(HardwareBase):
return r return r
def reset_internal_panda(self):
gpio_init(GPIO.STM_RST_N, True)
gpio_set(GPIO.STM_RST_N, 1)
time.sleep(2)
gpio_set(GPIO.STM_RST_N, 0)
def recover_internal_panda(self):
gpio_init(GPIO.STM_RST_N, True)
gpio_init(GPIO.STM_BOOT0, True)
gpio_set(GPIO.STM_RST_N, 1)
gpio_set(GPIO.STM_BOOT0, 1)
time.sleep(2)
gpio_set(GPIO.STM_RST_N, 0)
gpio_set(GPIO.STM_BOOT0, 0)
if __name__ == "__main__": if __name__ == "__main__":
t = Tici() t = Tici()

3
selfdrive/hardware/tici/pins.py
Unescape View File

@ -1,4 +1,5 @@
# TODO: these are also defined in a header # TODO: these are also defined in a header
# GPIO pin definitions # GPIO pin definitions
class GPIO: class GPIO:
# both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset # both GPIO_STM_RST_N and GPIO_LTE_RST_N are misnamed, they are high to reset
@ -18,5 +19,3 @@ class GPIO:
CAM0_RSTN = 9 CAM0_RSTN = 9
CAM1_RSTN = 7 CAM1_RSTN = 7
CAM2_RSTN = 12 CAM2_RSTN = 12

44
selfdrive/hardware/tici/power_monitor.py
Unescape View File

@ -1,11 +1,32 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import sys import sys
import time import time
import numpy as np
from typing import List
from common.realtime import Ratekeeper
def average(avg, sample): def average(avg, sample):
# Weighted avg between existing value and new sample # Weighted avg between existing value and new sample
return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1) return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1)
def sample_power(seconds=5) -> List[float]:
rate = 123
rk = Ratekeeper(rate, print_delay_threshold=None)
pwrs = []
for _ in range(rate*seconds):
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
pwrs.append(int(f.read()) / 1e6)
rk.keep_time()
return pwrs
def get_power(seconds=5):
pwrs = sample_power(seconds)
return np.mean(pwrs)
if __name__ == '__main__': if __name__ == '__main__':
sample_time = None sample_time = None
@ -17,7 +38,6 @@ if __name__ == '__main__':
voltage_average = (0, 0) # average, count voltage_average = (0, 0) # average, count
current_average = (0, 0) current_average = (0, 0)
power_average = (0, 0) power_average = (0, 0)
power_total_average = (0, 0)
while sample_time is None or time.monotonic() - start_time < sample_time: while sample_time is None or time.monotonic() - start_time < sample_time:
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f: with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
voltage_total = int(f.read()) / 1000. voltage_total = int(f.read()) / 1000.
@ -25,23 +45,23 @@ if __name__ == '__main__':
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f: with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
current_total = int(f.read()) current_total = int(f.read())
with open("/sys/class/power_supply/bms/voltage_now") as f: # SOM measurements are questionable
voltage = int(f.read()) / 1e6 # volts #with open("/sys/class/power_supply/bms/voltage_now") as f:
# voltage = int(f.read()) / 1e6 # volts
with open("/sys/class/power_supply/bms/current_now") as f: #with open("/sys/class/power_supply/bms/current_now") as f:
current = int(f.read()) / 1e3 # ma # current = int(f.read()) / 1e3 # ma
power = voltage*current
power_total = voltage_total*current_total power_total = voltage_total*current_total
# compute averages # compute averages
voltage_average = average(voltage_average, voltage) voltage_average = average(voltage_average, voltage_total)
current_average = average(current_average, current) current_average = average(current_average, current_total)
power_average = average(power_average, power) power_average = average(power_average, power_total)
power_total_average = average(power_total_average, power_total)
print(f"{power:12.2f} mW {power_total:12.2f} mW {power_total - power:12.2f} mW") print(f"now: {power_total:.2f} mW, avg: {power_average[0]:.2f} mW")
time.sleep(0.25) time.sleep(0.25)
except KeyboardInterrupt:
pass
finally: finally:
stop_time = time.monotonic() stop_time = time.monotonic()
print("\n----------------------Average-----------------------------------") print("\n----------------------Average-----------------------------------")

14
selfdrive/hardware/tici/precise_power_measure.py
Unescape View File

@ -1,17 +1,9 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import numpy as np import numpy as np
from common.realtime import Ratekeeper from selfdrive.hardware.tici.power_monitor import sample_power
if __name__ == '__main__': if __name__ == '__main__':
RATE = 123 print("measuring for 5 seconds")
print("measuring for 5 seconds at %dhz 3 times" % RATE)
rk = Ratekeeper(RATE, print_delay_threshold=None)
for _ in range(3): for _ in range(3):
pwrs = [] pwrs = sample_power()
for _ in range(RATE*5):
with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
pwrs.append(int(f.read()) / 1000.)
rk.keep_time()
print("mean %.2f std %.2f" % (np.mean(pwrs), np.std(pwrs))) print("mean %.2f std %.2f" % (np.mean(pwrs), np.std(pwrs)))

18
selfdrive/hardware/tici/restart_modem.sh
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@ -0,0 +1,18 @@
#!/usr/bin/bash
nmcli connection modify --temporary lte gsm.home-only yes
nmcli connection modify --temporary lte gsm.auto-config yes
nmcli connection modify --temporary lte connection.autoconnect-retries 20
sudo systemctl stop ModemManager
# full restart
#/usr/comma/lte/lte.sh stop_blocking
#sudo systemctl restart lte
# quick shutdown
/usr/comma/lte/lte.sh stop
nmcli con down lte
#sudo systemctl restart ModemManager
sudo ModemManager --debug

70
selfdrive/hardware/tici/test_power_draw.py
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#!/usr/bin/env python3
import unittest
import time
import math
from dataclasses import dataclass
from selfdrive.hardware import HARDWARE, TICI
from selfdrive.hardware.tici.power_monitor import get_power
from selfdrive.manager.process_config import managed_processes
from selfdrive.manager.manager import manager_cleanup
@dataclass
class Proc:
name: str
power: float
rtol: float = 0.05
atol: float = 0.1
warmup: float = 3.
PROCS = [
Proc('camerad', 2.5),
Proc('modeld', 0.95),
Proc('dmonitoringmodeld', 0.25),
Proc('loggerd', 0.45, warmup=10.),
]
class TestPowerDraw(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
def setUp(self):
HARDWARE.initialize_hardware()
HARDWARE.set_power_save(False)
def tearDown(self):
manager_cleanup()
def test_camera_procs(self):
baseline = get_power()
prev = baseline
used = {}
for proc in PROCS:
managed_processes[proc.name].start()
time.sleep(proc.warmup)
now = get_power(8)
used[proc.name] = now - prev
prev = now
manager_cleanup()
print("-"*35)
print(f"Baseline {baseline:.2f}W\n")
for proc in PROCS:
cur = used[proc.name]
expected = proc.power
print(f"{proc.name.ljust(20)} {expected:.2f}W {cur:.2f}W")
with self.subTest(proc=proc.name):
self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
print("-"*35)
if __name__ == "__main__":
unittest.main()

80
selfdrive/locationd/laikad.py
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#!/usr/bin/env python3
from typing import List
from cereal import log, messaging
from laika import AstroDog
from laika.helpers import ConstellationId
from laika.raw_gnss import GNSSMeasurement, calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
def correct_and_pos_fix(processed_measurements: List[GNSSMeasurement], dog: AstroDog):
# pos fix needs more than 5 processed_measurements
pos_fix = calc_pos_fix(processed_measurements)
if len(pos_fix) == 0:
return [], []
est_pos = pos_fix[0][:3]
corrected = correct_measurements(processed_measurements, est_pos, dog)
return calc_pos_fix(corrected), corrected
def process_ublox_msg(ublox_msg, dog, ublox_mono_time: int):
if ublox_msg.which == 'measurementReport':
report = ublox_msg.measurementReport
if len(report.measurements) == 0:
return None
new_meas = read_raw_ublox(report)
processed_measurements = process_measurements(new_meas, dog)
corrected = correct_and_pos_fix(processed_measurements, dog)
pos_fix, _ = corrected
# todo send corrected messages instead of processed_measurements. Need fix for when having less than 6 measurements
correct_meas_msgs = [create_measurement_msg(m) for m in processed_measurements]
# pos fix can be an empty list if not enough correct measurements are available
if len(pos_fix) > 0:
corrected_pos = pos_fix[0][:3].tolist()
else:
corrected_pos = [0., 0., 0.]
dat = messaging.new_message('gnssMeasurements')
dat.gnssMeasurements = {
"position": corrected_pos,
"ubloxMonoTime": ublox_mono_time,
"correctedMeasurements": correct_meas_msgs
}
return dat
def create_measurement_msg(meas: GNSSMeasurement):
c = log.GnssMeasurements.CorrectedMeasurement.new_message()
c.constellationId = meas.constellation_id.value
c.svId = int(meas.prn[1:])
c.glonassFrequency = meas.glonass_freq if meas.constellation_id == ConstellationId.GLONASS else 0
c.pseudorange = float(meas.observables['C1C']) # todo should be observables_final when using corrected measurements
c.pseudorangeStd = float(meas.observables_std['C1C'])
c.pseudorangeRate = float(meas.observables['D1C']) # todo should be observables_final when using corrected measurements
c.pseudorangeRateStd = float(meas.observables_std['D1C'])
c.satPos = meas.sat_pos_final.tolist()
c.satVel = meas.sat_vel.tolist()
return c
def main():
dog = AstroDog()
sm = messaging.SubMaster(['ubloxGnss'])
pm = messaging.PubMaster(['gnssMeasurements'])
while True:
sm.update()
# Todo if no internet available use latest ephemeris
if sm.updated['ubloxGnss']:
ublox_msg = sm['ubloxGnss']
msg = process_ublox_msg(ublox_msg, dog, sm.logMonoTime['ubloxGnss'])
if msg is None:
msg = messaging.new_message('gnssMeasurements')
pm.send('gnssMeasurements', msg)
if __name__ == "__main__":
main()

23
selfdrive/locationd/test/test_laikad.py
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#!/usr/bin/env python3
import unittest
from datetime import datetime
from laika.helpers import ConstellationId
from laika.gps_time import GPSTime
from laika.raw_gnss import GNSSMeasurement
from selfdrive.locationd.laikad import create_measurement_msg
class TestLaikad(unittest.TestCase):
def test_create_msg_without_errors(self):
gpstime = GPSTime.from_datetime(datetime.now())
meas = GNSSMeasurement(ConstellationId.GPS, 1, gpstime.week, gpstime.tow, {'C1C': 0., 'D1C': 0.}, {'C1C': 0., 'D1C': 0.})
msg = create_measurement_msg(meas)
self.assertEqual(msg.constellationId, 'gps')
if __name__ == "__main__":
unittest.main()

80
selfdrive/locationd/test/test_ublox_processing.py
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import unittest
import numpy as np
from laika import AstroDog
from laika.helpers import ConstellationId
from laika.raw_gnss import calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader
def get_gnss_measurements(log_reader):
gnss_measurements = []
for msg in log_reader:
if msg.which() == "ubloxGnss":
ublox_msg = msg.ubloxGnss
if ublox_msg.which == 'measurementReport':
report = ublox_msg.measurementReport
if len(report.measurements) > 0:
gnss_measurements.append(read_raw_ublox(report))
return gnss_measurements
class TestUbloxProcessing(unittest.TestCase):
NUM_TEST_PROCESS_MEAS = 10
@classmethod
def setUpClass(cls):
lr = LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", 0))
cls.gnss_measurements = get_gnss_measurements(lr)
def test_read_ublox_raw(self):
count_gps = 0
count_glonass = 0
for measurements in self.gnss_measurements:
for m in measurements:
if m.constellation_id == ConstellationId.GPS:
count_gps += 1
elif m.constellation_id == ConstellationId.GLONASS:
count_glonass += 1
self.assertEqual(count_gps, 5036)
self.assertEqual(count_glonass, 3651)
def test_get_fix(self):
dog = AstroDog()
position_fix_found = 0
count_processed_measurements = 0
count_corrected_measurements = 0
position_fix_found_after_correcting = 0
pos_ests = []
for measurements in self.gnss_measurements[:self.NUM_TEST_PROCESS_MEAS]:
processed_meas = process_measurements(measurements, dog)
count_processed_measurements += len(processed_meas)
pos_fix = calc_pos_fix(processed_meas)
if len(pos_fix) > 0 and all(pos_fix[0] != 0):
position_fix_found += 1
corrected_meas = correct_measurements(processed_meas, pos_fix[0][:3], dog)
count_corrected_measurements += len(corrected_meas)
pos_fix = calc_pos_fix(corrected_meas)
if len(pos_fix) > 0 and all(pos_fix[0] != 0):
pos_ests.append(pos_fix[0])
position_fix_found_after_correcting += 1
mean_fix = np.mean(np.array(pos_ests)[:, :3], axis=0)
np.testing.assert_allclose(mean_fix, [-2452306.662377, -4778343.136806, 3428550.090557], rtol=0, atol=1)
# Note that can happen that there are less corrected measurements compared to processed when they are invalid.
# However, not for the current segment
self.assertEqual(position_fix_found, self.NUM_TEST_PROCESS_MEAS)
self.assertEqual(position_fix_found_after_correcting, self.NUM_TEST_PROCESS_MEAS)
self.assertEqual(count_processed_measurements, 69)
self.assertEqual(count_corrected_measurements, 69)
if __name__ == "__main__":
unittest.main()

1
selfdrive/loggerd/.gitignore vendored
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@ -1,2 +1,3 @@
loggerd loggerd
encoderd
tests/test_logger tests/test_logger

14
selfdrive/loggerd/SConscript
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@ -1,15 +1,13 @@
Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc', 'gpucommon') Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
libs = [common, cereal, messaging, visionipc, libs = [common, cereal, messaging, visionipc,
'zmq', 'capnp', 'kj', 'z', 'zmq', 'capnp', 'kj', 'z',
'avformat', 'avcodec', 'swscale', 'avutil', 'avformat', 'avcodec', 'swscale', 'avutil',
'yuv', 'bz2', 'OpenCL', 'pthread'] 'yuv', 'OpenCL', 'pthread']
src = ['logger.cc', 'loggerd.cc', 'video_writer.cc'] src = ['logger.cc', 'loggerd.cc', 'video_writer.cc', 'remote_encoder.cc']
if arch == "larch64": if arch == "larch64":
src += ['omx_encoder.cc'] src += ['v4l_encoder.cc']
libs += ['OmxCore', 'gsl', 'CB'] + gpucommon
else: else:
src += ['raw_logger.cc'] src += ['raw_logger.cc']
@ -22,7 +20,9 @@ logger_lib = env.Library('logger', src)
libs.insert(0, logger_lib) libs.insert(0, logger_lib)
env.Program('loggerd', ['main.cc'], LIBS=libs) env.Program('loggerd', ['main.cc'], LIBS=libs)
if arch == "larch64":
env.Program('encoderd', ['encoderd.cc'], LIBS=libs)
env.Program('bootlog.cc', LIBS=libs) env.Program('bootlog.cc', LIBS=libs)
if GetOption('test'): if GetOption('test'):
env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_loggerd.cc', 'tests/test_logger.cc', env.Object('logger_util', '#/selfdrive/ui/replay/util.cc')], LIBS=libs + ['curl', 'crypto']) env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_loggerd.cc', 'tests/test_logger.cc'], LIBS=libs + ['curl', 'crypto'])

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