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pull/23642/head
Shane Smiskol 4 years ago
parent 3ca8e3653b
commit 46609c80fb
2 changed files with 106 additions and 106 deletions
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  1. 160
      selfdrive/car/hyundai/carstate.py
  2. 52
      selfdrive/car/toyota/carstate.py

160
selfdrive/car/hyundai/carstate.py
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@ -120,57 +120,57 @@ class CarState(CarStateBase):
@staticmethod @staticmethod
def get_can_parser(CP): def get_can_parser(CP):
signals = [ signals = [
# sig_name, sig_address, default # sig_name, sig_address
("WHL_SPD_FL", "WHL_SPD11", 0), ("WHL_SPD_FL", "WHL_SPD11"),
("WHL_SPD_FR", "WHL_SPD11", 0), ("WHL_SPD_FR", "WHL_SPD11"),
("WHL_SPD_RL", "WHL_SPD11", 0), ("WHL_SPD_RL", "WHL_SPD11"),
("WHL_SPD_RR", "WHL_SPD11", 0), ("WHL_SPD_RR", "WHL_SPD11"),
("YAW_RATE", "ESP12", 0), ("YAW_RATE", "ESP12"),
("CF_Gway_DrvSeatBeltInd", "CGW4", 1), ("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
("CF_Gway_DrvSeatBeltSw", "CGW1", 0), ("CF_Gway_DrvSeatBeltSw", "CGW1"),
("CF_Gway_DrvDrSw", "CGW1", 0), # Driver Door ("CF_Gway_DrvDrSw", "CGW1"), # Driver Door
("CF_Gway_AstDrSw", "CGW1", 0), # Passenger door ("CF_Gway_AstDrSw", "CGW1"), # Passenger door
("CF_Gway_RLDrSw", "CGW2", 0), # Rear reft door ("CF_Gway_RLDrSw", "CGW2"), # Rear reft door
("CF_Gway_RRDrSw", "CGW2", 0), # Rear right door ("CF_Gway_RRDrSw", "CGW2"), # Rear right door
("CF_Gway_TurnSigLh", "CGW1", 0), ("CF_Gway_TurnSigLh", "CGW1"),
("CF_Gway_TurnSigRh", "CGW1", 0), ("CF_Gway_TurnSigRh", "CGW1"),
("CF_Gway_ParkBrakeSw", "CGW1", 0), ("CF_Gway_ParkBrakeSw", "CGW1"),
("CYL_PRES", "ESP12", 0), ("CYL_PRES", "ESP12"),
("CF_Clu_CruiseSwState", "CLU11", 0), ("CF_Clu_CruiseSwState", "CLU11"),
("CF_Clu_CruiseSwMain", "CLU11", 0), ("CF_Clu_CruiseSwMain", "CLU11"),
("CF_Clu_SldMainSW", "CLU11", 0), ("CF_Clu_SldMainSW", "CLU11"),
("CF_Clu_ParityBit1", "CLU11", 0), ("CF_Clu_ParityBit1", "CLU11"),
("CF_Clu_VanzDecimal" , "CLU11", 0), ("CF_Clu_VanzDecimal" , "CLU11"),
("CF_Clu_Vanz", "CLU11", 0), ("CF_Clu_Vanz", "CLU11"),
("CF_Clu_SPEED_UNIT", "CLU11", 0), ("CF_Clu_SPEED_UNIT", "CLU11"),
("CF_Clu_DetentOut", "CLU11", 0), ("CF_Clu_DetentOut", "CLU11"),
("CF_Clu_RheostatLevel", "CLU11", 0), ("CF_Clu_RheostatLevel", "CLU11"),
("CF_Clu_CluInfo", "CLU11", 0), ("CF_Clu_CluInfo", "CLU11"),
("CF_Clu_AmpInfo", "CLU11", 0), ("CF_Clu_AmpInfo", "CLU11"),
("CF_Clu_AliveCnt1", "CLU11", 0), ("CF_Clu_AliveCnt1", "CLU11"),
("ACCEnable", "TCS13", 0), ("ACCEnable", "TCS13"),
("ACC_REQ", "TCS13", 0), ("ACC_REQ", "TCS13"),
("DriverBraking", "TCS13", 0), ("DriverBraking", "TCS13"),
("StandStill", "TCS13", 0), ("StandStill", "TCS13"),
("PBRAKE_ACT", "TCS13", 0), ("PBRAKE_ACT", "TCS13"),
("ESC_Off_Step", "TCS15", 0), ("ESC_Off_Step", "TCS15"),
("AVH_LAMP", "TCS15", 0), ("AVH_LAMP", "TCS15"),
("CR_Mdps_StrColTq", "MDPS12", 0), ("CR_Mdps_StrColTq", "MDPS12"),
("CF_Mdps_ToiActive", "MDPS12", 0), ("CF_Mdps_ToiActive", "MDPS12"),
("CF_Mdps_ToiUnavail", "MDPS12", 0), ("CF_Mdps_ToiUnavail", "MDPS12"),
("CF_Mdps_ToiFlt", "MDPS12", 0), ("CF_Mdps_ToiFlt", "MDPS12"),
("CR_Mdps_OutTq", "MDPS12", 0), ("CR_Mdps_OutTq", "MDPS12"),
("SAS_Angle", "SAS11", 0), ("SAS_Angle", "SAS11"),
("SAS_Speed", "SAS11", 0), ("SAS_Speed", "SAS11"),
] ]
checks = [ checks = [
@ -189,10 +189,10 @@ class CarState(CarStateBase):
if not CP.openpilotLongitudinalControl: if not CP.openpilotLongitudinalControl:
signals += [ signals += [
("MainMode_ACC", "SCC11", 0), ("MainMode_ACC", "SCC11"),
("VSetDis", "SCC11", 0), ("VSetDis", "SCC11"),
("SCCInfoDisplay", "SCC11", 0), ("SCCInfoDisplay", "SCC11"),
("ACC_ObjDist", "SCC11", 0), ("ACC_ObjDist", "SCC11"),
("ACCMode", "SCC12", 1), ("ACCMode", "SCC12", 1),
] ]
@ -203,39 +203,39 @@ class CarState(CarStateBase):
if CP.carFingerprint in FEATURES["use_fca"]: if CP.carFingerprint in FEATURES["use_fca"]:
signals += [ signals += [
("FCA_CmdAct", "FCA11", 0), ("FCA_CmdAct", "FCA11"),
("CF_VSM_Warn", "FCA11", 0), ("CF_VSM_Warn", "FCA11"),
] ]
checks += [("FCA11", 50)] checks += [("FCA11", 50)]
else: else:
signals += [ signals += [
("AEB_CmdAct", "SCC12", 0), ("AEB_CmdAct", "SCC12"),
("CF_VSM_Warn", "SCC12", 0), ("CF_VSM_Warn", "SCC12"),
] ]
if CP.enableBsm: if CP.enableBsm:
signals += [ signals += [
("CF_Lca_IndLeft", "LCA11", 0), ("CF_Lca_IndLeft", "LCA11"),
("CF_Lca_IndRight", "LCA11", 0), ("CF_Lca_IndRight", "LCA11"),
] ]
checks += [("LCA11", 50)] checks += [("LCA11", 50)]
if CP.carFingerprint in (HYBRID_CAR | EV_CAR): if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if CP.carFingerprint in HYBRID_CAR: if CP.carFingerprint in HYBRID_CAR:
signals += [ signals += [
("CR_Vcu_AccPedDep_Pos", "E_EMS11", 0) ("CR_Vcu_AccPedDep_Pos", "E_EMS11")
] ]
else: else:
signals += [ signals += [
("Accel_Pedal_Pos", "E_EMS11", 0) ("Accel_Pedal_Pos", "E_EMS11")
] ]
checks += [ checks += [
("E_EMS11", 50), ("E_EMS11", 50),
] ]
else: else:
signals += [ signals += [
("PV_AV_CAN", "EMS12", 0), ("PV_AV_CAN", "EMS12"),
("CF_Ems_AclAct", "EMS16", 0), ("CF_Ems_AclAct", "EMS16"),
] ]
checks += [ checks += [
("EMS12", 100), ("EMS12", 100),
@ -244,24 +244,24 @@ class CarState(CarStateBase):
if CP.carFingerprint in FEATURES["use_cluster_gears"]: if CP.carFingerprint in FEATURES["use_cluster_gears"]:
signals += [ signals += [
("CF_Clu_Gear", "CLU15", 0), ("CF_Clu_Gear", "CLU15"),
] ]
checks += [ checks += [
("CLU15", 5) ("CLU15", 5)
] ]
elif CP.carFingerprint in FEATURES["use_tcu_gears"]: elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
signals += [ signals += [
("CUR_GR", "TCU12", 0) ("CUR_GR", "TCU12")
] ]
checks += [ checks += [
("TCU12", 100) ("TCU12", 100)
] ]
elif CP.carFingerprint in FEATURES["use_elect_gears"]: 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)] checks += [("ELECT_GEAR", 20)]
else: else:
signals += [ signals += [
("CF_Lvr_Gear", "LVR12", 0) ("CF_Lvr_Gear", "LVR12")
] ]
checks += [ checks += [
("LVR12", 100) ("LVR12", 100)
@ -274,21 +274,21 @@ class CarState(CarStateBase):
signals = [ signals = [
# sig_name, sig_address, default # sig_name, sig_address, default
("CF_Lkas_LdwsActivemode", "LKAS11", 0), ("CF_Lkas_LdwsActivemode", "LKAS11"),
("CF_Lkas_LdwsSysState", "LKAS11", 0), ("CF_Lkas_LdwsSysState", "LKAS11"),
("CF_Lkas_SysWarning", "LKAS11", 0), ("CF_Lkas_SysWarning", "LKAS11"),
("CF_Lkas_LdwsLHWarning", "LKAS11", 0), ("CF_Lkas_LdwsLHWarning", "LKAS11"),
("CF_Lkas_LdwsRHWarning", "LKAS11", 0), ("CF_Lkas_LdwsRHWarning", "LKAS11"),
("CF_Lkas_HbaLamp", "LKAS11", 0), ("CF_Lkas_HbaLamp", "LKAS11"),
("CF_Lkas_FcwBasReq", "LKAS11", 0), ("CF_Lkas_FcwBasReq", "LKAS11"),
("CF_Lkas_HbaSysState", "LKAS11", 0), ("CF_Lkas_HbaSysState", "LKAS11"),
("CF_Lkas_FcwOpt", "LKAS11", 0), ("CF_Lkas_FcwOpt", "LKAS11"),
("CF_Lkas_HbaOpt", "LKAS11", 0), ("CF_Lkas_HbaOpt", "LKAS11"),
("CF_Lkas_FcwSysState", "LKAS11", 0), ("CF_Lkas_FcwSysState", "LKAS11"),
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0), ("CF_Lkas_FcwCollisionWarning", "LKAS11"),
("CF_Lkas_FusionState", "LKAS11", 0), ("CF_Lkas_FusionState", "LKAS11"),
("CF_Lkas_FcwOpt_USM", "LKAS11", 0), ("CF_Lkas_FcwOpt_USM", "LKAS11"),
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0), ("CF_Lkas_LdwsOpt_USM", "LKAS11"),
] ]
checks = [ checks = [

52
selfdrive/car/toyota/carstate.py
Unescape View File

@ -129,32 +129,32 @@ class CarState(CarStateBase):
def get_can_parser(CP): def get_can_parser(CP):
signals = [ signals = [
# sig_name, sig_address, default # sig_name, sig_address
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0), ("STEER_ANGLE", "STEER_ANGLE_SENSOR"),
("GEAR", "GEAR_PACKET", 0), ("GEAR", "GEAR_PACKET"),
("BRAKE_PRESSED", "BRAKE_MODULE", 0), ("BRAKE_PRESSED", "BRAKE_MODULE"),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
("DOOR_OPEN_FL", "BODY_CONTROL_STATE", 1), ("DOOR_OPEN_FL", "BODY_CONTROL_STATE"),
("DOOR_OPEN_FR", "BODY_CONTROL_STATE", 1), ("DOOR_OPEN_FR", "BODY_CONTROL_STATE"),
("DOOR_OPEN_RL", "BODY_CONTROL_STATE", 1), ("DOOR_OPEN_RL", "BODY_CONTROL_STATE"),
("DOOR_OPEN_RR", "BODY_CONTROL_STATE", 1), ("DOOR_OPEN_RR", "BODY_CONTROL_STATE"),
("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE", 1), ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"),
("TC_DISABLED", "ESP_CONTROL", 1), ("TC_DISABLED", "ESP_CONTROL"),
("BRAKE_HOLD_ACTIVE", "ESP_CONTROL", 1), ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0), ("STEER_FRACTION", "STEER_ANGLE_SENSOR"),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0), ("STEER_RATE", "STEER_ANGLE_SENSOR"),
("CRUISE_ACTIVE", "PCM_CRUISE", 0), ("CRUISE_ACTIVE", "PCM_CRUISE"),
("CRUISE_STATE", "PCM_CRUISE", 0), ("CRUISE_STATE", "PCM_CRUISE"),
("GAS_RELEASED", "PCM_CRUISE", 1), ("GAS_RELEASED", "PCM_CRUISE"),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0), ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0), ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"),
("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0), ("STEER_ANGLE", "STEER_TORQUE_SENSOR"),
("TURN_SIGNALS", "BLINKERS_STATE", 3), # 3 is no blinkers ("TURN_SIGNALS", "BLINKERS_STATE"),
("LKA_STATE", "EPS_STATUS", 0), ("LKA_STATE", "EPS_STATUS"),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0), ("AUTO_HIGH_BEAM", "LIGHT_STALK"),
] ]
checks = [ checks = [

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