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Chrysler: prep for Ram port (#25040)

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* Chrysler: prep for Ram port

* bump opendbc

* opendbc master

* bump panda
old-commit-hash: 88a30004e0
taco
Adeeb Shihadeh 3 years ago committed by GitHub
parent fa29abe740
commit 256d6390fd
6 changed files with 23 additions and 25 deletions
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  1. 2
      opendbc
  2. 2
      panda
  3. 4
      release/files_common
  4. 20
      selfdrive/car/chrysler/carstate.py
  5. 6
      selfdrive/car/chrysler/chryslercan.py
  6. 14
      selfdrive/car/chrysler/values.py

2
opendbc

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

2
panda

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

4
release/files_common
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@ -35,7 +35,6 @@ common/filter_simple.py
common/stat_live.py common/stat_live.py
common/spinner.py common/spinner.py
common/text_window.py common/text_window.py
common/SConscript
common/kalman/.gitignore common/kalman/.gitignore
common/kalman/* common/kalman/*
@ -217,7 +216,6 @@ selfdrive/locationd/generated/gps.h
selfdrive/locationd/laikad.py selfdrive/locationd/laikad.py
selfdrive/locationd/laikad_helpers.py selfdrive/locationd/laikad_helpers.py
selfdrive/locationd/locationd.cc
selfdrive/locationd/locationd.h selfdrive/locationd/locationd.h
selfdrive/locationd/locationd.cc selfdrive/locationd/locationd.cc
selfdrive/locationd/paramsd.py selfdrive/locationd/paramsd.py
@ -475,7 +473,7 @@ opendbc/can/parser_pyx.pyx
opendbc/comma_body.dbc opendbc/comma_body.dbc
opendbc/chrysler_pacifica_2017_hybrid.dbc opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
opendbc/gm_global_a_powertrain_generated.dbc opendbc/gm_global_a_powertrain_generated.dbc

20
selfdrive/car/chrysler/carstate.py
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@ -64,14 +64,14 @@ class CarState(CarStateBase):
steer_state = cp.vl["EPS_2"]["LKAS_STATE"] steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed) ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"]) ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"])
if self.CP.enableBsm: if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1 ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1 ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"] self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"] self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"] self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"] self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
@ -100,7 +100,7 @@ class CarState(CarStateBase):
("ACC_AVAILABLE", "DAS_3"), ("ACC_AVAILABLE", "DAS_3"),
("ACC_ACTIVE", "DAS_3"), ("ACC_ACTIVE", "DAS_3"),
("ACC_FAULTED", "DAS_3"), ("ACC_FAULTED", "DAS_3"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"), ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DAS_4"), ("ACC_SPEED_CONFIG_KPH", "DAS_4"),
("CRUISE_STATE", "DAS_4"), ("CRUISE_STATE", "DAS_4"),
("COLUMN_TORQUE", "EPS_2"), ("COLUMN_TORQUE", "EPS_2"),
@ -132,10 +132,10 @@ class CarState(CarStateBase):
if CP.enableBsm: if CP.enableBsm:
signals += [ signals += [
("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"), ("RIGHT_STATUS", "BSM_1"),
("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"), ("LEFT_STATUS", "BSM_1"),
] ]
checks.append(("BLIND_SPOT_WARNINGS", 2)) checks.append(("BSM_1", 2))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
@ -144,13 +144,13 @@ class CarState(CarStateBase):
signals = [ signals = [
# sig_name, sig_address # sig_name, sig_address
("COUNTER", "LKAS_COMMAND"), ("COUNTER", "LKAS_COMMAND"),
("CAR_MODEL", "LKAS_HUD"), ("CAR_MODEL", "DAS_6"),
("LKAS_STATUS_OK", "LKAS_HEARTBIT") ("LKAS_STATUS_OK", "LKAS_HEARTBIT")
] ]
checks = [ checks = [
("LKAS_COMMAND", 100), ("LKAS_COMMAND", 100),
("LKAS_HEARTBIT", 10), ("LKAS_HEARTBIT", 10),
("LKAS_HUD", 4), ("DAS_6", 4),
] ]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)

6
selfdrive/car/chrysler/chryslercan.py
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@ -35,14 +35,14 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_mo
"LKAS_ALERTS": alerts, # byte 3, last 4 bits "LKAS_ALERTS": alerts, # byte 3, last 4 bits
} }
return packer.make_can_msg("LKAS_HUD", 0, values) # 0x2a6 return packer.make_can_msg("DAS_6", 0, values) # 0x2a6
def create_lkas_command(packer, apply_steer, moving_fast, frame): def create_lkas_command(packer, apply_steer, moving_fast, frame):
# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel. # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
values = { values = {
"LKAS_STEERING_TORQUE": apply_steer, "STEERING_TORQUE": apply_steer,
"LKAS_HIGH_TORQUE": int(moving_fast), "LKAS_CONTROL_BIT": int(moving_fast),
"COUNTER": frame % 0x10, "COUNTER": frame % 0x10,
} }
return packer.make_can_msg("LKAS_COMMAND", 0, values) return packer.make_can_msg("LKAS_COMMAND", 0, values)

14
selfdrive/car/chrysler/values.py
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@ -101,13 +101,13 @@ FINGERPRINTS = {
DBC = { DBC = {
CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'), CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
} }
STEER_THRESHOLD = 120 STEER_THRESHOLD = 120

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