From 32e5ca35d4dd2350c9c96213d4723f5073f0e67d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 19 Jun 2022 14:07:19 -0700 Subject: [PATCH] Revert "Chrysler: use unified signal definitions (#24895)" This reverts commit f9ca74c4a338cbf0acd9cfe4754d3843e45210e0. old-commit-hash: 28431f7dddb72da31a79005ef37fb6642f822a4c --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 31 +++++++++++++++--------------- 2 files changed, 16 insertions(+), 17 deletions(-) diff --git a/opendbc b/opendbc index 57c8340a18..5e2a820268 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 57c8340a180dd8c75139b18050eb17c72c9cb6e4 +Subproject commit 5e2a82026842a7082e5e81e5823dab6b6616dbf4 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 7571286c56..e3ee4753cc 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -18,10 +18,10 @@ class CarState(CarStateBase): self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"]) - ret.doorOpen = any([cp.vl["BCM_1"]["Driver_Door_Ajar"], - cp.vl["BCM_1"]["Passenger_Door_Ajar"], - cp.vl["BCM_1"]["Left_Rear_Door_Ajar"], - cp.vl["BCM_1"]["Right_Rear_Door_Ajar"]]) + ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"], + cp.vl["DOORS"]["DOOR_OPEN_FR"], + cp.vl["DOORS"]["DOOR_OPEN_RL"], + cp.vl["DOORS"]["DOOR_OPEN_RR"]]) ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1 # brake pedal @@ -51,12 +51,12 @@ class CarState(CarStateBase): ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) - ret.cruiseState.available = cp.vl["DAS_3"]["ACC_Engaged"] == 1 # ACC is white - ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_Enabled"] == 1 # ACC is green + ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7 # ACC is green. + ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled 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 ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2) - ret.accFaulted = cp.vl["DAS_3"]["ACC_Faulted"] != 0 + ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0 ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] @@ -82,10 +82,10 @@ class CarState(CarStateBase): signals = [ # sig_name, sig_address ("PRNDL", "GEAR"), - ("Driver_Door_Ajar", "BCM_1"), - ("Passenger_Door_Ajar", "BCM_1"), - ("Left_Rear_Door_Ajar", "BCM_1"), - ("Right_Rear_Door_Ajar", "BCM_1"), + ("DOOR_OPEN_FL", "DOORS"), + ("DOOR_OPEN_FR", "DOORS"), + ("DOOR_OPEN_RL", "DOORS"), + ("DOOR_OPEN_RR", "DOORS"), ("Brake_Pedal_State", "ESP_1"), ("Accelerator_Position", "ECM_5"), ("SPEED_LEFT", "SPEED_1"), @@ -97,9 +97,8 @@ class CarState(CarStateBase): ("STEER_ANGLE", "STEERING"), ("STEERING_RATE", "STEERING"), ("TURN_SIGNALS", "STEERING_LEVERS"), - ("ACC_Enabled", "DAS_3"), - ("ACC_Engaged", "DAS_3"), - ("ACC_Faulted", "DAS_3"), + ("ACC_STATUS_2", "ACC_2"), + ("ACC_FAULTED", "ACC_2"), ("HIGH_BEAM_FLASH", "STEERING_LEVERS"), ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"), ("CRUISE_STATE", "DASHBOARD"), @@ -119,14 +118,14 @@ class CarState(CarStateBase): ("SPEED_1", 100), ("WHEEL_SPEEDS", 50), ("STEERING", 100), - ("DAS_3", 50), + ("ACC_2", 50), ("GEAR", 50), ("ECM_5", 50), ("WHEEL_BUTTONS", 50), ("DASHBOARD", 15), ("STEERING_LEVERS", 10), ("SEATBELT_STATUS", 2), - ("BCM_1", 1), + ("DOORS", 1), ("TRACTION_BUTTON", 1), ]