diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index e889f24fc9..01ae0118f9 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -120,57 +120,57 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): signals = [ - # sig_name, sig_address, default - ("WHL_SPD_FL", "WHL_SPD11", 0), - ("WHL_SPD_FR", "WHL_SPD11", 0), - ("WHL_SPD_RL", "WHL_SPD11", 0), - ("WHL_SPD_RR", "WHL_SPD11", 0), + # sig_name, sig_address + ("WHL_SPD_FL", "WHL_SPD11"), + ("WHL_SPD_FR", "WHL_SPD11"), + ("WHL_SPD_RL", "WHL_SPD11"), + ("WHL_SPD_RR", "WHL_SPD11"), - ("YAW_RATE", "ESP12", 0), + ("YAW_RATE", "ESP12"), ("CF_Gway_DrvSeatBeltInd", "CGW4", 1), - ("CF_Gway_DrvSeatBeltSw", "CGW1", 0), - ("CF_Gway_DrvDrSw", "CGW1", 0), # Driver Door - ("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door - ("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door - ("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door - ("CF_Gway_TurnSigLh", "CGW1", 0), - ("CF_Gway_TurnSigRh", "CGW1", 0), - ("CF_Gway_ParkBrakeSw", "CGW1", 0), - - ("CYL_PRES", "ESP12", 0), - - ("CF_Clu_CruiseSwState", "CLU11", 0), - ("CF_Clu_CruiseSwMain", "CLU11", 0), - ("CF_Clu_SldMainSW", "CLU11", 0), - ("CF_Clu_ParityBit1", "CLU11", 0), - ("CF_Clu_VanzDecimal" , "CLU11", 0), - ("CF_Clu_Vanz", "CLU11", 0), - ("CF_Clu_SPEED_UNIT", "CLU11", 0), - ("CF_Clu_DetentOut", "CLU11", 0), - ("CF_Clu_RheostatLevel", "CLU11", 0), - ("CF_Clu_CluInfo", "CLU11", 0), - ("CF_Clu_AmpInfo", "CLU11", 0), - ("CF_Clu_AliveCnt1", "CLU11", 0), - - ("ACCEnable", "TCS13", 0), - ("ACC_REQ", "TCS13", 0), - ("DriverBraking", "TCS13", 0), - ("StandStill", "TCS13", 0), - ("PBRAKE_ACT", "TCS13", 0), - - ("ESC_Off_Step", "TCS15", 0), - ("AVH_LAMP", "TCS15", 0), - - ("CR_Mdps_StrColTq", "MDPS12", 0), - ("CF_Mdps_ToiActive", "MDPS12", 0), - ("CF_Mdps_ToiUnavail", "MDPS12", 0), - ("CF_Mdps_ToiFlt", "MDPS12", 0), - ("CR_Mdps_OutTq", "MDPS12", 0), - - ("SAS_Angle", "SAS11", 0), - ("SAS_Speed", "SAS11", 0), + ("CF_Gway_DrvSeatBeltSw", "CGW1"), + ("CF_Gway_DrvDrSw", "CGW1"), # Driver Door + ("CF_Gway_AstDrSw", "CGW1"), # Passenger door + ("CF_Gway_RLDrSw", "CGW2"), # Rear reft door + ("CF_Gway_RRDrSw", "CGW2"), # Rear right door + ("CF_Gway_TurnSigLh", "CGW1"), + ("CF_Gway_TurnSigRh", "CGW1"), + ("CF_Gway_ParkBrakeSw", "CGW1"), + + ("CYL_PRES", "ESP12"), + + ("CF_Clu_CruiseSwState", "CLU11"), + ("CF_Clu_CruiseSwMain", "CLU11"), + ("CF_Clu_SldMainSW", "CLU11"), + ("CF_Clu_ParityBit1", "CLU11"), + ("CF_Clu_VanzDecimal" , "CLU11"), + ("CF_Clu_Vanz", "CLU11"), + ("CF_Clu_SPEED_UNIT", "CLU11"), + ("CF_Clu_DetentOut", "CLU11"), + ("CF_Clu_RheostatLevel", "CLU11"), + ("CF_Clu_CluInfo", "CLU11"), + ("CF_Clu_AmpInfo", "CLU11"), + ("CF_Clu_AliveCnt1", "CLU11"), + + ("ACCEnable", "TCS13"), + ("ACC_REQ", "TCS13"), + ("DriverBraking", "TCS13"), + ("StandStill", "TCS13"), + ("PBRAKE_ACT", "TCS13"), + + ("ESC_Off_Step", "TCS15"), + ("AVH_LAMP", "TCS15"), + + ("CR_Mdps_StrColTq", "MDPS12"), + ("CF_Mdps_ToiActive", "MDPS12"), + ("CF_Mdps_ToiUnavail", "MDPS12"), + ("CF_Mdps_ToiFlt", "MDPS12"), + ("CR_Mdps_OutTq", "MDPS12"), + + ("SAS_Angle", "SAS11"), + ("SAS_Speed", "SAS11"), ] checks = [ @@ -189,10 +189,10 @@ class CarState(CarStateBase): if not CP.openpilotLongitudinalControl: signals += [ - ("MainMode_ACC", "SCC11", 0), - ("VSetDis", "SCC11", 0), - ("SCCInfoDisplay", "SCC11", 0), - ("ACC_ObjDist", "SCC11", 0), + ("MainMode_ACC", "SCC11"), + ("VSetDis", "SCC11"), + ("SCCInfoDisplay", "SCC11"), + ("ACC_ObjDist", "SCC11"), ("ACCMode", "SCC12", 1), ] @@ -203,39 +203,39 @@ class CarState(CarStateBase): if CP.carFingerprint in FEATURES["use_fca"]: signals += [ - ("FCA_CmdAct", "FCA11", 0), - ("CF_VSM_Warn", "FCA11", 0), + ("FCA_CmdAct", "FCA11"), + ("CF_VSM_Warn", "FCA11"), ] checks += [("FCA11", 50)] else: signals += [ - ("AEB_CmdAct", "SCC12", 0), - ("CF_VSM_Warn", "SCC12", 0), + ("AEB_CmdAct", "SCC12"), + ("CF_VSM_Warn", "SCC12"), ] if CP.enableBsm: signals += [ - ("CF_Lca_IndLeft", "LCA11", 0), - ("CF_Lca_IndRight", "LCA11", 0), + ("CF_Lca_IndLeft", "LCA11"), + ("CF_Lca_IndRight", "LCA11"), ] checks += [("LCA11", 50)] if CP.carFingerprint in (HYBRID_CAR | EV_CAR): if CP.carFingerprint in HYBRID_CAR: signals += [ - ("CR_Vcu_AccPedDep_Pos", "E_EMS11", 0) + ("CR_Vcu_AccPedDep_Pos", "E_EMS11") ] else: signals += [ - ("Accel_Pedal_Pos", "E_EMS11", 0) + ("Accel_Pedal_Pos", "E_EMS11") ] checks += [ ("E_EMS11", 50), ] else: signals += [ - ("PV_AV_CAN", "EMS12", 0), - ("CF_Ems_AclAct", "EMS16", 0), + ("PV_AV_CAN", "EMS12"), + ("CF_Ems_AclAct", "EMS16"), ] checks += [ ("EMS12", 100), @@ -244,24 +244,24 @@ class CarState(CarStateBase): if CP.carFingerprint in FEATURES["use_cluster_gears"]: signals += [ - ("CF_Clu_Gear", "CLU15", 0), + ("CF_Clu_Gear", "CLU15"), ] checks += [ ("CLU15", 5) ] elif CP.carFingerprint in FEATURES["use_tcu_gears"]: signals += [ - ("CUR_GR", "TCU12", 0) + ("CUR_GR", "TCU12") ] checks += [ ("TCU12", 100) ] elif CP.carFingerprint in FEATURES["use_elect_gears"]: - signals += [("Elect_Gear_Shifter", "ELECT_GEAR", 0)] + signals += [("Elect_Gear_Shifter", "ELECT_GEAR")] checks += [("ELECT_GEAR", 20)] else: signals += [ - ("CF_Lvr_Gear", "LVR12", 0) + ("CF_Lvr_Gear", "LVR12") ] checks += [ ("LVR12", 100) @@ -274,21 +274,21 @@ class CarState(CarStateBase): signals = [ # sig_name, sig_address, default - ("CF_Lkas_LdwsActivemode", "LKAS11", 0), - ("CF_Lkas_LdwsSysState", "LKAS11", 0), - ("CF_Lkas_SysWarning", "LKAS11", 0), - ("CF_Lkas_LdwsLHWarning", "LKAS11", 0), - ("CF_Lkas_LdwsRHWarning", "LKAS11", 0), - ("CF_Lkas_HbaLamp", "LKAS11", 0), - ("CF_Lkas_FcwBasReq", "LKAS11", 0), - ("CF_Lkas_HbaSysState", "LKAS11", 0), - ("CF_Lkas_FcwOpt", "LKAS11", 0), - ("CF_Lkas_HbaOpt", "LKAS11", 0), - ("CF_Lkas_FcwSysState", "LKAS11", 0), - ("CF_Lkas_FcwCollisionWarning", "LKAS11", 0), - ("CF_Lkas_FusionState", "LKAS11", 0), - ("CF_Lkas_FcwOpt_USM", "LKAS11", 0), - ("CF_Lkas_LdwsOpt_USM", "LKAS11", 0), + ("CF_Lkas_LdwsActivemode", "LKAS11"), + ("CF_Lkas_LdwsSysState", "LKAS11"), + ("CF_Lkas_SysWarning", "LKAS11"), + ("CF_Lkas_LdwsLHWarning", "LKAS11"), + ("CF_Lkas_LdwsRHWarning", "LKAS11"), + ("CF_Lkas_HbaLamp", "LKAS11"), + ("CF_Lkas_FcwBasReq", "LKAS11"), + ("CF_Lkas_HbaSysState", "LKAS11"), + ("CF_Lkas_FcwOpt", "LKAS11"), + ("CF_Lkas_HbaOpt", "LKAS11"), + ("CF_Lkas_FcwSysState", "LKAS11"), + ("CF_Lkas_FcwCollisionWarning", "LKAS11"), + ("CF_Lkas_FusionState", "LKAS11"), + ("CF_Lkas_FcwOpt_USM", "LKAS11"), + ("CF_Lkas_LdwsOpt_USM", "LKAS11"), ] checks = [ diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index c20434fb65..3f35fcb575 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -129,32 +129,32 @@ class CarState(CarStateBase): def get_can_parser(CP): signals = [ - # sig_name, sig_address, default - ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0), - ("GEAR", "GEAR_PACKET", 0), - ("BRAKE_PRESSED", "BRAKE_MODULE", 0), - ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0), - ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0), - ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0), - ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0), - ("DOOR_OPEN_FL", "BODY_CONTROL_STATE", 1), - ("DOOR_OPEN_FR", "BODY_CONTROL_STATE", 1), - ("DOOR_OPEN_RL", "BODY_CONTROL_STATE", 1), - ("DOOR_OPEN_RR", "BODY_CONTROL_STATE", 1), - ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE", 1), - ("TC_DISABLED", "ESP_CONTROL", 1), - ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL", 1), - ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0), - ("STEER_RATE", "STEER_ANGLE_SENSOR", 0), - ("CRUISE_ACTIVE", "PCM_CRUISE", 0), - ("CRUISE_STATE", "PCM_CRUISE", 0), - ("GAS_RELEASED", "PCM_CRUISE", 1), - ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0), - ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0), - ("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0), - ("TURN_SIGNALS", "BLINKERS_STATE", 3), # 3 is no blinkers - ("LKA_STATE", "EPS_STATUS", 0), - ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0), + # sig_name, sig_address + ("STEER_ANGLE", "STEER_ANGLE_SENSOR"), + ("GEAR", "GEAR_PACKET"), + ("BRAKE_PRESSED", "BRAKE_MODULE"), + ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"), + ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"), + ("DOOR_OPEN_FL", "BODY_CONTROL_STATE"), + ("DOOR_OPEN_FR", "BODY_CONTROL_STATE"), + ("DOOR_OPEN_RL", "BODY_CONTROL_STATE"), + ("DOOR_OPEN_RR", "BODY_CONTROL_STATE"), + ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"), + ("TC_DISABLED", "ESP_CONTROL"), + ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"), + ("STEER_FRACTION", "STEER_ANGLE_SENSOR"), + ("STEER_RATE", "STEER_ANGLE_SENSOR"), + ("CRUISE_ACTIVE", "PCM_CRUISE"), + ("CRUISE_STATE", "PCM_CRUISE"), + ("GAS_RELEASED", "PCM_CRUISE"), + ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"), + ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"), + ("STEER_ANGLE", "STEER_TORQUE_SENSOR"), + ("TURN_SIGNALS", "BLINKERS_STATE"), + ("LKA_STATE", "EPS_STATUS"), + ("AUTO_HIGH_BEAM", "LIGHT_STALK"), ] checks = [