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Merge remote-tracking branch 'upstream/master' into civic22_long

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pull/25364/head
royjr 3 years ago
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commit 3bf15b2f6a
85 changed files with 1678 additions and 941 deletions
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  1. 25
      Jenkinsfile
  2. 2
      RELEASES.md
  3. 257
      docs/CARS.md
  4. 2
      opendbc
  5. 63
      poetry.lock
  6. 1
      pyproject.toml
  7. 2
      release/files_common
  8. 4
      selfdrive/boardd/SConscript
  9. 18
      selfdrive/boardd/boardd.cc
  10. 287
      selfdrive/boardd/panda.cc
  11. 45
      selfdrive/boardd/panda.h
  12. 232
      selfdrive/boardd/panda_comms.cc
  13. 51
      selfdrive/boardd/panda_comms.h
  14. 7
      selfdrive/car/docs.py
  15. 26
      selfdrive/car/docs_definitions.py
  16. 22
      selfdrive/car/gm/carcontroller.py
  17. 2
      selfdrive/car/gm/carstate.py
  18. 10
      selfdrive/car/gm/gmcan.py
  19. 40
      selfdrive/car/gm/interface.py
  20. 44
      selfdrive/car/gm/values.py
  21. 32
      selfdrive/car/hyundai/carstate.py
  22. 11
      selfdrive/car/hyundai/interface.py
  23. 33
      selfdrive/car/hyundai/values.py
  24. 5
      selfdrive/car/tests/routes.py
  25. 5
      selfdrive/car/tests/test_docs.py
  26. 2
      selfdrive/car/torque_data/override.yaml
  27. 1
      selfdrive/car/torque_data/params.yaml
  28. 1
      selfdrive/car/torque_data/substitute.yaml
  29. 5
      selfdrive/car/toyota/carcontroller.py
  30. 8
      selfdrive/car/toyota/carstate.py
  31. 14
      selfdrive/car/toyota/interface.py
  32. 57
      selfdrive/car/toyota/values.py
  33. 3
      selfdrive/car/volkswagen/carstate.py
  34. 16
      selfdrive/car/volkswagen/interface.py
  35. 70
      selfdrive/car/volkswagen/mqbcan.py
  36. 89
      selfdrive/car/volkswagen/values.py
  37. 1
      selfdrive/controls/lib/longcontrol.py
  38. 20
      selfdrive/locationd/locationd.cc
  39. 3
      selfdrive/locationd/locationd.h
  40. 2
      selfdrive/locationd/paramsd.py
  41. 1
      selfdrive/manager/process_config.py
  42. 3
      selfdrive/monitoring/driver_monitor.py
  43. 66
      selfdrive/navd/map_renderer.cc
  44. 1
      selfdrive/navd/map_renderer.h
  45. 3
      selfdrive/navd/map_renderer.py
  46. 133
      selfdrive/sensord/sensors/lsm6ds3_accel.cc
  47. 18
      selfdrive/sensord/sensors/lsm6ds3_accel.h
  48. 115
      selfdrive/sensord/sensors/lsm6ds3_gyro.cc
  49. 12
      selfdrive/sensord/sensors/lsm6ds3_gyro.h
  50. 5
      selfdrive/sensord/tests/test_sensord.py
  51. 2
      selfdrive/test/process_replay/ref_commit
  52. 6
      selfdrive/test/test_onroad.py
  53. 2
      selfdrive/ui/qt/offroad/networking.cc
  54. 28
      selfdrive/ui/qt/offroad/settings.cc
  55. 2
      selfdrive/ui/qt/offroad/software_settings.cc
  56. 17
      selfdrive/ui/qt/onroad.cc
  57. 1
      selfdrive/ui/qt/onroad.h
  58. 16
      selfdrive/ui/qt/widgets/controls.h
  59. 57
      selfdrive/ui/qt/widgets/input.cc
  60. 14
      selfdrive/ui/qt/widgets/input.h
  61. 34
      selfdrive/ui/translations/main_ja.ts
  62. 34
      selfdrive/ui/translations/main_ko.ts
  63. 34
      selfdrive/ui/translations/main_pt-BR.ts
  64. 34
      selfdrive/ui/translations/main_zh-CHS.ts
  65. 34
      selfdrive/ui/translations/main_zh-CHT.ts
  66. 4
      selfdrive/ui/ui.cc
  67. 6
      selfdrive/updated.py
  68. 2
      system/camerad/cameras/real_debayer.cl
  69. 7
      system/camerad/test/test_camerad.py
  70. 22
      tools/cabana/binaryview.cc
  71. 6
      tools/cabana/binaryview.h
  72. 24
      tools/cabana/chartswidget.cc
  73. 4
      tools/cabana/chartswidget.h
  74. 148
      tools/cabana/detailwidget.cc
  75. 28
      tools/cabana/detailwidget.h
  76. 38
      tools/cabana/historylog.cc
  77. 11
      tools/cabana/historylog.h
  78. 5
      tools/cabana/messageswidget.cc
  79. 2
      tools/cabana/messageswidget.h
  80. 2
      tools/cabana/settings.cc
  81. 2
      tools/cabana/settings.h
  82. 55
      tools/cabana/signaledit.cc
  83. 12
      tools/cabana/signaledit.h
  84. 50
      tools/plotjuggler/layouts/longitudinal.xml
  85. 1
      tools/sim/start_openpilot_docker.sh

25
Jenkinsfile vendored
Unescape View File

@ -137,10 +137,10 @@ pipeline {
}
}
stage('camerad') {
stage('camerad-ar') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-party", [
phone_steps("tici-ar0321", [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
@ -148,6 +148,27 @@ pipeline {
}
}
stage('camerad-ox') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-ox03c10", [
["build", "cd selfdrive/manager && ./build.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
])
}
}
stage('sensord (LSM-C)') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tici-lsmc", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
])
}
}
stage('replay') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {

2
RELEASES.md
Unescape View File

@ -15,6 +15,8 @@ Version 0.8.17 (2022-XX-XX)
* Added button to bookmark events while driving; view them later in comma connect
* AGNOS 6
* tools: new and improved cabana thanks to deanlee!
* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
* Kia Sportage 2023 support thanks to sunnyhaibin!
* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
Version 0.8.16 (2022-08-26)

257
docs/CARS.md
Unescape View File

@ -4,23 +4,23 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 211 Supported Cars
# 213 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
@ -28,59 +28,60 @@ A supported vehicle is one that just works when you install a comma three. All s
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Civic 2019-21|All|openpilot|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|CR-V 2017-22|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Insight 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
|Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
|Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Hyundai|Santa Cruz 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Sonata 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
@ -88,38 +89,39 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Niro EV 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
|Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Kia|Telluride 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|NX Hybrid 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2016|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
@ -129,8 +131,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
@ -141,94 +143,95 @@ A supported vehicle is one that just works when you install a comma three. All s
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla 2017-19|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius Prime 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2017-18|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Toyota|Sienna 2018-20|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas 2018-23[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
<a id="footnotes"></a>
<sup>1</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. Using openpilot longitudinal may disable Automatic Emergency Braking (AEB). <br />
<sup>2</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
<sup>5</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
<sup>7</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
<sup>8</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
<sup>9</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
## Community Maintained Cars
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

2
opendbc

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{file = "pyproj-3.4.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:954b068136518b3174d0a99448056e97af62b63392a95c420894f7de2229dae6"},
{file = "pyproj-3.4.0-cp310-cp310-win_amd64.whl", hash = "sha256:4a23d84c5ffc383c7d9f0bde3a06fc1f6697b1b96725597f8f01e7b4bef0a2b5"},
{file = "pyproj-3.4.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:1f9c100fd0fd80edbc7e4daa303600a8cbef6f0de43d005617acb38276b88dc0"},
{file = "pyproj-3.4.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:aa5171f700f174777a9e9ed8f4655583243967c0f9cf2c90e3f54e54ff740134"},
{file = "pyproj-3.4.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9a496d9057b2128db9d733e66b206f2d5954bbae6b800d412f562d780561478c"},
{file = "pyproj-3.4.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:52e54796e2d9554a5eb8f11df4748af1fbbc47f76aa234d6faf09216a84554c5"},
{file = "pyproj-3.4.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a454a7c4423faa2a14e939d08ef293ee347fa529c9df79022b0585a6e1d8310c"},
@ -6957,6 +6973,7 @@ pyproj = [
{file = "pyproj-3.4.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f80adda8c54b84271a93829477a01aa57bc178c834362e9f74e1de1b5033c74c"},
{file = "pyproj-3.4.0-cp38-cp38-win_amd64.whl", hash = "sha256:221d8939685e0c43ee594c9f04b6a73a10e8e1cc0e85f28be0b4eb2f1bc8777d"},
{file = "pyproj-3.4.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:d94afed99f31673d3d19fe750283621e193e2a53ca9e0443bf9d092c3905833b"},
{file = "pyproj-3.4.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:0fff9c3a991508f16027be27d153f6c5583d03799443639d13c681e60f49e2d7"},
{file = "pyproj-3.4.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3b85acf09e5a9e35cd9ee72989793adb7089b4e611be02a43d3d0bda50ad116b"},
{file = "pyproj-3.4.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:45554f47d1a12a84b0620e4abc08a2a1b5d9f273a4759eaef75e74788ec7162a"},
{file = "pyproj-3.4.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:12f62c20656ac9b6076ebb213e9a635d52f4f01fef95310121d337e62e910cb6"},
@ -7537,6 +7554,10 @@ sphinxcontrib-serializinghtml = [
{file = "sphinxcontrib-serializinghtml-1.1.5.tar.gz", hash = "sha256:aa5f6de5dfdf809ef505c4895e51ef5c9eac17d0f287933eb49ec495280b6952"},
{file = "sphinxcontrib_serializinghtml-1.1.5-py2.py3-none-any.whl", hash = "sha256:352a9a00ae864471d3a7ead8d7d79f5fc0b57e8b3f95e9867eb9eb28999b92fd"},
]
spidev = [
{file = "spidev-3.6-cp39-cp39-linux_armv7l.whl", hash = "sha256:280abc00a1ef7780ef62c3f294f52a2527b6c47d8c269fea98664970bcaf6da5"},
{file = "spidev-3.6.tar.gz", hash = "sha256:14dbc37594a4aaef85403ab617985d3c3ef464d62bc9b769ef552db53701115b"},
]
sqlalchemy = [
{file = "SQLAlchemy-1.4.42-cp27-cp27m-macosx_10_14_x86_64.whl", hash = "sha256:28e881266a172a4d3c5929182fde6bb6fba22ac93f137d5380cc78a11a9dd124"},
{file = "SQLAlchemy-1.4.42-cp27-cp27m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:ca9389a00f639383c93ed00333ed763812f80b5ae9e772ea32f627043f8c9c88"},

1
pyproject.toml
Unescape View File

@ -55,6 +55,7 @@ tqdm = "^4.64.0"
urllib3 = "^1.26.10"
utm = "^0.7.0"
websocket_client = "^1.3.3"
spidev = "^3.6"
[tool.poetry.group.dev.dependencies]

2
release/files_common
Unescape View File

@ -90,6 +90,8 @@ selfdrive/boardd/boardd_api_impl.pyx
selfdrive/boardd/can_list_to_can_capnp.cc
selfdrive/boardd/panda.cc
selfdrive/boardd/panda.h
selfdrive/boardd/panda_comms.h
selfdrive/boardd/panda_comms.cc
selfdrive/boardd/set_time.py
selfdrive/boardd/pandad.py

4
selfdrive/boardd/SConscript
Unescape View File

@ -1,9 +1,9 @@
Import('env', 'envCython', 'common', 'cereal', 'messaging')
libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc'], LIBS=libs)
env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc'], LIBS=libs)
env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
if GetOption('test'):
env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc'], LIBS=libs)
env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc'], LIBS=libs)

18
selfdrive/boardd/boardd.cc
Unescape View File

@ -19,8 +19,6 @@
#include <future>
#include <thread>
#include <libusb-1.0/libusb.h>
#include "cereal/gen/cpp/car.capnp.h"
#include "cereal/messaging/messaging.h"
#include "common/params.h"
@ -67,7 +65,7 @@ static std::string get_time_str(const struct tm &time) {
bool check_all_connected(const std::vector<Panda *> &pandas) {
for (const auto& panda : pandas) {
if (!panda->connected) {
if (!panda->connected()) {
do_exit = true;
return false;
}
@ -184,7 +182,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
return true;
}
Panda *usb_connect(std::string serial="", uint32_t index=0) {
Panda *connect(std::string serial="", uint32_t index=0) {
std::unique_ptr<Panda> panda;
try {
panda = std::make_unique<Panda>(serial, (index * PANDA_BUS_CNT));
@ -227,9 +225,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
//Dont send if older than 1 second
if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
for (const auto& panda : pandas) {
LOGT("sending sendcan to panda: %s", (panda->usb_serial).c_str());
LOGT("sending sendcan to panda: %s", (panda->hw_serial).c_str());
panda->can_send(event.getSendcan());
LOGT("sendcan sent to panda: %s", (panda->usb_serial).c_str());
LOGT("sendcan sent to panda: %s", (panda->hw_serial).c_str());
}
}
}
@ -357,7 +355,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
}
#endif
if (!panda->comms_healthy) {
if (!panda->comms_healthy()) {
evt.setValid(false);
}
@ -433,7 +431,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
// build msg
MessageBuilder msg;
auto evt = msg.initEvent();
evt.setValid(panda->comms_healthy);
evt.setValid(panda->comms_healthy());
auto ps = evt.initPeripheralState();
ps.setPandaType(panda->hw_type);
@ -526,7 +524,7 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
while (!do_exit && panda->connected) {
while (!do_exit && panda->connected()) {
cnt++;
sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
@ -595,7 +593,7 @@ void boardd_main_thread(std::vector<std::string> serials) {
// connect to all provided serials
std::vector<Panda *> pandas;
for (int i = 0; i < serials.size() && !do_exit; /**/) {
Panda *p = usb_connect(serials[i], i);
Panda *p = connect(serials[i], i);
if (!p) {
// send empty pandaState & peripheralState and try again
send_empty_panda_state(&pm);

287
selfdrive/boardd/panda.cc
Unescape View File

@ -4,75 +4,15 @@
#include <cassert>
#include <stdexcept>
#include <vector>
#include "cereal/messaging/messaging.h"
#include "panda/board/dlc_to_len.h"
#include "common/gpio.h"
#include "common/swaglog.h"
#include "common/util.h"
static int init_usb_ctx(libusb_context **context) {
assert(context != nullptr);
int err = libusb_init(context);
if (err != 0) {
LOGE("libusb initialization error");
return err;
}
#if LIBUSB_API_VERSION >= 0x01000106
libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
#else
libusb_set_debug(*context, 3);
#endif
return err;
}
Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
// init libusb
ssize_t num_devices;
libusb_device **dev_list = NULL;
int err = init_usb_ctx(&ctx);
if (err != 0) { goto fail; }
// connect by serial
num_devices = libusb_get_device_list(ctx, &dev_list);
if (num_devices < 0) { goto fail; }
for (size_t i = 0; i < num_devices; ++i) {
libusb_device_descriptor desc;
libusb_get_device_descriptor(dev_list[i], &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
int ret = libusb_open(dev_list[i], &dev_handle);
if (dev_handle == NULL || ret < 0) { goto fail; }
unsigned char desc_serial[26] = { 0 };
ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
if (ret < 0) { goto fail; }
usb_serial = std::string((char *)desc_serial, ret).c_str();
if (serial.empty() || serial == usb_serial) {
break;
}
libusb_close(dev_handle);
dev_handle = NULL;
}
}
if (dev_handle == NULL) goto fail;
libusb_free_device_list(dev_list, 1);
dev_list = nullptr;
if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
libusb_detach_kernel_driver(dev_handle, 0);
}
err = libusb_set_configuration(dev_handle, 1);
if (err != 0) { goto fail; }
err = libusb_claim_interface(dev_handle, 0);
if (err != 0) { goto fail; }
// TODO: support SPI here one day...
handle = std::make_unique<PandaUsbHandle>(serial);
hw_type = get_hw_type();
@ -83,194 +23,44 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
(hw_type == cereal::PandaState::PandaType::DOS);
return;
fail:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
cleanup();
throw std::runtime_error("Error connecting to panda");
}
Panda::~Panda() {
std::lock_guard lk(usb_lock);
cleanup();
connected = false;
bool Panda::connected() {
return handle->connected;
}
void Panda::cleanup() {
if (dev_handle) {
libusb_release_interface(dev_handle, 0);
libusb_close(dev_handle);
}
if (ctx) {
libusb_exit(ctx);
}
bool Panda::comms_healthy() {
return handle->comms_healthy;
}
std::vector<std::string> Panda::list() {
// init libusb
ssize_t num_devices;
libusb_context *context = NULL;
libusb_device **dev_list = NULL;
std::vector<std::string> serials;
int err = init_usb_ctx(&context);
if (err != 0) { return serials; }
num_devices = libusb_get_device_list(context, &dev_list);
if (num_devices < 0) {
LOGE("libusb can't get device list");
goto finish;
}
for (size_t i = 0; i < num_devices; ++i) {
libusb_device *device = dev_list[i];
libusb_device_descriptor desc;
libusb_get_device_descriptor(device, &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
libusb_device_handle *handle = NULL;
int ret = libusb_open(device, &handle);
if (ret < 0) { goto finish; }
unsigned char desc_serial[26] = { 0 };
ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
libusb_close(handle);
if (ret < 0) { goto finish; }
serials.push_back(std::string((char *)desc_serial, ret).c_str());
}
}
finish:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
if (context) {
libusb_exit(context);
}
return serials;
}
void Panda::handle_usb_issue(int err, const char func[]) {
LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
if (err == LIBUSB_ERROR_NO_DEVICE) {
LOGE("lost connection");
connected = false;
}
// TODO: check other errors, is simply retrying okay?
}
int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
if (!connected) {
return LIBUSB_ERROR_NO_DEVICE;
}
std::lock_guard lk(usb_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
return err;
}
int Panda::usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
if (!connected) {
return LIBUSB_ERROR_NO_DEVICE;
}
std::lock_guard lk(usb_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
return err;
}
int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
if (!connected) {
return 0;
}
std::lock_guard lk(usb_lock);
do {
// Try sending can messages. If the receive buffer on the panda is full it will NAK
// and libusb will try again. After 5ms, it will time out. We will drop the messages.
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
LOGW("Transmit buffer full");
break;
} else if (err != 0 || length != transferred) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
return transferred;
}
int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
if (!connected) {
return 0;
}
std::lock_guard lk(usb_lock);
do {
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
break; // timeout is okay to exit, recv still happened
} else if (err == LIBUSB_ERROR_OVERFLOW) {
comms_healthy = false;
LOGE_100("overflow got 0x%x", transferred);
} else if (err != 0) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
return transferred;
return PandaUsbHandle::list();
}
void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
usb_write(0xdc, (uint16_t)safety_model, safety_param);
handle->control_write(0xdc, (uint16_t)safety_model, safety_param);
}
void Panda::set_alternative_experience(uint16_t alternative_experience) {
usb_write(0xdf, alternative_experience, 0);
handle->control_write(0xdf, alternative_experience, 0);
}
cereal::PandaState::PandaType Panda::get_hw_type() {
unsigned char hw_query[1] = {0};
usb_read(0xc1, 0, 0, hw_query, 1);
handle->control_read(0xc1, 0, 0, hw_query, 1);
return (cereal::PandaState::PandaType)(hw_query[0]);
}
void Panda::set_rtc(struct tm sys_time) {
// tm struct has year defined as years since 1900
usb_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
usb_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
usb_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
// usb_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
usb_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
usb_write(0xa6, (uint16_t)sys_time.tm_min, 0);
usb_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0);
// handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0);
handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0);
handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0);
handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
}
struct tm Panda::get_rtc() {
@ -284,7 +74,7 @@ struct tm Panda::get_rtc() {
uint8_t second;
} rtc_time = {0};
usb_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time));
struct tm new_time = { 0 };
new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900
@ -298,70 +88,70 @@ struct tm Panda::get_rtc() {
}
void Panda::set_fan_speed(uint16_t fan_speed) {
usb_write(0xb1, fan_speed, 0);
handle->control_write(0xb1, fan_speed, 0);
}
uint16_t Panda::get_fan_speed() {
uint16_t fan_speed_rpm = 0;
usb_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm));
handle->control_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm));
return fan_speed_rpm;
}
void Panda::set_ir_pwr(uint16_t ir_pwr) {
usb_write(0xb0, ir_pwr, 0);
handle->control_write(0xb0, ir_pwr, 0);
}
std::optional<health_t> Panda::get_state() {
health_t health {0};
int err = usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
int err = handle->control_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
return err >= 0 ? std::make_optional(health) : std::nullopt;
}
std::optional<can_health_t> Panda::get_can_state(uint16_t can_number) {
can_health_t can_health {0};
int err = usb_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health));
int err = handle->control_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health));
return err >= 0 ? std::make_optional(can_health) : std::nullopt;
}
void Panda::set_loopback(bool loopback) {
usb_write(0xe5, loopback, 0);
handle->control_write(0xe5, loopback, 0);
}
std::optional<std::vector<uint8_t>> Panda::get_firmware_version() {
std::vector<uint8_t> fw_sig_buf(128);
int read_1 = usb_read(0xd3, 0, 0, &fw_sig_buf[0], 64);
int read_2 = usb_read(0xd4, 0, 0, &fw_sig_buf[64], 64);
int read_1 = handle->control_read(0xd3, 0, 0, &fw_sig_buf[0], 64);
int read_2 = handle->control_read(0xd4, 0, 0, &fw_sig_buf[64], 64);
return ((read_1 == 64) && (read_2 == 64)) ? std::make_optional(fw_sig_buf) : std::nullopt;
}
std::optional<std::string> Panda::get_serial() {
char serial_buf[17] = {'\0'};
int err = usb_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16);
int err = handle->control_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16);
return err >= 0 ? std::make_optional(serial_buf) : std::nullopt;
}
void Panda::set_power_saving(bool power_saving) {
usb_write(0xe7, power_saving, 0);
handle->control_write(0xe7, power_saving, 0);
}
void Panda::enable_deepsleep() {
usb_write(0xfb, 0, 0);
handle->control_write(0xfb, 0, 0);
}
void Panda::send_heartbeat(bool engaged) {
usb_write(0xf3, engaged, 0);
handle->control_write(0xf3, engaged, 0);
}
void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) {
usb_write(0xde, bus, (speed * 10));
handle->control_write(0xde, bus, (speed * 10));
}
void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) {
usb_write(0xf9, bus, (speed * 10));
handle->control_write(0xf9, bus, (speed * 10));
}
void Panda::set_canfd_non_iso(uint16_t bus, bool non_iso) {
usb_write(0xfc, bus, non_iso);
handle->control_write(0xfc, bus, non_iso);
}
static uint8_t len_to_dlc(uint8_t len) {
@ -399,8 +189,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
}
auto can_data = cmsg.getDat();
uint8_t data_len_code = len_to_dlc(can_data.size());
assert(can_data.size() <= ((hw_type == cereal::PandaState::PandaType::RED_PANDA ||
hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) ? 64 : 8));
assert(can_data.size() <= 64);
assert(can_data.size() == dlc_to_len[data_len_code]);
can_header header;
@ -423,14 +212,14 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) {
usb_bulk_write(3, data, size, 5);
handle->bulk_write(3, data, size, 5);
});
}
bool Panda::can_receive(std::vector<can_frame>& out_vec) {
uint8_t data[RECV_SIZE];
int recv = usb_bulk_read(0x81, (uint8_t*)data, RECV_SIZE);
if (!comms_healthy) {
int recv = handle->bulk_read(0x81, (uint8_t*)data, RECV_SIZE);
if (!comms_healthy()) {
return false;
}
if (recv == RECV_SIZE) {
@ -445,7 +234,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &o
for (int i = 0; i < size; i += USBPACKET_MAX_SIZE) {
if (data[i] != i / USBPACKET_MAX_SIZE) {
LOGE("CAN: MALFORMED USB RECV PACKET");
comms_healthy = false;
handle->comms_healthy = false;
return false;
}
int chunk_len = std::min(USBPACKET_MAX_SIZE, (size - i));

45
selfdrive/boardd/panda.h
Unescape View File

@ -1,26 +1,26 @@
#pragma once
#include <atomic>
#include <cstdint>
#include <ctime>
#include <functional>
#include <list>
#include <mutex>
#include <memory>
#include <optional>
#include <vector>
#include <libusb-1.0/libusb.h>
#include "cereal/gen/cpp/car.capnp.h"
#include "cereal/gen/cpp/log.capnp.h"
#include "panda/board/health.h"
#include "selfdrive/boardd/panda_comms.h"
#define TIMEOUT 0
#define PANDA_CAN_CNT 3
#define PANDA_BUS_CNT 4
#define RECV_SIZE (0x4000U)
#define USB_TX_SOFT_LIMIT (0x100U)
#define USBPACKET_MAX_SIZE (0x40)
#define RECV_SIZE (0x4000U)
#define CANPACKET_HEAD_SIZE 5U
#define CANPACKET_MAX_SIZE 72U
#define CANPACKET_REJECTED (0xC0U)
@ -37,41 +37,32 @@ struct __attribute__((packed)) can_header {
};
struct can_frame {
long address;
std::string dat;
long busTime;
long src;
long address;
std::string dat;
long busTime;
long src;
};
class Panda {
private:
libusb_context *ctx = NULL;
libusb_device_handle *dev_handle = NULL;
std::mutex usb_lock;
private:
std::unique_ptr<PandaCommsHandle> handle;
std::vector<uint8_t> recv_buf;
void handle_usb_issue(int err, const char func[]);
void cleanup();
public:
public:
Panda(std::string serial="", uint32_t bus_offset=0);
~Panda();
std::string usb_serial;
std::atomic<bool> connected = true;
std::atomic<bool> comms_healthy = true;
std::string hw_serial;
cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
bool has_rtc = false;
const uint32_t bus_offset;
bool connected();
bool comms_healthy();
// Static functions
static std::vector<std::string> list();
// HW communication
int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT);
int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT);
int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
// Panda functionality
cereal::PandaState::PandaType get_hw_type();
void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U);

232
selfdrive/boardd/panda_comms.cc
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@ -0,0 +1,232 @@
#include "selfdrive/boardd/panda.h"
#include <cassert>
#include <stdexcept>
#include "common/swaglog.h"
static int init_usb_ctx(libusb_context **context) {
assert(context != nullptr);
int err = libusb_init(context);
if (err != 0) {
LOGE("libusb initialization error");
return err;
}
#if LIBUSB_API_VERSION >= 0x01000106
libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
#else
libusb_set_debug(*context, 3);
#endif
return err;
}
PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
// init libusb
ssize_t num_devices;
libusb_device **dev_list = NULL;
int err = init_usb_ctx(&ctx);
if (err != 0) { goto fail; }
// connect by serial
num_devices = libusb_get_device_list(ctx, &dev_list);
if (num_devices < 0) { goto fail; }
for (size_t i = 0; i < num_devices; ++i) {
libusb_device_descriptor desc;
libusb_get_device_descriptor(dev_list[i], &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
int ret = libusb_open(dev_list[i], &dev_handle);
if (dev_handle == NULL || ret < 0) { goto fail; }
unsigned char desc_serial[26] = { 0 };
ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
if (ret < 0) { goto fail; }
auto hw_serial = std::string((char *)desc_serial, ret);
if (serial.empty() || serial == hw_serial) {
break;
}
libusb_close(dev_handle);
dev_handle = NULL;
}
}
if (dev_handle == NULL) goto fail;
libusb_free_device_list(dev_list, 1);
dev_list = nullptr;
if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
libusb_detach_kernel_driver(dev_handle, 0);
}
err = libusb_set_configuration(dev_handle, 1);
if (err != 0) { goto fail; }
err = libusb_claim_interface(dev_handle, 0);
if (err != 0) { goto fail; }
return;
fail:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
cleanup();
throw std::runtime_error("Error connecting to panda");
}
PandaUsbHandle::~PandaUsbHandle() {
std::lock_guard lk(hw_lock);
cleanup();
connected = false;
}
void PandaUsbHandle::cleanup() {
if (dev_handle) {
libusb_release_interface(dev_handle, 0);
libusb_close(dev_handle);
}
if (ctx) {
libusb_exit(ctx);
}
}
std::vector<std::string> PandaUsbHandle::list() {
// init libusb
ssize_t num_devices;
libusb_context *context = NULL;
libusb_device **dev_list = NULL;
std::vector<std::string> serials;
int err = init_usb_ctx(&context);
if (err != 0) { return serials; }
num_devices = libusb_get_device_list(context, &dev_list);
if (num_devices < 0) {
LOGE("libusb can't get device list");
goto finish;
}
for (size_t i = 0; i < num_devices; ++i) {
libusb_device *device = dev_list[i];
libusb_device_descriptor desc;
libusb_get_device_descriptor(device, &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
libusb_device_handle *handle = NULL;
int ret = libusb_open(device, &handle);
if (ret < 0) { goto finish; }
unsigned char desc_serial[26] = { 0 };
ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
libusb_close(handle);
if (ret < 0) { goto finish; }
serials.push_back(std::string((char *)desc_serial, ret).c_str());
}
}
finish:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
if (context) {
libusb_exit(context);
}
return serials;
}
void PandaUsbHandle::handle_usb_issue(int err, const char func[]) {
LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func);
if (err == LIBUSB_ERROR_NO_DEVICE) {
LOGE("lost connection");
connected = false;
}
// TODO: check other errors, is simply retrying okay?
}
int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
if (!connected) {
return LIBUSB_ERROR_NO_DEVICE;
}
std::lock_guard lk(hw_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
return err;
}
int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) {
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
if (!connected) {
return LIBUSB_ERROR_NO_DEVICE;
}
std::lock_guard lk(hw_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout);
if (err < 0) handle_usb_issue(err, __func__);
} while (err < 0 && connected);
return err;
}
int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
if (!connected) {
return 0;
}
std::lock_guard lk(hw_lock);
do {
// Try sending can messages. If the receive buffer on the panda is full it will NAK
// and libusb will try again. After 5ms, it will time out. We will drop the messages.
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
LOGW("Transmit buffer full");
break;
} else if (err != 0 || length != transferred) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
return transferred;
}
int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
int err;
int transferred = 0;
if (!connected) {
return 0;
}
std::lock_guard lk(hw_lock);
do {
err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout);
if (err == LIBUSB_ERROR_TIMEOUT) {
break; // timeout is okay to exit, recv still happened
} else if (err == LIBUSB_ERROR_OVERFLOW) {
comms_healthy = false;
LOGE_100("overflow got 0x%x", transferred);
} else if (err != 0) {
handle_usb_issue(err, __func__);
}
} while(err != 0 && connected);
return transferred;
}

51
selfdrive/boardd/panda_comms.h
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@ -0,0 +1,51 @@
#pragma once
#include <mutex>
#include <atomic>
#include <cstdint>
#include <vector>
#include <libusb-1.0/libusb.h>
#define TIMEOUT 0
// comms base class
class PandaCommsHandle {
public:
PandaCommsHandle(std::string serial) {};
virtual ~PandaCommsHandle() {};
virtual void cleanup() = 0;
std::atomic<bool> connected = true;
std::atomic<bool> comms_healthy = true;
static std::vector<std::string> list();
// HW communication
virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0;
virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
protected:
std::mutex hw_lock;
};
class PandaUsbHandle : public PandaCommsHandle {
public:
PandaUsbHandle(std::string serial);
~PandaUsbHandle();
int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT);
int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT);
int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT);
void cleanup();
static std::vector<std::string> list();
private:
libusb_context *ctx = NULL;
libusb_device_handle *dev_handle = NULL;
std::vector<uint8_t> recv_buf;
void handle_usb_issue(int err, const char func[]);
};

7
selfdrive/car/docs.py
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@ -7,14 +7,15 @@ from enum import Enum
from natsort import natsorted
from typing import Dict, List
from cereal import car
from common.basedir import BASEDIR
from selfdrive.car import gen_empty_fingerprint
from selfdrive.car.docs_definitions import CarInfo, Column
from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote
from selfdrive.car.car_helpers import interfaces, get_interface_attr
def get_all_footnotes() -> Dict[Enum, int]:
all_footnotes = []
all_footnotes = list(CommonFootnote)
for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
all_footnotes.extend(footnotes)
return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
@ -28,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), experimental_long=True)
CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")])
if CP.dashcamOnly or car_info is None:
continue

26
selfdrive/car/docs_definitions.py
Unescape View File

@ -68,7 +68,18 @@ class Harness(Enum):
none = "None"
CarFootnote = namedtuple("CarFootnote", ["text", "column"], defaults=[None])
CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only"], defaults=(None, False))
class CommonFootnote(Enum):
EXP_LONG_AVAIL = CarFootnote(
"Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. " +
"Using openpilot longitudinal may disable Automatic Emergency Braking (AEB).",
Column.LONGITUDINAL, docs_only=True)
EXP_LONG_DSU = CarFootnote(
"When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
"stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
Column.LONGITUDINAL)
def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
@ -128,11 +139,22 @@ class CarInfo:
self.car_name = CP.carName
self.car_fingerprint = CP.carFingerprint
self.make, self.model, self.years = split_name(self.name)
op_long = "Stock"
if CP.openpilotLongitudinalControl and not CP.enableDsu:
op_long = "openpilot"
elif CP.experimentalLongitudinalAvailable or CP.enableDsu:
op_long = "openpilot available"
if CP.enableDsu:
self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
else:
self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
self.row = {
Column.MAKE: self.make,
Column.MODEL: self.model,
Column.PACKAGE: self.package,
Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable else "Stock",
Column.LONGITUDINAL: op_long,
Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
Column.STEERING_TORQUE: Star.EMPTY,

22
selfdrive/car/gm/carcontroller.py
Unescape View File

@ -5,10 +5,11 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
LongCtrlState = car.CarControl.Actuators.LongControlState
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
CAMERA_CANCEL_DELAY_FRAMES = 10
@ -30,7 +31,7 @@ class CarController:
self.sent_lka_steering_cmd = False
self.lka_icon_status_last = (False, False)
self.params = CarControllerParams()
self.params = CarControllerParams(self.CP)
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@ -83,20 +84,23 @@ class CarController:
self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0
else:
if self.CP.carFingerprint in EV_CAR:
self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
idx = (self.frame // 4) % 4
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
friction_brake_bus = CanBus.CHASSIS
# GM Camera exceptions
# TODO: can we always check the longControlState?
if self.CP.networkLocation == NetworkLocation.fwdCamera:
at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping
friction_brake_bus = CanBus.POWERTRAIN
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP))
# Send dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw

2
selfdrive/car/gm/carstate.py
Unescape View File

@ -28,6 +28,7 @@ class CarState(CarStateBase):
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
# Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
@ -139,6 +140,7 @@ class CarState(CarStateBase):
("FRWheelSpd", "EBCMWheelSpdFront"),
("RLWheelSpd", "EBCMWheelSpdRear"),
("RRWheelSpd", "EBCMWheelSpdRear"),
("MovingBackward", "EBCMWheelSpdRear"),
("PRNDL2", "ECMPRDNL2"),
("ManualMode", "ECMPRDNL2"),
("LKADriverAppldTrq", "PSCMStatus"),

10
selfdrive/car/gm/gmcan.py
Unescape View File

@ -1,4 +1,5 @@
from selfdrive.car import make_can_msg
from selfdrive.car.gm.values import CAR
def create_buttons(packer, bus, idx, button):
@ -52,15 +53,20 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
mode = 0x1
# TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
if enabled and CP.carFingerprint in (CAR.BOLT_EUV,):
mode = 0x9
if apply_brake > 0:
mode = 0xa
if at_full_stop:
mode = 0xd
# TODO: this is to have GM bringing the car to complete stop,
# but currently it conflicts with OP controls, so turned off.
# but currently it conflicts with OP controls, so turned off. Not set by all cars
#elif near_stop:
# mode = 0xb

40
selfdrive/car/gm/interface.py
Unescape View File

@ -20,8 +20,7 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
params = CarControllerParams()
return params.ACCEL_MIN, params.ACCEL_MAX
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
@staticmethod
@ -56,13 +55,34 @@ class CarInterface(CarInterfaceBase):
else:
ret.transmissionType = TransmissionType.automatic
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.15]
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kiBP = [0.]
if candidate in CAMERA_ACC_CAR:
ret.openpilotLongitudinalControl = False
ret.experimentalLongitudinalAvailable = True
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarOffCan = True # no radar
ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
if experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
# Tuning
ret.longitudinalTuning.kpV = [2.0, 1.5]
ret.longitudinalTuning.kiV = [0.72]
ret.stopAccel = -2.0
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.longitudinalActuatorDelayUpperBound = 0.5
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
@ -71,6 +91,10 @@ class CarInterface(CarInterfaceBase):
# supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
# Tuning
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiV = [0.36]
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
@ -85,11 +109,6 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
tire_stiffness_factor = 0.444 # not optimized yet
ret.longitudinalTuning.kpBP = [5., 35.]
ret.longitudinalTuning.kpV = [2.4, 1.5]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.36]
ret.steerLimitTimer = 0.4
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
@ -206,8 +225,9 @@ class CarInterface(CarInterfaceBase):
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)

44
selfdrive/car/gm/values.py
Unescape View File

@ -24,15 +24,6 @@ class CarControllerParams:
ADAS_KEEPALIVE_STEP = 100
CAMERA_KEEPALIVE_STEP = 100
# Volt gas/brake lookups
# TODO: These values should be confirmed on non-Volt vehicles.
# MAX_GAS should achieve 2 m/s^2 and MAX_BRAKE with regen should achieve -4.0 m/s^2
MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
ZERO_GAS = 2048 # Coasting
MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
INACTIVE_REGEN = 1404
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
# to apply some more braking if we're on a downhill slope.
@ -41,15 +32,32 @@ class CarControllerParams:
ACCEL_MAX = 2. # m/s^2
ACCEL_MIN = -4. # m/s^2
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
def __init__(self, CP):
# Gas/brake lookups
self.ZERO_GAS = 2048 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in CAMERA_ACC_CAR:
self.MAX_GAS = 3400
self.MAX_ACC_REGEN = 1514
self.INACTIVE_REGEN = 1554
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
max_regen_acceleration = 0.
else:
self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 1404
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
class CAR:

32
selfdrive/car/hyundai/carstate.py
Unescape View File

@ -21,8 +21,9 @@ class CarState(CarStateBase):
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)
self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
if CP.carFingerprint in CANFD_CAR:
self.shifter_values = can_define.dv["GEAR_SHIFTER"]["GEAR"]
self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
@ -154,17 +155,21 @@ class CarState(CarStateBase):
def update_canfd(self, cp, cp_cam):
ret = car.CarState.new_message()
if self.CP.carFingerprint in EV_CAR:
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
elif self.CP.carFingerprint in HYBRID_CAR:
ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
ret.gasPressed = ret.gas > 1e-5
if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
if self.CP.carFingerprint in EV_CAR:
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
else:
ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
ret.gasPressed = ret.gas > 1e-5
else:
ret.gasPressed = bool(cp.vl["ACCELERATOR_BRAKE_ALT"]["ACCELERATOR_PEDAL_PRESSED"])
ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
gear = cp.vl["GEAR_SHIFTER"]["GEAR"]
gear = cp.vl[self.gear_msg_canfd]["GEAR"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
# TODO: figure out positions
@ -411,13 +416,14 @@ class CarState(CarStateBase):
def get_can_parser_canfd(CP):
cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
gear_msg = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
signals = [
("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
("GEAR", "GEAR_SHIFTER"),
("GEAR", gear_msg),
("STEERING_RATE", "STEERING_SENSORS"),
("STEERING_ANGLE", "STEERING_SENSORS"),
@ -442,8 +448,7 @@ class CarState(CarStateBase):
checks = [
("WHEEL_SPEEDS", 100),
("GEAR_SHIFTER", 100),
("BRAKE", 100),
(gear_msg, 100),
("STEERING_SENSORS", 100),
("MDPS", 100),
("TCS", 50),
@ -486,6 +491,13 @@ class CarState(CarStateBase):
checks += [
("ACCELERATOR_ALT", 100),
]
else:
signals += [
("ACCELERATOR_PEDAL_PRESSED", "ACCELERATOR_BRAKE_ALT"),
]
checks += [
("ACCELERATOR_BRAKE_ALT", 100),
]
bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)

11
selfdrive/car/hyundai/interface.py
Unescape View File

@ -41,6 +41,9 @@ class CarInterface(CarInterfaceBase):
# non-HDA2
if 0x1cf not in fingerprint[4]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
# ICE cars do not have 0x130; GEARS message on 0x40 instead
if 0x130 not in fingerprint[4]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
ret.steerActuatorDelay = 0.1 # Default delay
ret.steerLimitTimer = 0.4
@ -120,6 +123,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.756
ret.steerRatio = 16.
tire_stiffness_factor = 0.385
elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
ret.mass = 1870. + STD_CARGO_KG # weight from Limited trim - the only supported trim
ret.wheelbase = 3.000
ret.steerRatio = 14.2 # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
# Kia
elif candidate == CAR.KIA_SORENTO:
@ -138,6 +145,10 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.63
ret.steerRatio = 14.56
tire_stiffness_factor = 1
elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
ret.mass = 1700. + STD_CARGO_KG # weight from SX and above trims, average of FWD and AWD versions
ret.wheelbase = 2.756
ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
ret.mass = 3558. * CV.LB_TO_KG
ret.wheelbase = 2.80

33
selfdrive/car/hyundai/values.py
Unescape View File

@ -47,6 +47,7 @@ class CarControllerParams:
class HyundaiFlags(IntFlag):
CANFD_HDA2 = 1
CANFD_ALT_BUTTONS = 2
CANFD_ALT_GEARS = 4
class CAR:
@ -77,6 +78,7 @@ class CAR:
SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
IONIQ_5 = "HYUNDAI IONIQ 5 2022"
TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
# Kia
KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
@ -88,6 +90,7 @@ class CAR:
KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
KIA_SELTOS = "KIA SELTOS 2021"
KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
KIA_SORENTO = "KIA SORENTO GT LINE 2018"
KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
KIA_STINGER = "KIA STINGER GT2 2018"
@ -143,9 +146,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
CAR.IONIQ_5: [
HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022" , "Highway Driving Assist", harness=Harness.hyundai_k),
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_q),
HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q),
],
CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n),
# Kia
CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
@ -168,6 +172,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Optima Hybrid 2019"),
],
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n),
CAR.KIA_SORENTO: [
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
@ -1052,6 +1057,7 @@ FW_VERSIONS = {
b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010',
b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
# TODO: these return from the MULTI request, above return from LONG
b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
@ -1061,10 +1067,12 @@ FW_VERSIONS = {
b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802',
b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802',
b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904',
b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904',
],
(Ecu.eps, 0x7D4, None): [
b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
],
(Ecu.fwdRadar, 0x7D0, None): [
b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00',
@ -1376,6 +1384,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813',
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614',
],
},
CAR.TUCSON_HYBRID_4TH_GEN: {
@ -1395,6 +1404,24 @@ FW_VERSIONS = {
b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ',
],
},
CAR.SANTA_CRUZ_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ',
],
},
CAR.KIA_SPORTAGE_5TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ',
b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ',
],
},
}
CHECKSUM = {
@ -1412,7 +1439,7 @@ FEATURES = {
"use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN}
CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN}
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@ -1469,5 +1496,7 @@ DBC = {
CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
}

5
selfdrive/car/tests/routes.py
Unescape View File

@ -82,6 +82,7 @@ routes = [
CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN),
CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE),
CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
@ -117,6 +118,7 @@ routes = [
CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA), # 2019 Elantra GT
CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
@ -172,7 +174,8 @@ routes = [
CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1),
CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),
CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7), # Stock ACC
CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7), # openpilot longitudinal
CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS),

5
selfdrive/car/tests/test_docs.py
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@ -10,8 +10,9 @@ from selfdrive.car.honda.values import CAR as HONDA
class TestCarDocs(unittest.TestCase):
def setUp(self):
self.all_cars = get_all_car_info()
@classmethod
def setUpClass(cls):
cls.all_cars = get_all_car_info()
def test_generator(self):
generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)

2
selfdrive/car/torque_data/override.yaml
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@ -31,6 +31,8 @@ CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0]
HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0]
KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0]
KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0]
# Dashcam or fallback configured as ideal car

1
selfdrive/car/torque_data/params.yaml
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@ -25,6 +25,7 @@ HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284]
HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819]
HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]

1
selfdrive/car/torque_data/substitute.yaml
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@ -35,7 +35,6 @@ HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020
HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
GENESIS G90 2017: GENESIS G70 2018

5
selfdrive/car/toyota/carcontroller.py
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@ -5,7 +5,8 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command
from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams
MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \
UNSUPPORTED_DSU_CAR
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -112,7 +113,7 @@ class CarController:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))

8
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.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE
from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
class CarState(CarStateBase):
@ -87,7 +87,7 @@ class CarState(CarStateBase):
# 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 UNSUPPORTED_DSU_CAR:
ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"]
@ -112,7 +112,7 @@ class CarState(CarStateBase):
# these cars are identified by an ACC_TYPE value of 2.
# TODO: it is possible to avoid the lockout and gain stop and go if you
# send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \
if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR) or \
(self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
@ -196,7 +196,7 @@ class CarState(CarStateBase):
signals.append(("GAS_PEDAL", "GAS_PEDAL"))
checks.append(("GAS_PEDAL", 33))
if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
signals.append(("MAIN_ON", "DSU_CRUISE"))
signals.append(("SET_SPEED", "DSU_CRUISE"))
signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT"))

14
selfdrive/car/toyota/interface.py
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@ -2,7 +2,7 @@
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
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.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
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
@ -189,13 +189,13 @@ class CarInterface(CarInterfaceBase):
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
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 | UNSUPPORTED_DSU_CAR) and not smartDsu
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")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
if not ret.openpilotLongitudinalControl:
ret.autoResumeSng = False
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
# we can't use the fingerprint to detect this reliably, since
@ -208,18 +208,16 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
tune = ret.longitudinalTuning
tune.deadzoneBP = [0., 9.]
tune.deadzoneV = [.0, .15]
if candidate in TSS2_CAR or ret.enableGasInterceptor:
tune.deadzoneBP = [0., 8.05]
tune.deadzoneV = [.0, .14]
tune.kpBP = [0., 5., 20.]
tune.kpV = [1.3, 1.0, 0.7]
tune.kiBP = [0., 5., 12., 20., 27.]
tune.kiV = [.35, .23, .20, .17, .1]
if candidate in TSS2_CAR:
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
ret.stoppingDecelRate = 0.3 # reach stopping target smoothly
else:
tune.deadzoneBP = [0., 9.]
tune.deadzoneV = [.0, .15]
tune.kpBP = [0., 5., 35.]
tune.kiBP = [0., 35.]
tune.kpV = [3.6, 2.4, 1.5]

57
selfdrive/car/toyota/values.py
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@ -87,10 +87,6 @@ class CAR:
class Footnote(Enum):
DSU = CarFootnote(
"When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
"stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
Column.LONGITUDINAL)
CAMRY = CarFootnote(
"openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
Column.FSR_LONGITUDINAL)
@ -107,11 +103,11 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
CAR.AVALON: [
ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota Avalon 2017-18"),
],
CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]),
CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", footnotes=[Footnote.DSU]),
CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21"),
CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"),
CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
@ -120,7 +116,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"),
CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"),
CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]),
CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
CAR.COROLLA_TSS2: [
ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-21", min_enable_speed=7.5),
@ -131,53 +127,53 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
],
CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]),
CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"),
CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
CAR.PRIUS: [
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0", [Footnote.DSU]),
ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0"),
ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
],
CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED),
CAR.PRIUS_TSS2: [
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
],
CAR.RAV4: [
ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU])
ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"),
ToyotaCarInfo("Toyota RAV4 2017-18")
],
CAR.RAV4H: [
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26", [Footnote.DSU]),
ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU])
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26"),
ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
],
CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
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], min_enable_speed=MIN_ACC_SPEED),
CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
# Lexus
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"),
CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
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_NX: ToyotaCarInfo("Lexus NX 2018-19"),
CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
CAR.LEXUS_RX: [
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Lexus RX 2017-19", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX 2017-19"),
],
CAR.LEXUS_RXH: [
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Lexus RX Hybrid 2017-19", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
],
CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
@ -1363,7 +1359,7 @@ FW_VERSIONS = {
],
(Ecu.engine, 0x700, None): [
b'\x01896634AA0000\x00\x00\x00\x00',
b'\x01896634AA0100\x00\x00\x00\x00',
b'\x01896634AA0100\x00\x00\x00\x00',
b'\x01896634AA1000\x00\x00\x00\x00',
b'\x01896634A88000\x00\x00\x00\x00',
b'\x01896634A89000\x00\x00\x00\x00',
@ -2032,6 +2028,9 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TS
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
# the DSU uses the AEB message for longitudinal on these cars
UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}

3
selfdrive/car/volkswagen/carstate.py
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@ -105,6 +105,7 @@ class CarState(CarStateBase):
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.
self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
# ACC okay and enabled, but not currently engaged
ret.cruiseState.available = True
@ -480,11 +481,13 @@ class MqbExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [
("ACC_Wunschgeschw_02", "ACC_02"), # ACC set speed
("ACC_Typ", "ACC_06"), # Basic vs F2S vs SNG
("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release
("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release
("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release
]
fwd_radar_checks = [
("ACC_06", 50), # From J428 ACC radar control module
("ACC_10", 50), # From J428 ACC radar control module
("ACC_02", 17), # From J428 ACC radar control module
]

16
selfdrive/car/volkswagen/interface.py
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@ -27,19 +27,20 @@ class CarInterface(CarInterfaceBase):
ret.carName = "volkswagen"
ret.radarOffCan = True
use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs
if candidate in PQ_CARS:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
if 0x440 in fingerprint[0]: # Getriebe_1
if 0x440 in fingerprint[0] or use_off_car_defaults: # Getriebe_1
ret.transmissionType = TransmissionType.automatic
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1
ret.networkLocation = NetworkLocation.gateway
ret.experimentalLongitudinalAvailable = True
else:
ret.networkLocation = NetworkLocation.fwdCamera
@ -56,7 +57,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
if 0xAD in fingerprint[0]: # Getriebe_11
if 0xAD in fingerprint[0] or use_off_car_defaults: # Getriebe_11
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]: # EV_Gearshift
ret.transmissionType = TransmissionType.direct
@ -82,7 +83,8 @@ class CarInterface(CarInterfaceBase):
# Global longitudinal tuning defaults, can be overridden per-vehicle
if experimental_long and candidate in PQ_CARS:
ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or use_off_car_defaults
if experimental_long:
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
@ -90,7 +92,11 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = 4.5
ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
ret.stoppingControl = True
ret.startingState = True
ret.startAccel = 1.0
ret.vEgoStarting = 1.0
ret.vEgoStopping = 1.0
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]

70
selfdrive/car/volkswagen/mqbcan.py
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@ -36,3 +36,73 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=Fa
})
return packer.make_can_msg("GRA_ACC_01", bus, values)
def acc_control_value(main_switch_on, acc_faulted, long_active):
if acc_faulted:
acc_control = 6
elif long_active:
acc_control = 3
elif main_switch_on:
acc_control = 2
else:
acc_control = 0
return acc_control
def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
# TODO: happens to resemble the ACC control value for now, but extend this for init/gas override later
return acc_control_value(main_switch_on, acc_faulted, long_active)
def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
commands = []
acc_06_values = {
"ACC_Typ": acc_type,
"ACC_Status_ACC": acc_control,
"ACC_StartStopp_Info": enabled,
"ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
"ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band
"ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band
"ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_Anfahren": starting,
"ACC_Anhalten": stopping,
}
commands.append(packer.make_can_msg("ACC_06", bus, acc_06_values))
if starting:
acc_hold_type = 4 # hold release / startup
elif esp_hold:
acc_hold_type = 3 # hold standby
elif stopping:
acc_hold_type = 1 # hold request
else:
acc_hold_type = 0
acc_07_values = {
"ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out)
"ACC_Freilauf_Info": 2 if enabled else 0,
"ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact
"ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
"ACC_Anforderung_HMS": acc_hold_type,
"ACC_Anfahren": starting,
"ACC_Anhalten": stopping,
}
commands.append(packer.make_can_msg("ACC_07", bus, acc_07_values))
return commands
def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
values = {
"ACC_Status_Anzeige": acc_hud_status,
"ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
"ACC_Gesetzte_Zeitluecke": 3,
"ACC_Display_Prio": 3,
# TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling
}
return packer.make_can_msg("ACC_02", bus, values)

89
selfdrive/car/volkswagen/values.py
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@ -1,5 +1,5 @@
from collections import defaultdict, namedtuple
from dataclasses import dataclass
from dataclasses import dataclass, field
from enum import Enum
from typing import Dict, List, Union
@ -151,75 +151,74 @@ class Footnote(Enum):
PASSAT = CarFootnote(
"Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
Column.MODEL)
VW_HARNESS = CarFootnote(
"Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " +
"store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black " +
"(older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway " +
"inside the dashboard, choose \"VW J533 Development\" from the vehicle drop-down for a suitable harness. " +
"(Some newer models are also observed to not have a J533 connector.)",
Column.MODEL)
VW_VARIANT = CarFootnote(
"Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)",
Column.MODEL)
VW_EXP_LONG = CarFootnote (
"Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
"are limited to using stock ACC.",
Column.LONGITUDINAL)
VW_MQB_A0 = CarFootnote(
"Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " +
"in software, but doesn't yet have a harness available from the comma store.",
Column.HARNESS)
@dataclass
class VWCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
harness: Enum = Harness.vw
harness: Enum = Harness.j533
footnotes: List[Enum] = field(default_factory=lambda: [Footnote.VW_EXP_LONG])
CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.ARTEON_MK1: [
VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon R 2020-22", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen Arteon eHybrid 2020-22", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
],
CAR.ATLAS_MK1: [
VWCarInfo("Volkswagen Atlas 2018-23", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Teramont X 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Atlas 2018-23"),
VWCarInfo("Volkswagen Atlas Cross Sport 2021-22"),
VWCarInfo("Volkswagen Teramont 2018-22"),
VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
VWCarInfo("Volkswagen Teramont X 2021-22"),
],
CAR.GOLF_MK7: [
VWCarInfo("Volkswagen e-Golf 2014-20"),
VWCarInfo("Volkswagen Golf 2015-20", footnotes=[Footnote.VW_VARIANT]),
VWCarInfo("Volkswagen Golf 2015-20"),
VWCarInfo("Volkswagen Golf Alltrack 2015-19"),
VWCarInfo("Volkswagen Golf GTD 2015-20"),
VWCarInfo("Volkswagen Golf GTE 2015-20"),
VWCarInfo("Volkswagen Golf GTI 2015-21"),
VWCarInfo("Volkswagen Golf R 2015-19", footnotes=[Footnote.VW_VARIANT]),
VWCarInfo("Volkswagen Golf R 2015-19"),
VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
],
CAR.JETTA_MK7: [
VWCarInfo("Volkswagen Jetta 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Jetta GLI 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Jetta 2018-22"),
VWCarInfo("Volkswagen Jetta GLI 2021-22"),
],
CAR.PASSAT_MK8: [
VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.PASSAT, Footnote.VW_VARIANT], harness=Harness.j533),
VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.PASSAT]),
VWCarInfo("Volkswagen Passat Alltrack 2015-22"),
VWCarInfo("Volkswagen Passat GTE 2015-22"),
],
CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22", harness=Harness.j533),
CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"),
CAR.POLO_MK6: [
VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
],
CAR.SHARAN_MK2: [
VWCarInfo("Volkswagen Sharan 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("SEAT Alhambra 2018-20", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Sharan 2018-22"),
VWCarInfo("SEAT Alhambra 2018-20"),
],
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22"),
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen California 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
VWCarInfo("Volkswagen Caravelle 2020"),
VWCarInfo("Volkswagen California 2021"),
],
CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
CAR.AUDI_A3_MK3: [
VWCarInfo("Audi A3 2014-19"),
VWCarInfo("Audi A3 Sportback e-tron 2017-18"),
@ -227,13 +226,13 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
VWCarInfo("Audi S3 2015-17"),
],
CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018"),
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21"),
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]),
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21", footnotes=[Footnote.VW_HARNESS]),
CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0, Footnote.KAMIQ]),
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"),
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]),
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),
CAR.SKODA_OCTAVIA_MK3: [
VWCarInfo("Škoda Octavia 2015, 2018-19"),
@ -872,20 +871,24 @@ FW_VERSIONS = {
CAR.AUDI_Q3_MK2: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8705E906018N \xf1\x899970',
b'\xf1\x8705L906022M \xf1\x890901',
b'\xf1\x8783A906259 \xf1\x890001',
b'\xf1\x8783A906259 \xf1\x890005',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709G927158CN\xf1\x893608',
b'\xf1\x870GC300045D \xf1\x892802',
b'\xf1\x870GC300046F \xf1\x892701',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111',
b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572R \xf1\x890372',

1
selfdrive/controls/lib/longcontrol.py
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@ -103,6 +103,7 @@ class LongControl:
elif self.long_control_state == LongCtrlState.stopping:
if output_accel > self.CP.stopAccel:
output_accel = min(output_accel, 0.0)
output_accel -= self.CP.stoppingDecelRate * DT_CTRL
self.reset(CS.vEgo)

20
selfdrive/locationd/locationd.cc
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@ -270,15 +270,22 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
// quectel gps verticalAccuracy is clipped to 500
bool gps_accuracy_insane_quectel = false;
if (!ublox_available) {
gps_accuracy_insane_quectel = log.getVerticalAccuracy() == 500;
}
if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane || gps_accuracy_insane_quectel) {
this->gps_valid = false;
this->determine_gps_mode(current_time);
return;
}
double sensor_time = current_time - sensor_time_offset;
// Process message
this->last_gps_fix = sensor_time;
this->gps_valid = true;
this->gps_mode = true;
Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() };
this->converter = std::make_unique<LocalCoord>(geodetic);
@ -476,9 +483,8 @@ kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_build
return msg_builder.toBytes();
}
bool Localizer::isGpsOK() {
return this->kf->get_filter_time() - this->last_gps_fix < 1.0;
return this->gps_valid;
}
void Localizer::determine_gps_mode(double current_time) {
@ -498,8 +504,10 @@ void Localizer::determine_gps_mode(double current_time) {
}
int Localizer::locationd_thread() {
ublox_available = Params().getBool("UbloxAvailable", true);
const char* gps_location_socket;
if (Params().getBool("UbloxAvailable", true)) {
if (ublox_available) {
gps_location_socket = "gpsLocationExternal";
} else {
gps_location_socket = "gpsLocation";

3
selfdrive/locationd/locationd.h
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@ -68,8 +68,9 @@ private:
std::unique_ptr<LocalCoord> converter;
int64_t unix_timestamp_millis = 0;
double last_gps_fix = 0;
double reset_tracker = 0.0;
bool device_fell = false;
bool gps_mode = false;
bool gps_valid = false;
bool ublox_available = true;
};

2
selfdrive/locationd/paramsd.py
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@ -92,7 +92,7 @@ class ParamsLearner:
self.speed = msg.vEgo
in_linear_region = abs(self.steering_angle) < 45 or not self.steering_pressed
self.active = self.speed > 5 and in_linear_region
self.active = self.speed > 1 and in_linear_region
if self.active:
self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]]))

1
selfdrive/manager/process_config.py
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@ -31,6 +31,7 @@ procs = [
NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
# NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"]),
NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),

3
selfdrive/monitoring/driver_monitor.py
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@ -44,6 +44,7 @@ class DRIVER_MONITOR_SETTINGS():
self._POSE_YAW_THRESHOLD_SLACK = 0.5042
self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
self._PITCH_NATURAL_THRESHOLD = 0.449
self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
self._PITCH_MAX_OFFSET = 0.124
self._PITCH_MIN_OFFSET = -0.0881
@ -197,7 +198,7 @@ class DriverStatus():
self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
yaw_error = abs(yaw_error)
if pitch_error > self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch or \
if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose_calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
distracted_types.append(DistractedType.DISTRACTED_POSE)

66
selfdrive/navd/map_renderer.cc
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@ -1,5 +1,6 @@
#include "selfdrive/navd/map_renderer.h"
#include <cmath>
#include <string>
#include <QApplication>
#include <QBuffer>
@ -10,11 +11,34 @@
#include "selfdrive/ui/qt/maps/map_helpers.h"
const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
const int WIDTH = 512;
const int HEIGHT = WIDTH;
const int RENDER_HEIGHT = 512, RENDER_WIDTH = 512;
const int HEIGHT = 256, WIDTH = 256;
const int NUM_VIPC_BUFFERS = 4;
const int EARTH_CIRCUMFERENCE_METERS = 40075000;
const int PIXELS_PER_TILE = 256;
float get_meters_per_pixel(float lat, float zoom) {
float num_tiles = pow(2, zoom+1);
float meters_per_tile = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / num_tiles;
return meters_per_tile / PIXELS_PER_TILE;
}
float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE;
float num_tiles = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / meters_per_tile;
return log2(num_tiles) - 1;
}
void downsample(uint8_t *src, uint8_t *dst) {
for (int r = 0; r < HEIGHT; r++) {
for (int c = 0; c < WIDTH; c++) {
dst[r*WIDTH + c] = src[(r*2*RENDER_WIDTH + c*2) * 3];
}
}
}
MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) {
QSurfaceFormat fmt;
fmt.setRenderableType(QSurfaceFormat::OpenGLES);
@ -35,7 +59,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
gl_functions->initializeOpenGLFunctions();
QOpenGLFramebufferObjectFormat fbo_format;
fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format));
fbo.reset(new QOpenGLFramebufferObject(RENDER_WIDTH, RENDER_HEIGHT, fbo_format));
std::string style = util::read_file(STYLE_PATH);
m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1));
@ -45,7 +69,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
m_map->resize(fbo->size());
m_map->setFramebufferObject(fbo->handle(), fbo->size());
gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
gl_functions->glViewport(0, 0, RENDER_WIDTH, RENDER_HEIGHT);
if (online) {
vipc_server.reset(new VisionIpcServer("navd"));
@ -85,22 +109,18 @@ void MapRenderer::msgUpdate() {
}
}
void MapRenderer::updateZoom(float zoom) {
if (m_map.isNull()) {
return;
}
m_map->setZoom(zoom);
update();
}
void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
if (m_map.isNull()) {
return;
}
// Choose a zoom level that matches the scale of zoom level 13 at latitude 80deg
float scale_lat80 = get_meters_per_pixel(80, 13);
float zoom = get_zoom_level_for_scale(position.first, scale_lat80);
m_map->setCoordinate(position);
m_map->setBearing(bearing);
m_map->setZoom(zoom);
update();
}
@ -130,15 +150,13 @@ void MapRenderer::sendVipc() {
.timestamp_eof = ts,
};
assert(cap.sizeInBytes() >= buf->len);
assert(cap.sizeInBytes() >= buf->len*4);
uint8_t* dst = (uint8_t*)buf->addr;
uint8_t* src = cap.bits();
// RGB to greyscale
// 2x downsample + rgb to grayscale
memset(dst, 128, buf->len);
for (int i = 0; i < WIDTH * HEIGHT; i++) {
dst[i] = src[i * 3];
}
downsample(src, dst);
vipc_server->send(buf, &extra);
@ -169,9 +187,8 @@ uint8_t* MapRenderer::getImage() {
uint8_t* src = cap.bits();
uint8_t* dst = new uint8_t[WIDTH * HEIGHT];
for (int i = 0; i < WIDTH * HEIGHT; i++) {
dst[i] = src[i * 3];
}
// 2x downsample + rgb to grayscale
downsample(src, dst);
return dst;
}
@ -222,11 +239,6 @@ extern "C" {
return new MapRenderer(settings, false);
}
void map_renderer_update_zoom(MapRenderer *inst, float zoom) {
inst->updateZoom(zoom);
QApplication::processEvents();
}
void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) {
inst->updatePosition({lat, lon}, bearing);
QApplication::processEvents();

1
selfdrive/navd/map_renderer.h
Unescape View File

@ -47,7 +47,6 @@ private:
QTimer* timer;
public slots:
void updateZoom(float zoom);
void updatePosition(QMapbox::Coordinate position, float bearing);
void updateRoute(QList<QGeoCoordinate> coordinates);
void msgUpdate();

3
selfdrive/navd/map_renderer.py
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@ -9,7 +9,7 @@ from cffi import FFI
from common.ffi_wrapper import suffix
from common.basedir import BASEDIR
HEIGHT = WIDTH = 512
HEIGHT = WIDTH = 256
def get_ffi():
@ -18,7 +18,6 @@ def get_ffi():
ffi = FFI()
ffi.cdef("""
void* map_renderer_init(char *maps_host, char *token);
void map_renderer_update_zoom(void *inst, float zoom);
void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
void map_renderer_update_route(void *inst, char *polyline);
void map_renderer_update(void *inst);

133
selfdrive/sensord/sensors/lsm6ds3_accel.cc
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@ -1,17 +1,132 @@
#include "lsm6ds3_accel.h"
#include <cassert>
#include <cmath>
#include <cstring>
#include "common/swaglog.h"
#include "common/timing.h"
#include "common/util.h"
LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) :
I2CSensor(bus, gpio_nr, shared_gpio) {}
void LSM6DS3_Accel::wait_for_data_ready() {
uint8_t drdy = 0;
uint8_t buffer[6];
do {
read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
drdy &= LSM6DS3_ACCEL_DRDY_XLDA;
} while (drdy == 0);
read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
}
void LSM6DS3_Accel::read_and_avg_data(float* out_buf) {
uint8_t drdy = 0;
uint8_t buffer[6];
float scaling = 0.061f;
if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) {
scaling = 0.122f;
}
for (int i = 0; i < 5; i++) {
do {
read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
drdy &= LSM6DS3_ACCEL_DRDY_XLDA;
} while (drdy == 0);
int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
assert(len == sizeof(buffer));
for (int j = 0; j < 3; j++) {
out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * scaling;
}
}
for (int i = 0; i < 3; i++) {
out_buf[i] /= 5.0f;
}
}
int LSM6DS3_Accel::self_test(int test_type) {
float val_st_off[3] = {0};
float val_st_on[3] = {0};
float test_val[3] = {0};
uint8_t ODR_FS_MO = LSM6DS3_ACCEL_ODR_52HZ; // full scale: +-2g, ODR: 52Hz
// prepare sensor for self-test
// enable block data update and automatic increment
int ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC_BDU);
if (ret < 0) {
return ret;
}
if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) {
ODR_FS_MO = LSM6DS3_ACCEL_FS_4G | LSM6DS3_ACCEL_ODR_52HZ;
}
ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, ODR_FS_MO);
if (ret < 0) {
return ret;
}
// wait for stable output, and discard first values
util::sleep_for(100);
wait_for_data_ready();
read_and_avg_data(val_st_off);
// enable Self Test positive (or negative)
ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type);
if (ret < 0) {
return ret;
}
// wait for stable output, and discard first values
util::sleep_for(100);
wait_for_data_ready();
read_and_avg_data(val_st_on);
// disable sensor
ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0);
if (ret < 0) {
return ret;
}
// disable self test
ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0);
if (ret < 0) {
return ret;
}
// calculate the mg values for self test
for (int i = 0; i < 3; i++) {
test_val[i] = fabs(val_st_on[i] - val_st_off[i]);
}
// verify test result
for (int i = 0; i < 3; i++) {
if ((LSM6DS3_ACCEL_MIN_ST_LIMIT_mg > test_val[i]) ||
(test_val[i] > LSM6DS3_ACCEL_MAX_ST_LIMIT_mg)) {
return -1;
}
}
return ret;
}
int LSM6DS3_Accel::init() {
int ret = 0;
uint8_t buffer[1];
uint8_t value = 0;
bool do_self_test = false;
const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST");
if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
do_self_test = true;
}
ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1);
if(ret < 0) {
@ -29,11 +144,29 @@ int LSM6DS3_Accel::init() {
source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
}
ret = self_test(LSM6DS3_ACCEL_POSITIVE_TEST);
if (ret < 0) {
LOGE("LSM6DS3 accel positive self-test failed!");
if (do_self_test) goto fail;
}
ret = self_test(LSM6DS3_ACCEL_NEGATIVE_TEST);
if (ret < 0) {
LOGE("LSM6DS3 accel negative self-test failed!");
if (do_self_test) goto fail;
}
ret = init_gpio();
if (ret < 0) {
goto fail;
}
// enable continuous update, and automatic increase
ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC);
if (ret < 0) {
goto fail;
}
// TODO: set scale and bandwidth. Default is +- 2G, 50 Hz
ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ);
if (ret < 0) {

18
selfdrive/sensord/sensors/lsm6ds3_accel.h
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@ -10,21 +10,37 @@
#define LSM6DS3_ACCEL_I2C_REG_ID 0x0F
#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D
#define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL 0x10
#define LSM6DS3_ACCEL_I2C_REG_CTRL3_C 0x12
#define LSM6DS3_ACCEL_I2C_REG_CTRL5_C 0x14
#define LSM6DS3_ACCEL_I2C_REG_CTR9_XL 0x18
#define LSM6DS3_ACCEL_I2C_REG_STAT_REG 0x1E
#define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28
// Constants
#define LSM6DS3_ACCEL_CHIP_ID 0x69
#define LSM6DS3TRC_ACCEL_CHIP_ID 0x6A
#define LSM6DS3_ACCEL_FS_4G (0b10 << 2)
#define LSM6DS3_ACCEL_ODR_52HZ (0b0011 << 4)
#define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4)
#define LSM6DS3_ACCEL_INT1_DRDY_XL 0b1
#define LSM6DS3_ACCEL_DRDY_XLDA 0b1
#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7)
#define LSM6DS3_ACCEL_IF_INC 0b00000100
#define LSM6DS3_ACCEL_IF_INC_BDU 0b01000100
#define LSM6DS3_ACCEL_XYZ_DEN 0b11100000
#define LSM6DS3_ACCEL_POSITIVE_TEST 0b01
#define LSM6DS3_ACCEL_NEGATIVE_TEST 0b10
#define LSM6DS3_ACCEL_MIN_ST_LIMIT_mg 90.0f
#define LSM6DS3_ACCEL_MAX_ST_LIMIT_mg 1700.0f
class LSM6DS3_Accel : public I2CSensor {
uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;}
cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
// self test functions
int self_test(int test_type);
void wait_for_data_ready();
void read_and_avg_data(float* val_st_off);
public:
LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
int init();

115
selfdrive/sensord/sensors/lsm6ds3_gyro.cc
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@ -2,19 +2,120 @@
#include <cassert>
#include <cmath>
#include <cstring>
#include "common/swaglog.h"
#include "common/timing.h"
#include "common/util.h"
#define DEG2RAD(x) ((x) * M_PI / 180.0)
LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) :
I2CSensor(bus, gpio_nr, shared_gpio) {}
void LSM6DS3_Gyro::wait_for_data_ready() {
uint8_t drdy = 0;
uint8_t buffer[6];
do {
read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
drdy &= LSM6DS3_GYRO_DRDY_GDA;
} while (drdy == 0);
read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
}
void LSM6DS3_Gyro::read_and_avg_data(float* out_buf) {
uint8_t drdy = 0;
uint8_t buffer[6];
for (int i = 0; i < 5; i++) {
do {
read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
drdy &= LSM6DS3_GYRO_DRDY_GDA;
} while (drdy == 0);
int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
assert(len == sizeof(buffer));
for (int j = 0; j < 3; j++) {
out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * 70.0f;
}
}
// calculate the mg average values
for (int i = 0; i < 3; i++) {
out_buf[i] /= 5.0f;
}
}
int LSM6DS3_Gyro::self_test(int test_type) {
float val_st_off[3] = {0};
float val_st_on[3] = {0};
float test_val[3] = {0};
// prepare sensor for self-test
// full scale: 2000dps, ODR: 208Hz
int ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_208HZ | LSM6DS3_GYRO_FS_2000dps);
if (ret < 0) {
return ret;
}
// wait for stable output, and discard first values
util::sleep_for(150);
wait_for_data_ready();
read_and_avg_data(val_st_off);
// enable Self Test positive (or negative)
ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type);
if (ret < 0) {
return ret;
}
// wait for stable output, and discard first values
util::sleep_for(50);
wait_for_data_ready();
read_and_avg_data(val_st_on);
// disable sensor
ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0);
if (ret < 0) {
return ret;
}
// disable self test
ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0);
if (ret < 0) {
return ret;
}
// calculate the mg values for self test
for (int i = 0; i < 3; i++) {
test_val[i] = fabs(val_st_on[i] - val_st_off[i]);
}
// verify test result
for (int i = 0; i < 3; i++) {
if ((LSM6DS3_GYRO_MIN_ST_LIMIT_mdps > test_val[i]) ||
(test_val[i] > LSM6DS3_GYRO_MAX_ST_LIMIT_mdps)) {
return -1;
}
}
return ret;
}
int LSM6DS3_Gyro::init() {
int ret = 0;
uint8_t buffer[1];
uint8_t value = 0;
bool do_self_test = false;
const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST");
if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
do_self_test = true;
}
ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1);
if(ret < 0) {
@ -37,6 +138,18 @@ int LSM6DS3_Gyro::init() {
goto fail;
}
ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST);
if (ret < 0 ) {
LOGE("LSM6DS3 gyro positive self-test failed!");
if (do_self_test) goto fail;
}
ret = self_test(LSM6DS3_GYRO_NEGATIVE_TEST);
if (ret < 0) {
LOGE("LSM6DS3 gyro negative self-test failed!");
if (do_self_test) goto fail;
}
// TODO: set scale. Default is +- 250 deg/s
ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ);
if (ret < 0) {
@ -65,7 +178,7 @@ fail:
int LSM6DS3_Gyro::shutdown() {
int ret = 0;
// disable data ready interrupt for accel on INT1
// disable data ready interrupt for gyro on INT1
uint8_t value = 0;
ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1);
if (ret < 0) {

12
selfdrive/sensord/sensors/lsm6ds3_gyro.h
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@ -10,21 +10,33 @@
#define LSM6DS3_GYRO_I2C_REG_ID 0x0F
#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D
#define LSM6DS3_GYRO_I2C_REG_CTRL2_G 0x11
#define LSM6DS3_GYRO_I2C_REG_CTRL5_C 0x14
#define LSM6DS3_GYRO_I2C_REG_STAT_REG 0x1E
#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G 0x22
#define LSM6DS3_GYRO_POSITIVE_TEST (0b01 << 2)
#define LSM6DS3_GYRO_NEGATIVE_TEST (0b11 << 2)
// Constants
#define LSM6DS3_GYRO_CHIP_ID 0x69
#define LSM6DS3TRC_GYRO_CHIP_ID 0x6A
#define LSM6DS3_GYRO_FS_2000dps (0b11 << 2)
#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4)
#define LSM6DS3_GYRO_ODR_208HZ (0b0101 << 4)
#define LSM6DS3_GYRO_INT1_DRDY_G 0b10
#define LSM6DS3_GYRO_DRDY_GDA 0b10
#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7)
#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f
#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f
class LSM6DS3_Gyro : public I2CSensor {
uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;}
cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
// self test functions
int self_test(int test_type);
void wait_for_data_ready();
void read_and_avg_data(float* val_st_off);
public:
LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
int init();

5
selfdrive/sensord/tests/test_sensord.py
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@ -104,6 +104,9 @@ class TestSensord(unittest.TestCase):
# make sure gpiochip0 is readable
HARDWARE.initialize_hardware()
# enable LSM self test
os.environ["LSM_SELF_TEST"] = "1"
# read initial sensor values every test case can use
os.system("pkill -f ./_sensord")
try:
@ -118,6 +121,8 @@ class TestSensord(unittest.TestCase):
@classmethod
def tearDownClass(cls):
managed_processes["sensord"].stop()
if "LSM_SELF_TEST" in os.environ:
del os.environ['LSM_SELF_TEST']
def tearDown(self):
managed_processes["sensord"].stop()

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
fc3a044c567a8702ed1500d745170c365dd6b3d4
24a8d02b148b7f6d20f641d56a7bed71c244b6e3

6
selfdrive/test/test_onroad.py
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@ -21,7 +21,7 @@ from tools.lib.logreader import LogReader
# Baseline CPU usage by process
PROCS = {
"selfdrive.controls.controlsd": 35.0,
"selfdrive.controls.controlsd": 39.0,
"./loggerd": 10.0,
"./encoderd": 17.0,
"./camerad": 14.5,
@ -202,9 +202,9 @@ class TestOnroad(unittest.TestCase):
print(result)
self.assertGreater(len(ts), 20*50, "insufficient samples")
self.assertLess(max(ts), 30.)
#self.assertLess(max(ts), 30.)
self.assertLess(np.mean(ts), 10.)
self.assertLess(np.std(ts), 5.)
#self.assertLess(np.std(ts), 5.)
def test_cpu_usage(self):
proclogs = [m for m in self.lr if m.which() == 'procLog']

2
selfdrive/ui/qt/offroad/networking.cc
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@ -314,7 +314,7 @@ void WifiUI::refresh() {
QPushButton *forgetBtn = new QPushButton(tr("FORGET"));
forgetBtn->setObjectName("forgetBtn");
QObject::connect(forgetBtn, &QPushButton::clicked, [=]() {
if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), this)) {
if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), tr("Forget"), this)) {
wifi->forgetConnection(network.ssid);
}
});

28
selfdrive/ui/qt/offroad/settings.cc
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@ -27,49 +27,56 @@
#include "selfdrive/ui/qt/widgets/input.h"
TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
// param, title, desc, icon
std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
// param, title, desc, icon, confirm
std::vector<std::tuple<QString, QString, QString, QString, bool>> toggle_defs{
{
"OpenpilotEnabledToggle",
tr("Enable openpilot"),
tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
"../assets/offroad/icon_openpilot.png",
false,
},
{
"IsLdwEnabled",
tr("Enable Lane Departure Warnings"),
tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
"../assets/offroad/icon_warning.png",
false,
},
{
"IsMetric",
tr("Use Metric System"),
tr("Display speed in km/h instead of mph."),
"../assets/offroad/icon_metric.png",
false,
},
{
"RecordFront",
tr("Record and Upload Driver Camera"),
tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
"../assets/offroad/icon_monitoring.png",
false,
},
{
"DisengageOnAccelerator",
tr("Disengage On Accelerator Pedal"),
tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
"../assets/offroad/icon_disengage_on_accelerator.svg",
false,
},
{
"EndToEndLong",
tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"),
"",
"../assets/offroad/icon_road.png",
false,
},
{
"ExperimentalLongitudinalEnabled",
tr("Experimental openpilot longitudinal control"),
tr("<b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b>"),
"../assets/offroad/icon_speed_limit.png",
true,
},
#ifdef ENABLE_MAPS
{
@ -77,19 +84,20 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
tr("Show ETA in 24h Format"),
tr("Use 24h format instead of am/pm"),
"../assets/offroad/icon_metric.png",
false,
},
{
"NavSettingLeftSide",
tr("Show Map on Left Side of UI"),
tr("Show map on left side when in split screen view."),
"../assets/offroad/icon_road.png",
false,
},
#endif
};
for (auto &[param, title, desc, icon] : toggle_defs) {
auto toggle = new ParamControl(param, title, desc, icon, this);
for (auto &[param, title, desc, icon, confirm] : toggle_defs) {
auto toggle = new ParamControl(param, title, desc, icon, confirm, this);
bool locked = params.getBool((param + "Lock").toStdString());
toggle->setEnabled(!locked);
@ -161,7 +169,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) {
if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
params.remove("CalibrationParams");
}
});
@ -170,7 +178,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
if (!params.getBool("Passive")) {
auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
connect(retrainingBtn, &ButtonControl::clicked, [=]() {
if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), this)) {
if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
emit reviewTrainingGuide();
}
});
@ -181,7 +189,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
const std::string txt = util::read_file("../assets/offroad/fcc.html");
RichTextDialog::alert(QString::fromStdString(txt), this);
ConfirmationDialog::rich(QString::fromStdString(txt), this);
});
addItem(regulatoryBtn);
}
@ -258,7 +266,7 @@ void DevicePanel::updateCalibDescription() {
void DevicePanel::reboot() {
if (!uiState()->engaged()) {
if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), this)) {
if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) {
// Check engaged again in case it changed while the dialog was open
if (!uiState()->engaged()) {
Params().putBool("DoReboot", true);
@ -271,7 +279,7 @@ void DevicePanel::reboot() {
void DevicePanel::poweroff() {
if (!uiState()->engaged()) {
if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), this)) {
if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
// Check engaged again in case it changed while the dialog was open
if (!uiState()->engaged()) {
Params().putBool("DoShutdown", true);

2
selfdrive/ui/qt/offroad/software_settings.cc
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@ -77,7 +77,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
// uninstall button
auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
connect(uninstallBtn, &ButtonControl::clicked, [&]() {
if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) {
if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), tr("Uninstall"), this)) {
params.putBool("DoUninstall", true);
}
});

17
selfdrive/ui/qt/onroad.cc
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@ -170,7 +170,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
}
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), accel_filter(UI_FREQ, .5, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
@ -463,19 +463,18 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
if (scene.end_to_end_long) {
const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration();
float acceleration_future = 0;
if (acceleration.getZ().size() > 16) {
acceleration_future = acceleration.getX()[16]; // 2.5 seconds
if (acceleration.getZ().size() > 10 && (*s->sm)["carControl"].getCarControl().getLongActive()) {
acceleration_future = acceleration.getX()[10]; // 1.0 second
}
start_hue = 60;
// speed up: 120, slow down: 0
end_hue = fmax(fmin(start_hue + acceleration_future * 30, 120), 0);
// speed up: 148, slow down: 0
start_hue = fmax(fmin(60 + accel_filter.update(acceleration_future) * 80, 148), 0);
// FIXME: painter.drawPolygon can be slow if hue is not rounded
end_hue = int(end_hue * 100 + 0.5) / 100;
start_hue = int(start_hue * 100 + 0.5) / 100;
bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4));
bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
bg.setColorAt(0.75, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.35));
bg.setColorAt(1.0, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.0));
} else {
const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
float orientation_future = 0;

1
selfdrive/ui/qt/onroad.h
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@ -87,6 +87,7 @@ protected:
double prev_draw_t = 0;
FirstOrderFilter fps_filter;
FirstOrderFilter accel_filter;
};
// container for all onroad widgets

16
selfdrive/ui/qt/widgets/controls.h
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@ -7,6 +7,7 @@
#include <QPushButton>
#include "common/params.h"
#include "selfdrive/ui/qt/widgets/input.h"
#include "selfdrive/ui/qt/widgets/toggle.h"
QFrame *horizontal_line(QWidget *parent = nullptr);
@ -49,6 +50,10 @@ public:
value->setText(val);
}
const QString getDescription() {
return description->text();
}
public slots:
void showDescription() {
description->setVisible(true);
@ -134,10 +139,17 @@ class ParamControl : public ToggleControl {
Q_OBJECT
public:
ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) {
ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, const bool confirm, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) {
key = param.toStdString();
QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) {
params.putBool(key, state);
QString content("<body><h2>" + title + "</h2><br><br>"
"<p style=\"text-align: center; margin: 0 128px;\">" + getDescription() + "</p></body>");
ConfirmationDialog dialog(content, tr("Ok"), tr("Cancel"), true, this);
if (!confirm || !state || dialog.exec()) {
params.putBool(key, state);
} else {
toggle.togglePosition();
}
});
}

57
selfdrive/ui/qt/widgets/input.cc
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@ -183,17 +183,21 @@ void InputDialog::setMinLength(int length) {
// ConfirmationDialog
ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text,
QWidget *parent) : QDialogBase(parent) {
const bool rich, QWidget *parent) : QDialogBase(parent) {
QFrame *container = new QFrame(this);
container->setStyleSheet("QFrame { border-radius: 0; background-color: #ECECEC; }");
container->setStyleSheet(R"(
QFrame { background-color: #1B1B1B; color: #C9C9C9; }
#confirm_btn { background-color: #465BEA; }
#confirm_btn:pressed { background-color: #3049F4; }
)");
QVBoxLayout *main_layout = new QVBoxLayout(container);
main_layout->setContentsMargins(32, 120, 32, 32);
main_layout->setContentsMargins(32, rich ? 32 : 120, 32, 32);
QLabel *prompt = new QLabel(prompt_text, this);
prompt->setWordWrap(true);
prompt->setAlignment(Qt::AlignHCenter);
prompt->setStyleSheet("font-size: 70px; font-weight: bold; color: black;");
main_layout->addWidget(prompt, 1, Qt::AlignTop | Qt::AlignHCenter);
prompt->setAlignment(rich ? Qt::AlignLeft : Qt::AlignHCenter);
prompt->setStyleSheet((rich ? "font-size: 42px; font-weight: light;" : "font-size: 70px; font-weight: bold;") + QString(" margin: 45px;"));
main_layout->addWidget(rich ? (QWidget*)new ScrollView(prompt, this) : (QWidget*)prompt, 1, Qt::AlignTop);
// cancel + confirm buttons
QHBoxLayout *btn_layout = new QHBoxLayout();
@ -208,54 +212,29 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString
if (confirm_text.length()) {
QPushButton* confirm_btn = new QPushButton(confirm_text);
confirm_btn->setObjectName("confirm_btn");
btn_layout->addWidget(confirm_btn);
QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
}
QVBoxLayout *outer_layout = new QVBoxLayout(this);
outer_layout->setContentsMargins(210, 170, 210, 170);
int margin = rich ? 100 : 200;
outer_layout->setContentsMargins(margin, margin, margin, margin);
outer_layout->addWidget(container);
}
bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) {
ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", parent);
ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", false, parent);
return d.exec();
}
bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) {
ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), parent);
bool ConfirmationDialog::confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent) {
ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Cancel"), false, parent);
return d.exec();
}
// RichTextDialog
RichTextDialog::RichTextDialog(const QString &prompt_text, const QString &btn_text,
QWidget *parent) : QDialogBase(parent) {
QFrame *container = new QFrame(this);
container->setStyleSheet("QFrame { background-color: #1B1B1B; }");
QVBoxLayout *main_layout = new QVBoxLayout(container);
main_layout->setContentsMargins(32, 32, 32, 32);
QLabel *prompt = new QLabel(prompt_text, this);
prompt->setWordWrap(true);
prompt->setAlignment(Qt::AlignLeft);
prompt->setTextFormat(Qt::RichText);
prompt->setStyleSheet("font-size: 42px; font-weight: light; color: #C9C9C9; margin: 45px;");
main_layout->addWidget(new ScrollView(prompt, this), 1, Qt::AlignTop);
// confirm button
QPushButton* confirm_btn = new QPushButton(btn_text);
main_layout->addWidget(confirm_btn);
QObject::connect(confirm_btn, &QPushButton::clicked, this, &QDialog::accept);
QVBoxLayout *outer_layout = new QVBoxLayout(this);
outer_layout->setContentsMargins(100, 100, 100, 100);
outer_layout->addWidget(container);
}
bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) {
auto d = RichTextDialog(prompt_text, tr("Ok"), parent);
bool ConfirmationDialog::rich(const QString &prompt_text, QWidget *parent) {
ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", true, parent);
return d.exec();
}

14
selfdrive/ui/qt/widgets/input.h
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@ -55,18 +55,10 @@ class ConfirmationDialog : public QDialogBase {
public:
explicit ConfirmationDialog(const QString &prompt_text, const QString &confirm_text,
const QString &cancel_text, QWidget* parent);
static bool alert(const QString &prompt_text, QWidget *parent);
static bool confirm(const QString &prompt_text, QWidget *parent);
};
// larger ConfirmationDialog for rich text
class RichTextDialog : public QDialogBase {
Q_OBJECT
public:
explicit RichTextDialog(const QString &prompt_text, const QString &btn_text, QWidget* parent);
const QString &cancel_text, const bool rich, QWidget* parent);
static bool alert(const QString &prompt_text, QWidget *parent);
static bool confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent);
static bool rich(const QString &prompt_text, QWidget *parent);
};
class MultiOptionDialog : public QDialogBase {

34
selfdrive/ui/translations/main_ja.ts
Unescape View File

@ -238,6 +238,14 @@
<source>Disengage to Power Off</source>
<translation>openpilot をキャンセルしてシャットダウンができます</translation>
</message>
<message>
<source>Reset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Review</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@ -463,6 +471,17 @@ location set</source>
<translation>「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます。</translation>
</message>
</context>
<context>
<name>ParamControl</name>
<message>
<source>Ok</source>
<translation type="unfinished">OK</translation>
</message>
<message>
<source>Cancel</source>
<translation type="unfinished">キャンセル</translation>
</message>
</context>
<context>
<name>PrimeAdWidget</name>
<message>
@ -585,13 +604,6 @@ location set</source>
<translation>「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。</translation>
</message>
</context>
<context>
<name>RichTextDialog</name>
<message>
<source>Ok</source>
<translation>OK</translation>
</message>
</context>
<context>
<name>SettingsWindow</name>
<message>
@ -850,6 +862,10 @@ location set</source>
<source>CHECK</source>
<translation>確認</translation>
</message>
<message>
<source>Uninstall</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
@ -1052,5 +1068,9 @@ location set</source>
<source>Forget Wi-Fi Network &quot;%1&quot;?</source>
<translation>Wi-Fiﾈｯﾄﾜｰｸ%1を削除してもよろしいですか？</translation>
</message>
<message>
<source>Forget</source>
<translation type="unfinished"></translation>
</message>
</context>
</TS>

34
selfdrive/ui/translations/main_ko.ts
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@ -238,6 +238,14 @@
<source>Disengage to Power Off</source>
<translation>전원을 종료하려면 해제하세요</translation>
</message>
<message>
<source>Reset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Review</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@ -463,6 +471,17 @@ location set</source>
<translation>connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오</translation>
</message>
</context>
<context>
<name>ParamControl</name>
<message>
<source>Ok</source>
<translation type="unfinished">확인</translation>
</message>
<message>
<source>Cancel</source>
<translation type="unfinished">취소</translation>
</message>
</context>
<context>
<name>PrimeAdWidget</name>
<message>
@ -585,13 +604,6 @@ location set</source>
<translation>데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다.</translation>
</message>
</context>
<context>
<name>RichTextDialog</name>
<message>
<source>Ok</source>
<translation>확인</translation>
</message>
</context>
<context>
<name>SettingsWindow</name>
<message>
@ -850,6 +862,10 @@ location set</source>
<source>CHECK</source>
<translation>확인</translation>
</message>
<message>
<source>Uninstall</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
@ -1052,5 +1068,9 @@ location set</source>
<source>Forget Wi-Fi Network &quot;%1&quot;?</source>
<translation>wifi 네트워크 저장안함 &quot;%1&quot;?</translation>
</message>
<message>
<source>Forget</source>
<translation type="unfinished"></translation>
</message>
</context>
</TS>

34
selfdrive/ui/translations/main_pt-BR.ts
Unescape View File

@ -238,6 +238,14 @@
<source>Disengage to Power Off</source>
<translation>Desacione para Desligar</translation>
</message>
<message>
<source>Reset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Review</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@ -464,6 +472,17 @@ trabalho definido</translation>
<translation>Salve connect.comma.ai como sua página inicial para utilizar como um app</translation>
</message>
</context>
<context>
<name>ParamControl</name>
<message>
<source>Ok</source>
<translation type="unfinished">OK</translation>
</message>
<message>
<source>Cancel</source>
<translation type="unfinished">Cancelar</translation>
</message>
</context>
<context>
<name>PrimeAdWidget</name>
<message>
@ -589,13 +608,6 @@ trabalho definido</translation>
<translation>Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo.</translation>
</message>
</context>
<context>
<name>RichTextDialog</name>
<message>
<source>Ok</source>
<translation>Ok</translation>
</message>
</context>
<context>
<name>SettingsWindow</name>
<message>
@ -854,6 +866,10 @@ trabalho definido</translation>
<source>CHECK</source>
<translation>VERIFICAR</translation>
</message>
<message>
<source>Uninstall</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
@ -1056,5 +1072,9 @@ trabalho definido</translation>
<source>Forget Wi-Fi Network &quot;%1&quot;?</source>
<translation>Esquecer Rede Wi-Fi &quot;%1&quot;?</translation>
</message>
<message>
<source>Forget</source>
<translation type="unfinished"></translation>
</message>
</context>
</TS>

34
selfdrive/ui/translations/main_zh-CHS.ts
Unescape View File

@ -238,6 +238,14 @@
<source>Disengage to Power Off</source>
<translation>取消openpilot以关机</translation>
</message>
<message>
<source>Reset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Review</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@ -461,6 +469,17 @@ location set</source>
<translation>将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它</translation>
</message>
</context>
<context>
<name>ParamControl</name>
<message>
<source>Ok</source>
<translation type="unfinished">好的</translation>
</message>
<message>
<source>Cancel</source>
<translation type="unfinished">取消</translation>
</message>
</context>
<context>
<name>PrimeAdWidget</name>
<message>
@ -583,13 +602,6 @@ location set</source>
<translation>无法挂载数据分区。 确认以重置您的设备。</translation>
</message>
</context>
<context>
<name>RichTextDialog</name>
<message>
<source>Ok</source>
<translation>好的</translation>
</message>
</context>
<context>
<name>SettingsWindow</name>
<message>
@ -848,6 +860,10 @@ location set</source>
<source>CHECK</source>
<translation>查看</translation>
</message>
<message>
<source>Uninstall</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
@ -1050,5 +1066,9 @@ location set</source>
<source>Forget Wi-Fi Network &quot;%1&quot;?</source>
<translation>忘记WiFi网络 &quot;%1&quot;?</translation>
</message>
<message>
<source>Forget</source>
<translation type="unfinished"></translation>
</message>
</context>
</TS>

34
selfdrive/ui/translations/main_zh-CHT.ts
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@ -238,6 +238,14 @@
<source>Disengage to Power Off</source>
<translation>請先取消控車才能關機</translation>
</message>
<message>
<source>Reset</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Review</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>DriveStats</name>
@ -463,6 +471,17 @@ location set</source>
<translation>將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它</translation>
</message>
</context>
<context>
<name>ParamControl</name>
<message>
<source>Ok</source>
<translation type="unfinished">確定</translation>
</message>
<message>
<source>Cancel</source>
<translation type="unfinished">取消</translation>
</message>
</context>
<context>
<name>PrimeAdWidget</name>
<message>
@ -585,13 +604,6 @@ location set</source>
<translation>無法掛載數據分區。請按確認重置您的設備。</translation>
</message>
</context>
<context>
<name>RichTextDialog</name>
<message>
<source>Ok</source>
<translation>確定</translation>
</message>
</context>
<context>
<name>SettingsWindow</name>
<message>
@ -850,6 +862,10 @@ location set</source>
<source>CHECK</source>
<translation>檢查</translation>
</message>
<message>
<source>Uninstall</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>SshControl</name>
@ -1052,5 +1068,9 @@ location set</source>
<source>Forget Wi-Fi Network &quot;%1&quot;?</source>
<translation>清除 Wi-Fi 網路 &quot;%1&quot;?</translation>
</message>
<message>
<source>Forget</source>
<translation type="unfinished"></translation>
</message>
</context>
</TS>

4
selfdrive/ui/ui.cc
Unescape View File

@ -63,6 +63,8 @@ void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Rea
right_points.reserve(max_idx + 1);
for (int i = 0; i <= max_idx; i++) {
// highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera
if (line_x[i] < 0) continue;
QPointF left, right;
bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
@ -212,7 +214,7 @@ void UIState::updateStatus() {
UIState::UIState(QObject *parent) : QObject(parent) {
sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
"modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
"modelV2", "carControl", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
"pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman",
"wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
});

6
selfdrive/updated.py
Unescape View File

@ -175,7 +175,7 @@ def finalize_update() -> None:
shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True)
run(["git", "reset", "--hard"], FINALIZED)
run(["git", "submodule", "foreach", "--recursive", "git", "reset"], FINALIZED)
run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED)
cloudlog.info("Starting git cleanup in finalized update")
t = time.monotonic()
@ -374,8 +374,8 @@ class Updater:
["git", "reset", "--hard"],
["git", "clean", "-xdff"],
["git", "submodule", "sync"],
["git", "submodule", "init"],
["git", "submodule", "update"],
["git", "submodule", "update", "--init", "--recursive"],
["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"],
]
r = [run(cmd, OVERLAY_MERGED) for cmd in cmds]
cloudlog.info("git reset success: %s", '\n'.join(r))

2
system/camerad/cameras/real_debayer.cl
Unescape View File

@ -72,7 +72,7 @@ float4 val4_from_12(uchar8 pvs, float gain) {
float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
// it's a 24 bit signal, center in the middle 8 bits
return pv*256.0;
return clamp(pv*gain*256.0, 0.0, 1.0);
#else // AR
// normalize and scale
float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0);

7
system/camerad/test/test_camerad.py
Unescape View File

@ -4,12 +4,14 @@ import unittest
from collections import defaultdict
import cereal.messaging as messaging
from cereal import log
from cereal.services import service_list
from selfdrive.manager.process_config import managed_processes
from system.hardware import TICI
TEST_TIMESPAN = 30
LAG_FRAME_TOLERANCE = 0.5 # ms
LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0321: 0.5, # ARs use synced pulses for frame starts
log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame
CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
@ -62,6 +64,7 @@ class TestCamerad(unittest.TestCase):
assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}"
def test_frame_sync(self):
sensor_type = [getattr(msgs[0], msgs[0].which()).sensor for frame_id, msgs in self.log_by_frame_id.items()][0].raw
frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()}
diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()}
@ -69,7 +72,7 @@ class TestCamerad(unittest.TestCase):
def get_desc(fid, diff):
cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]]
return f"{diff=} {cam_times=}"
laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE}
laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[sensor_type]}
assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}"
if __name__ == "__main__":

22
tools/cabana/binaryview.cc
Unescape View File

@ -11,7 +11,7 @@
// BinaryView
const int CELL_HEIGHT = 30;
const int CELL_HEIGHT = 26;
BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
model = new BinaryViewModel(this);
@ -20,15 +20,12 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
setItemDelegate(delegate);
horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
horizontalHeader()->hide();
verticalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
setMouseTracking(true);
setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
setFrameShape(QFrame::NoFrame);
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
}
QSize BinaryView::sizeHint() const {
QSize sz = QTableView::sizeHint();
return {sz.width(), model->rowCount() <= 8 ? ((CELL_HEIGHT + 1) * model->rowCount() + 2) : sz.height()};
setMouseTracking(true);
}
void BinaryView::highlight(const Signal *sig) {
@ -108,15 +105,9 @@ void BinaryView::leaveEvent(QEvent *event) {
}
void BinaryView::setMessage(const QString &message_id) {
msg_id = message_id;
model->setMessage(message_id);
clearSelection();
updateState();
updateGeometry();
}
void BinaryView::updateState() {
model->updateState();
}
const Signal *BinaryView::getResizingSignal() const {
@ -179,6 +170,9 @@ void BinaryViewModel::setMessage(const QString &message_id) {
items[idx].sigs.push_back(&dbc_msg->sigs[i]);
}
}
} else {
row_count = can->lastMessage(msg_id).dat.size();
items.resize(row_count * column_count);
}
endResetModel();

6
tools/cabana/binaryview.h
Unescape View File

@ -57,11 +57,10 @@ class BinaryView : public QTableView {
public:
BinaryView(QWidget *parent = nullptr);
void setMessage(const QString &message_id);
void updateState();
void highlight(const Signal *sig);
const Signal *hoveredSignal() const { return hovered_sig; }
QSet<const Signal*> getOverlappingSignals() const;
QSize sizeHint() const override;
inline const Signal *hoveredSignal() const { return hovered_sig; }
inline void updateState() { model->updateState(); }
signals:
void signalHovered(const Signal *sig);
@ -76,7 +75,6 @@ private:
void leaveEvent(QEvent *event) override;
const Signal *getResizingSignal() const;
QString msg_id;
QModelIndex anchor_index;
BinaryViewModel *model;
BinaryItemDelegate *delegate;

24
tools/cabana/chartswidget.cc
Unescape View File

@ -1,11 +1,13 @@
#include "tools/cabana/chartswidget.h"
#include <QFutureSynchronizer>
#include <QGraphicsLayout>
#include <QGridLayout>
#include <QRubberBand>
#include <QTimer>
#include <QtCharts/QLineSeries>
#include <QtCharts/QValueAxis>
#include <QtConcurrent>
// ChartsWidget
@ -116,8 +118,9 @@ void ChartsWidget::updateState() {
display_range.first = std::max(display_range.first, event_range.first);
display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second);
if (prev_range != display_range) {
QFutureSynchronizer<void> future_synchronizer;
for (auto c : charts)
c->chart_view->updateSeries(display_range);
future_synchronizer.addFuture(QtConcurrent::run(c->chart_view, &ChartView::updateSeries, display_range));
}
}
@ -155,6 +158,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show) {
charts_layout->insertWidget(0, chart);
charts.push_back(chart);
emit chartOpened(chart->id, chart->signal);
updateState();
}
updateTitleBar();
}
@ -324,11 +328,10 @@ void ChartView::updateLineMarker(double current_sec) {
chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min());
if (int(line_marker->line().x1()) != x) {
line_marker->setLine(x, 0, x, height());
chart()->update();
}
}
void ChartView::updateSeries(const std::pair<double, double> &range) {
void ChartView::updateSeries(const std::pair<double, double> range) {
auto events = can->events();
if (!events) return;
@ -337,7 +340,7 @@ void ChartView::updateSeries(const std::pair<double, double> &range) {
uint32_t address = l[1].toUInt(nullptr, 16);
vals.clear();
vals.reserve((range.second - range.first) * 100); // [n]minutes * 100hz
vals.reserve((range.second - range.first) * 1000); // [n]seconds * 1000hz
double route_start_time = can->routeStartTime();
Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + range.first) * 1e9);
auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan());
@ -368,8 +371,13 @@ void ChartView::updateAxisY() {
auto end = std::upper_bound(vals.begin(), vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); });
const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); });
(min->y() == max->y()) ? axis_y->setRange(min->y() - 1, max->y() + 1)
: axis_y->setRange(min->y(), max->y());
if (max->y() == min->y()) {
axis_y->setRange(min->y() - 1, max->y() + 1);
} else {
double range = max->y() - min->y();
axis_y->setRange(min->y() - range * 0.05, max->y() + range * 0.05);
axis_y->applyNiceNumbers();
}
}
void ChartView::enterEvent(QEvent *event) {
@ -402,6 +410,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
// zoom in if selected range is greater than 0.5s
emit zoomIn(min, max);
}
viewport()->update();
event->accept();
} else if (event->button() == Qt::RightButton) {
emit zoomReset();
@ -409,6 +418,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
} else {
QGraphicsView::mouseReleaseEvent(event);
}
setViewportUpdateMode(QGraphicsView::MinimalViewportUpdate);
}
void ChartView::mouseMoveEvent(QMouseEvent *ev) {
@ -435,6 +445,8 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
track_line->setVisible(value != vals.end());
value_text->setVisible(value != vals.end());
track_ellipse->setVisible(value != vals.end());
} else {
setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
}
QChartView::mouseMoveEvent(ev);
}

4
tools/cabana/chartswidget.h
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@ -21,7 +21,7 @@ class ChartView : public QChartView {
public:
ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr);
void updateSeries(const std::pair<double, double> &range);
void updateSeries(const std::pair<double, double> range);
void setRange(double min, double max, bool force_update = false);
void updateLineMarker(double current_sec);
void updateFromSettings();
@ -42,7 +42,7 @@ private:
QGraphicsEllipseItem *track_ellipse;
QGraphicsTextItem *value_text;
QGraphicsLineItem *line_marker;
QList<QPointF> vals;
QVector<QPointF> vals;
QString id;
const Signal *signal;
};

148
tools/cabana/detailwidget.cc
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@ -4,7 +4,9 @@
#include <QFormLayout>
#include <QMenu>
#include <QMessageBox>
#include <QScrollBar>
#include <QTimer>
#include <QVBoxLayout>
#include "selfdrive/ui/qt/util.h"
#include "tools/cabana/canmessages.h"
@ -13,38 +15,25 @@
// DetailWidget
DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
main_layout = new QHBoxLayout(this);
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
main_layout->setSpacing(0);
right_column = new QVBoxLayout();
main_layout->addLayout(right_column);
binary_view_container = new QWidget(this);
binary_view_container->setMinimumWidth(500);
binary_view_container->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred);
QVBoxLayout *bin_layout = new QVBoxLayout(binary_view_container);
bin_layout->setContentsMargins(0, 0, 0, 0);
bin_layout->setSpacing(0);
// tabbar
// tabbar
tabbar = new QTabBar(this);
tabbar->setTabsClosable(true);
tabbar->setDrawBase(false);
tabbar->setUsesScrollButtons(true);
tabbar->setAutoHide(true);
tabbar->setContextMenuPolicy(Qt::CustomContextMenu);
bin_layout->addWidget(tabbar);
main_layout->addWidget(tabbar);
TitleFrame *title_frame = new TitleFrame(this);
title_frame->setFrameShape(QFrame::StyledPanel);
title_frame->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
QFrame *title_frame = new QFrame(this);
QVBoxLayout *frame_layout = new QVBoxLayout(title_frame);
title_frame->setFrameShape(QFrame::StyledPanel);
// message title
QHBoxLayout *title_layout = new QHBoxLayout();
split_btn = new QPushButton("⬅", this);
split_btn->setFixedSize(20, 20);
split_btn->setToolTip(tr("Split to two columns"));
title_layout->addWidget(split_btn);
title_layout->addWidget(new QLabel("time:"));
time_label = new QLabel(this);
time_label->setStyleSheet("font-weight:bold");
@ -62,6 +51,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
// warning
warning_widget = new QWidget(this);
QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget);
warning_hlayout->setContentsMargins(0, 0, 0, 0);
QLabel *warning_icon = new QLabel(this);
warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning));
warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop);
@ -69,30 +59,32 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft);
warning_widget->hide();
frame_layout->addWidget(warning_widget);
bin_layout->addWidget(title_frame);
main_layout->addWidget(title_frame);
QWidget *container = new QWidget(this);
QVBoxLayout *container_layout = new QVBoxLayout(container);
container_layout->setSpacing(0);
container_layout->setContentsMargins(0, 0, 0, 0);
scroll = new QScrollArea(this);
scroll->setWidget(container);
scroll->setWidgetResizable(true);
scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
main_layout->addWidget(scroll);
// binary view
binary_view = new BinaryView(this);
bin_layout->addWidget(binary_view);
right_column->addWidget(binary_view_container);
container_layout->addWidget(binary_view);
// signals
signals_container = new QWidget(this);
signals_container->setLayout(new QVBoxLayout);
signals_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
scroll = new ScrollArea(this);
scroll->setWidget(signals_container);
scroll->setWidgetResizable(true);
scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
right_column->addWidget(scroll);
container_layout->addWidget(signals_container);
// history log
history_log = new HistoryLog(this);
right_column->addWidget(history_log);
container_layout->addWidget(history_log);
QObject::connect(split_btn, &QPushButton::clicked, this, &DetailWidget::moveBinaryView);
QObject::connect(title_frame, &TitleFrame::doubleClicked, this, &DetailWidget::moveBinaryView);
QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg);
QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal);
QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal);
@ -146,37 +138,42 @@ void DetailWidget::setMessage(const QString &message_id) {
tabbar->setCurrentIndex(index);
msg_id = message_id;
dbcMsgChanged();
scroll->verticalScrollBar()->setValue(0);
}
void DetailWidget::dbcMsgChanged(int show_form_idx) {
if (msg_id.isEmpty()) return;
warning_widget->hide();
setUpdatesEnabled(false);
QStringList warnings;
for (auto f : signal_list) f->hide();
clearLayout(signals_container->layout());
QString msg_name = tr("untitled");
if (auto msg = dbc()->msg(msg_id)) {
const Msg *msg = dbc()->msg(msg_id);
if (msg) {
for (int i = 0; i < msg->sigs.size(); ++i) {
auto form = new SignalEdit(i, msg_id, &(msg->sigs[i]));
form->setChartOpened(charts->isChartOpened(msg_id, &(msg->sigs[i])));
signals_container->layout()->addWidget(form);
QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm);
QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal);
QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal);
QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight);
QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered);
QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]](bool show) { charts->showChart(msg_id, sig, show); });
if (i == show_form_idx) {
QTimer::singleShot(0, [=]() { emit form->showFormClicked(); });
SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr;
if (!form) {
form = new SignalEdit(i);
QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm);
QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal);
QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal);
QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight);
QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered);
QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart);
signals_container->layout()->addWidget(form);
signal_list.push_back(form);
}
form->setSignal(msg_id, &(msg->sigs[i]), i == show_form_idx);
form->setChartOpened(charts->isChartOpened(msg_id, &(msg->sigs[i])));
form->show();
}
msg_name = msg->name.c_str();
if (msg->size != can->lastMessage(msg_id).dat.size())
warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
}
edit_btn->setVisible(true);
name_label->setText(msg_name);
name_label->setText(msg ? msg->name.c_str() : "untitled");
binary_view->setMessage(msg_id);
history_log->setMessage(msg_id);
@ -187,10 +184,9 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) {
warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str()));
}
if (!warnings.isEmpty()) {
warning_label->setText(warnings.join('\n'));
warning_widget->show();
}
warning_label->setText(warnings.join('\n'));
warning_widget->setVisible(!warnings.isEmpty());
setUpdatesEnabled(true);
}
void DetailWidget::updateState() {
@ -201,35 +197,17 @@ void DetailWidget::updateState() {
history_log->updateState();
}
void DetailWidget::moveBinaryView() {
if (binview_in_left_col) {
right_column->insertWidget(0, binary_view_container);
emit binaryViewMoved(true);
} else {
main_layout->insertWidget(0, binary_view_container);
emit binaryViewMoved(false);
}
split_btn->setText(binview_in_left_col ? "⬅" : "➡");
split_btn->setToolTip(binview_in_left_col ? tr("Split to two columns") : tr("Move back"));
binary_view->updateGeometry();
binview_in_left_col = !binview_in_left_col;
}
void DetailWidget::showForm() {
SignalEdit *sender = qobject_cast<SignalEdit *>(QObject::sender());
for (auto f : signals_container->findChildren<SignalEdit *>()) {
setUpdatesEnabled(false);
for (auto f : signal_list)
f->setFormVisible(f == sender && !f->isFormVisible());
if (f == sender) {
QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); });
}
}
QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); });
}
void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) {
if (id == msg_id) {
for (auto f : signals_container->findChildren<SignalEdit *>())
if (f->sig == sig) f->setChartOpened(opened);
}
for (auto f : signal_list)
if (f->msg_id == id && f->sig == sig) f->setChartOpened(opened);
}
void DetailWidget::editMsg() {
@ -284,7 +262,7 @@ void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) {
dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig);
// update binary view and history log
dbcMsgChanged();
updateState();
}
void DetailWidget::removeSignal(const Signal *sig) {
@ -322,19 +300,3 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title
connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
}
// ScrollArea
bool ScrollArea::eventFilter(QObject *obj, QEvent *ev) {
if (obj == widget() && ev->type() == QEvent::Resize) {
int height = widget()->height() + 4;
setMinimumHeight(height > 480 ? 480 : height);
setMaximumHeight(height);
}
return QScrollArea::eventFilter(obj, ev);
}
void ScrollArea::setWidget(QWidget *w) {
QScrollArea::setWidget(w);
w->installEventFilter(this);
}

28
tools/cabana/detailwidget.h
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@ -2,22 +2,12 @@
#include <QScrollArea>
#include <QTabBar>
#include <QVBoxLayout>
#include "tools/cabana/binaryview.h"
#include "tools/cabana/chartswidget.h"
#include "tools/cabana/historylog.h"
#include "tools/cabana/signaledit.h"
class TitleFrame : public QFrame {
Q_OBJECT
public:
TitleFrame(QWidget *parent) : QFrame(parent) {}
void mouseDoubleClickEvent(QMouseEvent *e) { emit doubleClicked(); }
signals:
void doubleClicked();
};
class EditMessageDialog : public QDialog {
Q_OBJECT
@ -28,15 +18,6 @@ public:
QSpinBox *size_spin;
};
class ScrollArea : public QScrollArea {
Q_OBJECT
public:
ScrollArea(QWidget *parent) : QScrollArea(parent) {}
bool eventFilter(QObject *obj, QEvent *ev) override;
void setWidget(QWidget *w);
};
class DetailWidget : public QWidget {
Q_OBJECT
@ -58,7 +39,6 @@ private:
void editMsg();
void showForm();
void updateState();
void moveBinaryView();
QString msg_id;
QLabel *name_label, *time_label, *warning_label;
@ -66,13 +46,9 @@ private:
QPushButton *edit_btn;
QWidget *signals_container;
QTabBar *tabbar;
QHBoxLayout *main_layout;
QVBoxLayout *right_column;
bool binview_in_left_col = false;
QWidget *binary_view_container;
QPushButton *split_btn;
HistoryLog *history_log;
BinaryView *binary_view;
ScrollArea *scroll;
QScrollArea *scroll;
ChartsWidget *charts;
QList<SignalEdit *> signal_list;
};

38
tools/cabana/historylog.cc
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@ -1,9 +1,10 @@
#include "tools/cabana/historylog.h"
#include <QFontDatabase>
#include <QHeaderView>
#include <QVBoxLayout>
// HistoryLogModel
QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
bool has_signal = dbc_msg && !dbc_msg->sigs.empty();
if (role == Qt::DisplayRole) {
@ -37,7 +38,7 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
if (section == 0) {
return "Time";
}
return has_signal ? dbc_msg->sigs[section - 1].name.c_str() : "Data";
return has_signal ? QString::fromStdString(dbc_msg->sigs[section - 1].name).replace('_', ' ') : "Data";
} else if (role == Qt::BackgroundRole && section > 0 && has_signal) {
return QBrush(QColor(getColor(section - 1)));
}
@ -64,16 +65,27 @@ void HistoryLogModel::updateState() {
}
}
HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
// HeaderView
QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
const QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString();
const QRect rect = fontMetrics().boundingRect(QRect(0, 0, sectionSize(logicalIndex), 1000), defaultAlignment(), text);
return rect.size() + QSize{10, 5};
}
// HistoryLog
HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) {
model = new HistoryLogModel(this);
table = new QTableView(this);
table->setModel(model);
table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
table->setColumnWidth(0, 60);
table->verticalHeader()->setVisible(false);
table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }");
main_layout->addWidget(table);
setModel(model);
setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap);
horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
verticalHeader()->setVisible(false);
setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
setFrameShape(QFrame::NoFrame);
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }");
}

11
tools/cabana/historylog.h
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@ -1,10 +1,17 @@
#pragma once
#include <QHeaderView>
#include <QTableView>
#include "tools/cabana/canmessages.h"
#include "tools/cabana/dbcmanager.h"
class HeaderView : public QHeaderView {
public:
HeaderView(Qt::Orientation orientation, QWidget *parent = nullptr) : QHeaderView(orientation, parent) {}
QSize sectionSizeFromContents(int logicalIndex) const;
};
class HistoryLogModel : public QAbstractTableModel {
Q_OBJECT
@ -25,15 +32,13 @@ private:
std::deque<CanData> messages;
};
class HistoryLog : public QWidget {
class HistoryLog : public QTableView {
Q_OBJECT
public:
HistoryLog(QWidget *parent);
void setMessage(const QString &message_id) { model->setMessage(message_id); }
void updateState() { model->updateState(); }
private:
QTableView *table;
HistoryLogModel *model;
};

5
tools/cabana/messageswidget.cc
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@ -147,6 +147,11 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
return {};
}
void MessageListModel::setFilterString(const QString &string) {
filter_str = string;
updateState(true);
}
bool MessageListModel::updateMessages(bool sort) {
if (msgs.size() == can->can_msgs.size() && filter_str.isEmpty() && !sort)
return false;

2
tools/cabana/messageswidget.h
Unescape View File

@ -38,7 +38,7 @@ public:
int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
void updateState(bool sort = false);
void setFilterString(const QString &string) { filter_str = string; }
void setFilterString(const QString &string);
private:
bool updateMessages(bool sort);

2
tools/cabana/settings.cc
Unescape View File

@ -25,7 +25,7 @@ void Settings::save() {
void Settings::load() {
QSettings s("settings", QSettings::IniFormat);
fps = s.value("fps", 10).toInt();
can_msg_log_size = s.value("log_size", 100).toInt();
can_msg_log_size = s.value("log_size", 50).toInt();
cached_segment_limit = s.value("cached_segment", 3).toInt();
chart_height = s.value("chart_height", 200).toInt();
chart_theme = s.value("chart_theme", 0).toInt();

2
tools/cabana/settings.h
Unescape View File

@ -13,7 +13,7 @@ public:
void load();
int fps = 10;
int can_msg_log_size = 100;
int can_msg_log_size = 50;
int cached_segment_limit = 3;
int chart_height = 200;
int chart_theme = 0;

55
tools/cabana/signaledit.cc
Unescape View File

@ -13,40 +13,37 @@
// SignalForm
SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) {
SignalForm::SignalForm(QWidget *parent) : QWidget(parent) {
QFormLayout *form_layout = new QFormLayout(this);
form_layout->setContentsMargins(0, 0, 0, 0);
name = new QLineEdit(sig.name.c_str());
name = new QLineEdit();
form_layout->addRow(tr("Name"), name);
size = new QSpinBox();
size->setMinimum(1);
size->setValue(sig.size);
form_layout->addRow(tr("Size"), size);
endianness = new QComboBox();
endianness->addItems({"Little", "Big"});
endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1);
form_layout->addRow(tr("Endianness"), endianness);
form_layout->addRow(tr("lsb"), new QLabel(QString::number(sig.lsb)));
form_layout->addRow(tr("msb"), new QLabel(QString::number(sig.msb)));
;
form_layout->addRow(tr("lsb"), lsb = new QLabel());
form_layout->addRow(tr("msb"), msb = new QLabel());
sign = new QComboBox();
sign->addItems({"Signed", "Unsigned"});
sign->setCurrentIndex(sig.is_signed ? 0 : 1);
form_layout->addRow(tr("sign"), sign);
auto double_validator = new QDoubleValidator(this);
factor = new QLineEdit();
factor->setValidator(double_validator);
factor->setText(QString::number(sig.factor));
form_layout->addRow(tr("Factor"), factor);
offset = new QLineEdit();
offset->setValidator(double_validator);
offset->setText(QString::number(sig.offset));
form_layout->addRow(tr("Offset"), offset);
// TODO: parse the following parameters in opendbc
@ -66,18 +63,15 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) {
// SignalEdit
SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent) : msg_id(msg_id), sig(sig), form_idx(index), QWidget(parent) {
SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
// title bar
QHBoxLayout *title_layout = new QHBoxLayout();
icon = new QLabel(">");
icon->setStyleSheet("font-weight:bold");
icon = new QLabel();
title_layout->addWidget(icon);
title = new ElidedLabel(this);
title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
title->setText(QString("%1. %2").arg(index + 1).arg(sig->name.c_str()));
title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index)));
title_layout->addWidget(title, 1);
@ -96,9 +90,6 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid
// signal form
form_container = new QWidget(this);
QVBoxLayout *v_layout = new QVBoxLayout(form_container);
form = new SignalForm(*sig, this);
v_layout->addWidget(form);
QHBoxLayout *h = new QHBoxLayout();
QPushButton *remove_btn = new QPushButton(tr("Remove Signal"));
h->addWidget(remove_btn);
@ -106,8 +97,6 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid
QPushButton *save_btn = new QPushButton(tr("Save"));
h->addWidget(save_btn);
v_layout->addLayout(h);
form_container->setVisible(false);
main_layout->addWidget(form_container);
// bottom line
@ -119,11 +108,19 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid
QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); });
QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked);
QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal);
QObject::connect(plot_btn, &QPushButton::clicked, [this]() { emit showChart(!chart_opened); });
QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id]() {
SignalFindDlg dlg(msg_id, this->sig, this);
QObject::connect(plot_btn, &QPushButton::clicked, [this]() { emit showChart(msg_id, sig, !chart_opened); });
QObject::connect(seek_btn, &QPushButton::clicked, [this]() {
SignalFindDlg dlg(msg_id, sig, this);
dlg.exec();
});
setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
}
void SignalEdit::setSignal(const QString &message_id, const Signal *signal, bool show_form) {
msg_id = message_id;
sig = signal;
title->setText(QString("%1. %2").arg(form_idx + 1).arg(sig->name.c_str()));
setFormVisible(show_form);
}
void SignalEdit::saveSignal() {
@ -152,6 +149,20 @@ void SignalEdit::setChartOpened(bool opened) {
}
void SignalEdit::setFormVisible(bool visible) {
if (visible) {
if (!form) {
form = new SignalForm(this);
((QVBoxLayout *)form_container->layout())->insertWidget(0, form);
}
form->name->setText(sig->name.c_str());
form->size->setValue(sig->size);
form->endianness->setCurrentIndex(sig->is_little_endian ? 0 : 1);
form->sign->setCurrentIndex(sig->is_signed ? 0 : 1);
form->factor->setText(QString::number(sig->factor));
form->offset->setText(QString::number(sig->offset));
form->msb->setText(QString::number(sig->msb));
form->lsb->setText(QString::number(sig->lsb));
}
form_container->setVisible(visible);
icon->setText(visible ? "▼" : ">");
}

12
tools/cabana/signaledit.h
Unescape View File

@ -14,9 +14,10 @@
class SignalForm : public QWidget {
public:
SignalForm(const Signal &sig, QWidget *parent);
SignalForm(QWidget *parent);
QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val;
QLabel *lsb, *msb;
QSpinBox *size;
QComboBox *sign, *endianness;
};
@ -25,16 +26,18 @@ class SignalEdit : public QWidget {
Q_OBJECT
public:
SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent = nullptr);
SignalEdit(int index, QWidget *parent = nullptr);
void setSignal(const QString &msg_id, const Signal *sig, bool show_form);
void setChartOpened(bool opened);
void setFormVisible(bool show);
void signalHovered(const Signal *sig);
inline bool isFormVisible() const { return form_container->isVisible(); }
const Signal *sig = nullptr;
QString msg_id;
signals:
void highlight(const Signal *sig);
void showChart(bool show);
void showChart(const QString &name, const Signal *sig, bool show);
void showFormClicked();
void remove(const Signal *sig);
void save(const Signal *sig, const Signal &new_sig);
@ -44,12 +47,11 @@ protected:
void leaveEvent(QEvent *event) override;
void saveSignal();
SignalForm *form;
SignalForm *form = nullptr;
ElidedLabel *title;
QWidget *form_container;
QLabel *icon;
int form_idx = 0;
QString msg_id;
bool chart_opened = false;
QPushButton *plot_btn;
};

50
tools/plotjuggler/layouts/longitudinal.xml
Unescape View File

@ -0,0 +1,50 @@
<?xml version='1.0' encoding='UTF-8'?>
<root>
<tabbed_widget name="Main Window" parent="main_window">
<Tab tab_name="tab1" containers="1">
<Container>
<DockSplitter orientation="-" sizes="0.333601;0.332799;0.333601" count="3">
<DockArea name="...">
<plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
<range right="60.000002" top="2.131164" left="0.000000" bottom="-3.377712"/>
<limitY/>
<curve name="/carState/aEgo" color="#f14cc1"/>
<curve name="/longitudinalPlan/accels/0" color="#9467bd"/>
<curve name="/carControl/actuators/accel" color="#17becf"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
<range right="60.000002" top="19.304051" left="0.000000" bottom="-0.538805"/>
<limitY/>
<curve name="/carState/vEgo" color="#1ac938"/>
<curve name="/longitudinalPlan/speeds/0" color="#ff7f0e"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
<range right="60.000002" top="1.025000" left="0.000000" bottom="-0.025000"/>
<limitY/>
<curve name="/carControl/longActive" color="#1f77b4"/>
<curve name="/carState/gasPressed" color="#d62728"/>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<currentTabIndex index="0"/>
</tabbed_widget>
<use_relative_time_offset enabled="1"/>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<Plugins>
<plugin ID="DataLoad Rlog"/>
<plugin ID="Cereal Subscriber"/>
</Plugins>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<customMathEquations/>
<snippets/>
<!-- - - - - - - - - - - - - - - -->
</root>

1
tools/sim/start_openpilot_docker.sh
Unescape View File

@ -20,6 +20,7 @@ else
EXTRA_ARGS="${EXTRA_ARGS} -it"
fi
docker kill openpilot_client || true
docker run --net=host\
--name openpilot_client \
--rm \

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