sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'upstream/master' into boardd-no-fault

Browse Source 
old-commit-hash: 438c8438bf7dcbe54fcbf0832159e971d1090bd1
pull/32103/head
Shane Smiskol 1 year ago
parent b182ff477c eb6e134869
commit 830c538b61
168 changed files with 445 additions and 662 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      .github/workflows/selfdrive_tests.yaml
  2. 3
      .gitignore
  3. 4
      .pre-commit-config.yaml
  4. 10
      Jenkinsfile
  5. 13
      RELEASES.md
  6. 2
      SConstruct
  7. 2
      cereal
  8. 4
      common/realtime.py
  9. 2
      common/transformations/tests/test_coordinates.py
  10. 2
      common/transformations/tests/test_orientation.py
  11. 5
      docs/CARS.md
  12. 4
      docs/c_docs.rst
  13. 2
      panda
  14. 4
      poetry.lock
  15. 9
      pyproject.toml
  16. 8
      release/build_devel.sh
  17. 8
      release/build_release.sh
  18. 7
      release/release_files.py
  19. 2
      selfdrive/SConscript
  20. 3
      selfdrive/boardd/.gitignore
  21. 4
      selfdrive/car/card.py
  22. 2
      selfdrive/car/chrysler/fingerprints.py
  23. 2
      selfdrive/car/ecu_addrs.py
  24. 1
      selfdrive/car/ford/tests/test_ford.py
  25. 2
      selfdrive/car/fw_query_definitions.py
  26. 4
      selfdrive/car/fw_versions.py
  27. 1
      selfdrive/car/gm/tests/test_gm.py
  28. 251
      selfdrive/car/honda/fingerprints.py
  29. 1
      selfdrive/car/honda/tests/test_honda.py
  30. 2
      selfdrive/car/honda/values.py
  31. 12
      selfdrive/car/hyundai/fingerprints.py
  32. 1
      selfdrive/car/hyundai/tests/test_hyundai.py
  33. 6
      selfdrive/car/hyundai/values.py
  34. 64
      selfdrive/car/interfaces.py
  35. 2
      selfdrive/car/isotp_parallel_query.py
  36. 2
      selfdrive/car/subaru/fingerprints.py
  37. 1
      selfdrive/car/tests/test_can_fingerprint.py
  38. 1
      selfdrive/car/tests/test_car_interfaces.py
  39. 1
      selfdrive/car/tests/test_docs.py
  40. 1
      selfdrive/car/tests/test_fingerprints.py
  41. 1
      selfdrive/car/tests/test_fw_fingerprint.py
  42. 34
      selfdrive/car/tests/test_lateral_limits.py
  43. 1
      selfdrive/car/tests/test_models.py
  44. 2
      selfdrive/car/tests/test_platform_configs.py
  45. 2
      selfdrive/car/torque_data/override.toml
  46. 2
      selfdrive/car/torque_data/params.toml
  47. 1
      selfdrive/car/toyota/fingerprints.py
  48. 1
      selfdrive/car/toyota/tests/test_toyota.py
  49. 1
      selfdrive/car/volkswagen/tests/test_volkswagen.py
  50. 3
      selfdrive/car/volkswagen/values.py
  51. 2
      selfdrive/controls/controlsd.py
  52. 6
      selfdrive/controls/lib/events.py
  53. 12
      selfdrive/controls/lib/longcontrol.py
  54. 6
      selfdrive/controls/lib/longitudinal_planner.py
  55. 1
      selfdrive/controls/lib/tests/test_alertmanager.py
  56. 1
      selfdrive/controls/lib/tests/test_latcontrol.py
  57. 1
      selfdrive/controls/lib/tests/test_vehicle_model.py
  58. 1
      selfdrive/controls/tests/test_alerts.py
  59. 1
      selfdrive/controls/tests/test_cruise_speed.py
  60. 1
      selfdrive/controls/tests/test_following_distance.py
  61. 1
      selfdrive/controls/tests/test_leads.py
  62. 4
      selfdrive/controls/tests/test_startup.py
  63. 2
      selfdrive/controls/tests/test_state_machine.py
  64. 6
      selfdrive/debug/clear_dtc.py
  65. 6
      selfdrive/debug/cpu_usage_stat.py
  66. 14
      selfdrive/debug/debug_fw_fingerprinting_offline.py
  67. 2
      selfdrive/debug/get_fingerprint.py
  68. 6
      selfdrive/debug/hyundai_enable_radar_points.py
  69. 6
      selfdrive/debug/read_dtc_status.py
  70. 1
      selfdrive/locationd/test/test_calibrationd.py
  71. 1
      selfdrive/locationd/test/test_locationd.py
  72. 1
      selfdrive/locationd/test/test_locationd_scenarios.py
  73. 18
      selfdrive/modeld/models/commonmodel.cc
  74. 9
      selfdrive/modeld/models/commonmodel.h
  75. 1
      selfdrive/modeld/tests/test_modeld.py
  76. 1
      selfdrive/monitoring/test_monitoring.py
  77. 1
      selfdrive/navd/tests/test_map_renderer.py
  78. 1
      selfdrive/navd/tests/test_navd.py
  79. 3
      selfdrive/pandad/.gitignore
  80. 6
      selfdrive/pandad/SConscript
  81. 2
      selfdrive/pandad/__init__.py
  82. 2
      selfdrive/pandad/can_list_to_can_capnp.cc
  83. 8
      selfdrive/pandad/main.cc
  84. 4
      selfdrive/pandad/panda.cc
  85. 2
      selfdrive/pandad/panda.h
  86. 2
      selfdrive/pandad/panda_comms.cc
  87. 10
      selfdrive/pandad/panda_comms.h
  88. 18
      selfdrive/pandad/pandad.cc
  89. 4
      selfdrive/pandad/pandad.h
  90. 10
      selfdrive/pandad/pandad.py
  91. 0
      selfdrive/pandad/pandad_api_impl.pyx
  92. 37
      selfdrive/pandad/spi.cc
  93. 0
      selfdrive/pandad/tests/__init__.py
  94. 0
      selfdrive/pandad/tests/bootstub.panda.bin
  95. 0
      selfdrive/pandad/tests/bootstub.panda_h7.bin
  96. 0
      selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin
  97. 5
      selfdrive/pandad/tests/test_pandad.py
  98. 15
      selfdrive/pandad/tests/test_pandad_loopback.py
  99. 54
      selfdrive/pandad/tests/test_pandad_spi.py
  100. 2
      selfdrive/pandad/tests/test_pandad_usbprotocol.cc
  101. Some files were not shown because too many files have changed in this diff Show More

4
.github/workflows/selfdrive_tests.yaml
Unescape View File

@ -116,6 +116,8 @@ jobs:
submodules: true
- uses: ./.github/workflows/setup-pre-commit
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: pre-commit
timeout-minutes: 4
run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
@ -143,7 +145,7 @@ jobs:
$PYTEST --timeout 60 -m 'not slow' && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
./selfdrive/ui/tests/test_translations.py"
pytest ./selfdrive/ui/tests/test_translations.py"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v4
with:

3
.gitignore vendored
Unescape View File

@ -40,8 +40,7 @@ compile_commands.json
compare_runtime*.html
persist
board/obj/
selfdrive/boardd/boardd
selfdrive/pandad/pandad
selfdrive/logcatd/logcatd
selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd

4
.pre-commit-config.yaml
Unescape View File

@ -86,8 +86,8 @@ repos:
hooks:
- id: test_translations
name: test translations
entry: selfdrive/ui/tests/test_translations.py
language: script
entry: pytest selfdrive/ui/tests/test_translations.py
language: system
pass_filenames: false
files: '^selfdrive/ui/translations/'
- repo: https://github.com/python-poetry/poetry

10
Jenkinsfile vendored
Unescape View File

@ -192,7 +192,7 @@ node {
'HW + Unit Tests': {
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
@ -202,7 +202,7 @@ node {
'loopback': {
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
["build openpilot", "cd system/manager && ./build.py"],
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
])
},
'camerad': {
@ -236,9 +236,9 @@ node {
'tizi': {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
["build openpilot", "cd system/manager && ./build.py"],
["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"],
["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],

13
RELEASES.md
Unescape View File

@ -1,9 +1,12 @@
Version 0.9.7 (2024-05-XX)
Version 0.9.7 (2024-06-11)
========================
* New driving model
* Inputs the past curvature for smoother and more accurate lateral control
* Simplified neural network architecture in the model's last layers
* Minor fixes to desire augmentation and weight decay
* Adjust driving personality with the follow distance button
* Support for hybrid variants of supported Ford models
* Added toggle to enable driver monitoring even when openpilot is not engaged
* Support for hybrid variants of supported Ford models
* Fingerprinting without the OBD-II port on all cars
Version 0.9.6 (2024-02-27)
@ -634,7 +637,7 @@ Version 0.5.13 (2019-05-31)
* Reduce CPU utilization by 20% and improve stability
* Temporarily remove mapd functionalities to improve stability
* Add openpilot record-only mode for unsupported cars
* Synchronize controlsd to boardd to reduce latency
* Synchronize controlsd to pandad to reduce latency
* Remove panda support for Subaru giraffe
Version 0.5.12 (2019-05-16)
@ -970,7 +973,7 @@ Version 0.2.8 (2017-02-27)
Version 0.2.7 (2017-02-08)
===========================
* Better performance and pictures at night
* Fix ptr alignment issue in boardd
* Fix ptr alignment issue in pandad
* Fix brake error light, fix crash if too cold
Version 0.2.6 (2017-01-31)
@ -1002,7 +1005,7 @@ Version 0.2.2 (2017-01-10)
Version 0.2.1 (2016-12-14)
===========================
* Performance improvements, removal of more numpy
* Fix boardd process priority
* Fix pandad process priority
* Make counter timer reset on use of steering wheel
Version 0.2 (2016-12-12)

2
SConstruct
Unescape View File

@ -226,7 +226,7 @@ env = Environment(
"#cereal",
"#third_party",
"#opendbc/can",
"#selfdrive/boardd",
"#selfdrive/pandad",
"#common",
"#rednose/helpers",
],

2
cereal

@ -1 +1 @@
Subproject commit 51cbf6294efb356347b2c18b3df9904d11a7ff43
Subproject commit d0ceac712f531c125923cbdc4ec7bedbdc5a7baf

4
common/realtime.py
Unescape View File

@ -12,7 +12,7 @@ from openpilot.system.hardware import PC
# time step for each process
DT_CTRL = 0.01 # controlsd
DT_MDL = 0.05 # model
DT_TRML = 0.5 # thermald and manager
DT_HW = 0.5 # hardwared and manager
DT_DMON = 0.05 # driver monitoring
@ -23,7 +23,7 @@ class Priority:
CTRL_LOW = 51 # plannerd & radard
# CORE 3
# - boardd = 55
# - pandad = 55
CTRL_HIGH = 53

2
common/transformations/tests/test_coordinates.py
Unescape View File

@ -1,5 +1,3 @@
#!/usr/bin/env python3
import numpy as np
import openpilot.common.transformations.coordinates as coord

2
common/transformations/tests/test_orientation.py
Unescape View File

@ -1,5 +1,3 @@
#!/usr/bin/env python3
import numpy as np
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \

5
docs/CARS.md
Unescape View File

@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 287 Supported Cars
# 288 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -93,7 +93,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
|Hyundai|Ioniq 6 (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
|Hyundai|Ioniq Hybrid 2017-19|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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@ -263,6 +263,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||

4
docs/c_docs.rst
Unescape View File

@ -77,10 +77,10 @@ sensorsd
.. autodoxygenindex::
:project: system_sensord_sensors
boardd
pandad
^^^^^^
.. autodoxygenindex::
:project: selfdrive_boardd
:project: selfdrive_pandad
rednose

2
panda

@ -1 +1 @@
Subproject commit d37d25e0575f9f76d3ab0aaded832646ddc6459d
Subproject commit faa18026692f7714ee537261fe649dafe4882579

4
poetry.lock generated
Unescape View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:0e15c700ef7dd958815caaec9f2747c560fe1a77990275354bdfe2ff3ac38457
size 613262
oid sha256:84ac396fe236ffaf09f9a865fa3bae19ac961db726bdc19b79e52c2f45db6abe
size 618064

9
pyproject.toml
Unescape View File

@ -20,7 +20,7 @@ markers = [
]
testpaths = [
"common",
"selfdrive/boardd",
"selfdrive/pandad",
"selfdrive/car",
"selfdrive/controls",
"selfdrive/locationd",
@ -29,10 +29,9 @@ testpaths = [
"selfdrive/test/longitudinal_maneuvers",
"selfdrive/test/process_replay/test_fuzzy.py",
"system/updated",
"system/thermald",
"system/athena",
"system/camerad",
"system/hardware/tici",
"system/hardware",
"system/loggerd",
"system/proclogd",
"system/tests",
@ -140,7 +139,8 @@ inputs = "*"
Jinja2 = "*"
lru-dict = "*"
matplotlib = "*"
metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release
metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
mpld3 = "*"
mypy = "*"
myst-parser = "*"
@ -164,6 +164,7 @@ pytest-timeout = "*"
pytest-randomly = "*"
pytest-asyncio = "*"
pytest-mock = "*"
pytest-repeat = "*"
rerun-sdk = "*"
ruff = "*"
sphinx = "*"

8
release/build_devel.sh
Unescape View File

@ -48,7 +48,6 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
# in the directory
cd $TARGET_DIR
rm -f panda/board/obj/panda.bin.signed
git submodule status
# include source commit hash and build date in commit
GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
@ -64,6 +63,13 @@ date: $DATETIME
master commit: $GIT_HASH
"
# should be no submodules or LFS files
git submodule status
if [ ! -z "$(git lfs ls-files)" ]; then
echo "LFS files detected!"
exit 1
fi
# ensure files are within GitHub's limit
BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)"
if [ ! -z "$BIG_FILES" ]; then

8
release/build_release.sh
Unescape View File

@ -1,4 +1,6 @@
#!/usr/bin/bash -e
#!/usr/bin/bash
set -e
set -x
# git diff --name-status origin/release3-staging | grep "^A" | less
@ -29,7 +31,7 @@ git checkout --orphan $RELEASE_BRANCH
# do the files copy
echo "[-] copying files T=$SECONDS"
cd $SOURCE_DIR
cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
cp -pR --parents $(./release/release_files.py) $BUILD_DIR/
# in the directory
cd $BUILD_DIR
@ -46,7 +48,7 @@ git commit -a -m "openpilot v$VERSION release"
# Build
export PYTHONPATH="$BUILD_DIR"
scons -j$(nproc)
scons -j$(nproc) --minimal
# release panda fw
CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/

7
release/release_files.py
Unescape View File

@ -27,11 +27,16 @@ blacklist = [
".devcontainer/",
"Darwin/",
".vscode",
# no LFS
".lfsconfig",
".gitattributes",
]
# gets you through the blacklist
whitelist = [
"tools/lib/",
"tools/bodyteleop/",
"tinygrad_repo/openpilot/compile2.py",
"tinygrad_repo/extra/onnx.py",
@ -50,7 +55,7 @@ whitelist = [
"tinygrad_repo/tinygrad/runtime/ops_disk.py",
"tinygrad_repo/tinygrad/runtime/ops_gpu.py",
"tinygrad_repo/tinygrad/shape/*",
"tinygrad_repo/tinygrad/*.py",
"tinygrad_repo/tinygrad/.*.py",
]
if __name__ == "__main__":

2
selfdrive/SConscript
Unescape View File

@ -1,4 +1,4 @@
SConscript(['boardd/SConscript'])
SConscript(['pandad/SConscript'])
SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
SConscript(['locationd/SConscript'])

3
selfdrive/boardd/.gitignore vendored
Unescape View File

@ -1,3 +0,0 @@
boardd
boardd_api_impl.cpp
tests/test_boardd_usbprotocol

4
selfdrive/car/card.py
Unescape View File

@ -11,7 +11,7 @@ from panda import ALTERNATIVE_EXPERIENCE
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.selfdrive.pandad import can_list_to_can_capnp
from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.controls.lib.events import Events
@ -153,7 +153,7 @@ class Car:
# Initialize CarInterface, once controls are ready
# TODO: this can make us miss at least a few cycles when doing an ECU knockout
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
# signal boardd to switch to car safety mode
# signal pandad to switch to car safety mode
self.params.put_bool_nonblocking("ControlsReady", True)
if self.sm.all_alive(['carControl']):

2
selfdrive/car/chrysler/fingerprints.py
Unescape View File

@ -557,6 +557,7 @@ FW_VERSIONS = {
b'68467936AC ',
b'68500630AD',
b'68500630AE',
b'68500631AE',
b'68502719AC ',
b'68502722AC ',
b'68502733AC ',
@ -603,6 +604,7 @@ FW_VERSIONS = {
b'68484467AC',
b'68484471AC',
b'68502994AD',
b'68502996AD',
b'68520867AE',
b'68520867AF',
b'68520870AC',

2
selfdrive/car/ecu_addrs.py
Unescape View File

@ -6,7 +6,7 @@ import cereal.messaging as messaging
from panda.python.uds import SERVICE_TYPE
from openpilot.selfdrive.car import make_can_msg
from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.selfdrive.pandad import can_list_to_can_capnp
from openpilot.common.swaglog import cloudlog

1
selfdrive/car/ford/tests/test_ford.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import random
from collections.abc import Iterable

2
selfdrive/car/fw_query_definitions.py
Unescape View File

@ -85,7 +85,7 @@ class Request:
auxiliary: bool = False
# FW responses from these queries will not be used for fingerprinting
logging: bool = False
# boardd toggles OBD multiplexing on/off as needed
# pandad toggles OBD multiplexing on/off as needed
obd_multiplexing: bool = True

4
selfdrive/car/fw_versions.py
Unescape View File

@ -352,7 +352,7 @@ if __name__ == "__main__":
pandaStates_sock = messaging.sub_sock('pandaStates')
sendcan = messaging.pub_sock('sendcan')
# Set up params for boardd
# Set up params for pandad
params = Params()
params.remove("FirmwareQueryDone")
params.put_bool("IsOnroad", False)
@ -374,7 +374,7 @@ if __name__ == "__main__":
t = time.time()
print("Getting vin...")
set_obd_multiplexing(params, True)
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), retry=10, debug=args.debug)
vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1), debug=args.debug)
print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}')
print(f"Getting VIN took {time.time() - t:.3f} s")
print()

1
selfdrive/car/gm/tests/test_gm.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
from parameterized import parameterized
from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS

251
selfdrive/car/honda/fingerprints.py
Unescape View File

@ -11,43 +11,6 @@ Ecu = car.CarParams.Ecu
FW_VERSIONS = {
CAR.HONDA_ACCORD: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-6A0-8720\x00\x00',
b'37805-6A0-9520\x00\x00',
b'37805-6A0-9620\x00\x00',
b'37805-6A0-9720\x00\x00',
b'37805-6A0-A540\x00\x00',
b'37805-6A0-A550\x00\x00',
b'37805-6A0-A640\x00\x00',
b'37805-6A0-A650\x00\x00',
b'37805-6A0-A740\x00\x00',
b'37805-6A0-A750\x00\x00',
b'37805-6A0-A840\x00\x00',
b'37805-6A0-A850\x00\x00',
b'37805-6A0-A930\x00\x00',
b'37805-6A0-AF30\x00\x00',
b'37805-6A0-AG30\x00\x00',
b'37805-6A0-AJ10\x00\x00',
b'37805-6A0-C540\x00\x00',
b'37805-6A0-CG20\x00\x00',
b'37805-6A1-H650\x00\x00',
b'37805-6B2-A550\x00\x00',
b'37805-6B2-A560\x00\x00',
b'37805-6B2-A650\x00\x00',
b'37805-6B2-A660\x00\x00',
b'37805-6B2-A720\x00\x00',
b'37805-6B2-A810\x00\x00',
b'37805-6B2-A820\x00\x00',
b'37805-6B2-A920\x00\x00',
b'37805-6B2-A960\x00\x00',
b'37805-6B2-AA10\x00\x00',
b'37805-6B2-C520\x00\x00',
b'37805-6B2-C540\x00\x00',
b'37805-6B2-C560\x00\x00',
b'37805-6B2-M520\x00\x00',
b'37805-6B2-Y810\x00\x00',
b'37805-6M4-B730\x00\x00',
],
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TVC-A910\x00\x00',
b'54008-TWA-A910\x00\x00',
@ -161,38 +124,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CIVIC: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5AA-A640\x00\x00',
b'37805-5AA-A650\x00\x00',
b'37805-5AA-A670\x00\x00',
b'37805-5AA-A680\x00\x00',
b'37805-5AA-A810\x00\x00',
b'37805-5AA-C640\x00\x00',
b'37805-5AA-C680\x00\x00',
b'37805-5AA-C820\x00\x00',
b'37805-5AA-L650\x00\x00',
b'37805-5AA-L660\x00\x00',
b'37805-5AA-L680\x00\x00',
b'37805-5AA-L690\x00\x00',
b'37805-5AA-L810\x00\x00',
b'37805-5AG-Q710\x00\x00',
b'37805-5AJ-A610\x00\x00',
b'37805-5AJ-A620\x00\x00',
b'37805-5AJ-L610\x00\x00',
b'37805-5BA-A310\x00\x00',
b'37805-5BA-A510\x00\x00',
b'37805-5BA-A740\x00\x00',
b'37805-5BA-A760\x00\x00',
b'37805-5BA-A930\x00\x00',
b'37805-5BA-A960\x00\x00',
b'37805-5BA-C640\x00\x00',
b'37805-5BA-C860\x00\x00',
b'37805-5BA-L410\x00\x00',
b'37805-5BA-L760\x00\x00',
b'37805-5BA-L930\x00\x00',
b'37805-5BA-L940\x00\x00',
b'37805-5BA-L960\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-5CG-A040\x00\x00',
b'28101-5CG-A050\x00\x00',
@ -242,61 +173,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CIVIC_BOSCH: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5AA-A940\x00\x00',
b'37805-5AA-A950\x00\x00',
b'37805-5AA-C950\x00\x00',
b'37805-5AA-L940\x00\x00',
b'37805-5AA-L950\x00\x00',
b'37805-5AG-Z910\x00\x00',
b'37805-5AJ-A750\x00\x00',
b'37805-5AJ-L750\x00\x00',
b'37805-5AK-T530\x00\x00',
b'37805-5AN-A750\x00\x00',
b'37805-5AN-A830\x00\x00',
b'37805-5AN-A840\x00\x00',
b'37805-5AN-A930\x00\x00',
b'37805-5AN-A940\x00\x00',
b'37805-5AN-A950\x00\x00',
b'37805-5AN-AG20\x00\x00',
b'37805-5AN-AH20\x00\x00',
b'37805-5AN-AJ30\x00\x00',
b'37805-5AN-AK10\x00\x00',
b'37805-5AN-AK20\x00\x00',
b'37805-5AN-AR10\x00\x00',
b'37805-5AN-AR20\x00\x00',
b'37805-5AN-C650\x00\x00',
b'37805-5AN-CH20\x00\x00',
b'37805-5AN-E630\x00\x00',
b'37805-5AN-E720\x00\x00',
b'37805-5AN-E820\x00\x00',
b'37805-5AN-J820\x00\x00',
b'37805-5AN-L840\x00\x00',
b'37805-5AN-L930\x00\x00',
b'37805-5AN-L940\x00\x00',
b'37805-5AN-LF20\x00\x00',
b'37805-5AN-LH20\x00\x00',
b'37805-5AN-LJ20\x00\x00',
b'37805-5AN-LR20\x00\x00',
b'37805-5AN-LS20\x00\x00',
b'37805-5AW-G720\x00\x00',
b'37805-5AZ-E850\x00\x00',
b'37805-5AZ-G540\x00\x00',
b'37805-5AZ-G740\x00\x00',
b'37805-5AZ-G840\x00\x00',
b'37805-5BB-A530\x00\x00',
b'37805-5BB-A540\x00\x00',
b'37805-5BB-A620\x00\x00',
b'37805-5BB-A630\x00\x00',
b'37805-5BB-A640\x00\x00',
b'37805-5BB-C540\x00\x00',
b'37805-5BB-C630\x00\x00',
b'37805-5BB-C640\x00\x00',
b'37805-5BB-L540\x00\x00',
b'37805-5BB-L630\x00\x00',
b'37805-5BB-L640\x00\x00',
b'37805-5BF-J130\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-5CG-A920\x00\x00',
b'28101-5CG-AB10\x00\x00',
@ -400,10 +276,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CIVIC_BOSCH_DIESEL: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-59N-G630\x00\x00',
b'37805-59N-G830\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-59Y-G220\x00\x00',
b'28101-59Y-G620\x00\x00',
@ -449,41 +321,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CRV_5G: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5PA-3060\x00\x00',
b'37805-5PA-3080\x00\x00',
b'37805-5PA-3180\x00\x00',
b'37805-5PA-4050\x00\x00',
b'37805-5PA-4150\x00\x00',
b'37805-5PA-6520\x00\x00',
b'37805-5PA-6530\x00\x00',
b'37805-5PA-6630\x00\x00',
b'37805-5PA-6640\x00\x00',
b'37805-5PA-7630\x00\x00',
b'37805-5PA-9530\x00\x00',
b'37805-5PA-9630\x00\x00',
b'37805-5PA-9640\x00\x00',
b'37805-5PA-9730\x00\x00',
b'37805-5PA-9830\x00\x00',
b'37805-5PA-9840\x00\x00',
b'37805-5PA-A650\x00\x00',
b'37805-5PA-A670\x00\x00',
b'37805-5PA-A680\x00\x00',
b'37805-5PA-A850\x00\x00',
b'37805-5PA-A870\x00\x00',
b'37805-5PA-A880\x00\x00',
b'37805-5PA-A890\x00\x00',
b'37805-5PA-AB10\x00\x00',
b'37805-5PA-AD10\x00\x00',
b'37805-5PA-AF20\x00\x00',
b'37805-5PA-AF30\x00\x00',
b'37805-5PA-AH20\x00\x00',
b'37805-5PA-BF10\x00\x00',
b'37805-5PA-C680\x00\x00',
b'37805-5PD-Q630\x00\x00',
b'37805-5PF-F730\x00\x00',
b'37805-5PF-M630\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28101-5RG-A020\x00\x00',
b'28101-5RG-A030\x00\x00',
@ -559,10 +396,6 @@ FW_VERSIONS = {
],
},
CAR.HONDA_CRV_EU: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-R5Z-G740\x00\x00',
b'37805-R5Z-G780\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-T1V-G920\x00\x00',
],
@ -663,24 +496,6 @@ FW_VERSIONS = {
b'38897-THR-A010\x00\x00',
b'38897-THR-A020\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5MR-3050\x00\x00',
b'37805-5MR-3150\x00\x00',
b'37805-5MR-3250\x00\x00',
b'37805-5MR-4070\x00\x00',
b'37805-5MR-4080\x00\x00',
b'37805-5MR-4170\x00\x00',
b'37805-5MR-4180\x00\x00',
b'37805-5MR-A240\x00\x00',
b'37805-5MR-A250\x00\x00',
b'37805-5MR-A310\x00\x00',
b'37805-5MR-A740\x00\x00',
b'37805-5MR-A750\x00\x00',
b'37805-5MR-A840\x00\x00',
b'37805-5MR-C620\x00\x00',
b'37805-5MR-D530\x00\x00',
b'37805-5MR-K730\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-THR-A020\x00\x00',
b'39990-THR-A030\x00\x00',
@ -765,39 +580,6 @@ FW_VERSIONS = {
b'28101-5EZ-A700\x00\x00',
b'28103-5EY-A110\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-RLV-4060\x00\x00',
b'37805-RLV-4070\x00\x00',
b'37805-RLV-5140\x00\x00',
b'37805-RLV-5230\x00\x00',
b'37805-RLV-5250\x00\x00',
b'37805-RLV-A630\x00\x00',
b'37805-RLV-A830\x00\x00',
b'37805-RLV-A840\x00\x00',
b'37805-RLV-B210\x00\x00',
b'37805-RLV-B220\x00\x00',
b'37805-RLV-B420\x00\x00',
b'37805-RLV-B430\x00\x00',
b'37805-RLV-B620\x00\x00',
b'37805-RLV-B710\x00\x00',
b'37805-RLV-B720\x00\x00',
b'37805-RLV-C430\x00\x00',
b'37805-RLV-C510\x00\x00',
b'37805-RLV-C520\x00\x00',
b'37805-RLV-C530\x00\x00',
b'37805-RLV-C910\x00\x00',
b'37805-RLV-F120\x00\x00',
b'37805-RLV-L080\x00\x00',
b'37805-RLV-L090\x00\x00',
b'37805-RLV-L150\x00\x00',
b'37805-RLV-L160\x00\x00',
b'37805-RLV-L180\x00\x00',
b'37805-RLV-L350\x00\x00',
b'37805-RLV-L410\x00\x00',
b'37805-RLV-L430\x00\x00',
b'37805-RLV-L830\x00\x00',
b'37805-RLV-L850\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TG7-A030\x00\x00',
b'38897-TG7-A040\x00\x00',
@ -875,26 +657,6 @@ FW_VERSIONS = {
],
},
CAR.ACURA_RDX_3G: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5YF-A130\x00\x00',
b'37805-5YF-A230\x00\x00',
b'37805-5YF-A320\x00\x00',
b'37805-5YF-A330\x00\x00',
b'37805-5YF-A420\x00\x00',
b'37805-5YF-A430\x00\x00',
b'37805-5YF-A750\x00\x00',
b'37805-5YF-A760\x00\x00',
b'37805-5YF-A770\x00\x00',
b'37805-5YF-A850\x00\x00',
b'37805-5YF-A860\x00\x00',
b'37805-5YF-A870\x00\x00',
b'37805-5YF-AD20\x00\x00',
b'37805-5YF-C210\x00\x00',
b'37805-5YF-C220\x00\x00',
b'37805-5YF-C410\x00\x00',
b'37805-5YF-C420\x00\x00',
b'37805-5YF-C430\x00\x00',
],
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TJB-A030\x00\x00',
b'57114-TJB-A040\x00\x00',
@ -1049,10 +811,6 @@ FW_VERSIONS = {
b'28101-6EH-A010\x00\x00',
b'28101-6JC-M310\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-6CT-A710\x00\x00',
b'37805-6HZ-M630\x00\x00',
],
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
b'46114-3W0-A020\x00\x00',
],
@ -1133,14 +891,5 @@ FW_VERSIONS = {
b'28101-65H-A120\x00\x00',
b'28101-65J-N010\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-64A-A540\x00\x00',
b'37805-64A-A620\x00\x00',
b'37805-64D-P510\x00\x00',
b'37805-64L-A540\x00\x00',
b'37805-64S-A540\x00\x00',
b'37805-64S-A720\x00\x00',
b'37805-64S-AA10\x00\x00',
],
},
}

1
selfdrive/car/honda/tests/test_honda.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import re
from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS

2
selfdrive/car/honda/values.py
Unescape View File

@ -299,6 +299,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
],
# We lose these ECUs without the comma power on these cars.
# Note that we still attempt to match with them when they are present
# This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
non_essential_ecus={
Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
@ -306,6 +307,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
},
extra_ecus=[
(Ecu.combinationMeter, 0x18da60f1, None),
(Ecu.programmedFuelInjection, 0x18da10f1, None),
# The only other ECU on PT bus accessible by camera on radarless Civic
# This is likely a manufacturer-specific sub-address implementation: the camera responds to this and 0x18dab0f1
# Unclear what the part number refers to: 8S103 is 'Camera Set Mono', while 36160 is 'Camera Monocular - Honda'

12
selfdrive/car/hyundai/fingerprints.py
Unescape View File

@ -23,9 +23,6 @@ FINGERPRINTS = {
CAR.GENESIS_G90: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
}],
CAR.HYUNDAI_IONIQ_EV_2020: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8
}],
CAR.HYUNDAI_KONA_EV: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
}],
@ -135,9 +132,12 @@ FW_VERSIONS = {
b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ',
b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7500 ',
b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7000 ',
b'\xf1\x00AEev SCC F-CUP 1.00 1.01 99110-G7100 ',
b'\xf1\x00AEev SCC FHCUP 1.00 1.01 99110-G7100 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7310 4APEC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7510 4APEC101',
b'\xf1\x00AE MDPS C 1.00 1.01 56310/G7560 4APEC101',
],
(Ecu.fwdCamera, 0x7c4, None): [
@ -146,6 +146,7 @@ FW_VERSIONS = {
b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.01 95740-G2600 190819',
b'\xf1\x00AEE MFC AT EUR LHD 1.00 1.03 95740-G2500 190516',
b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819',
b'\xf1\x00AEE MFC AT USA LHD 1.00 1.01 95740-G2600 190819',
],
},
CAR.HYUNDAI_IONIQ_EV_LTD: {
@ -749,6 +750,7 @@ FW_VERSIONS = {
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DEhe SCC F-CUP 1.00 1.00 99110-G5600 ',
b'\xf1\x00DEhe SCC FHCUP 1.00 1.00 99110-G5600 ',
],
},
CAR.KIA_NIRO_HEV_2021: {
@ -877,6 +879,7 @@ FW_VERSIONS = {
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AA000 200819',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.03 99210-AB000 220426',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.06 99210-AA000 220111',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.07 99210-AA000 220426',
b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.08 99210-AA000 220728',
],
(Ecu.abs, 0x7d1, None): [
@ -1001,6 +1004,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CE MFC AT CAN LHD 1.00 1.04 99211-KL000 221213',
b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011',
b'\xf1\x00CE MFC AT EUR LHD 1.00 1.04 99211-KL000 221213',
b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213',
],
},
@ -1039,10 +1043,10 @@ FW_VERSIONS = {
CAR.KIA_SPORTAGE_5TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
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',
b'\xf1\x00NQ5 FR_CMR AT EUR LHD 1.00 1.00 99211-P1040 663',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1070 690',
],

1
selfdrive/car/hyundai/tests/test_hyundai.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
from hypothesis import settings, given, strategies as st
import pytest

6
selfdrive/car/hyundai/values.py
Unescape View File

@ -314,7 +314,7 @@ class CAR(Platforms):
flags=HyundaiFlags.EV,
)
HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
[HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
HYUNDAI_IONIQ_5.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
)
@ -515,7 +515,7 @@ class CAR(Platforms):
# TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown
HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
],
CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9),
GENESIS_G70.specs,
flags=HyundaiFlags.MANDO_RADAR,
)
GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
@ -648,6 +648,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
# TODO: there are date codes in the ABS firmware versions in hex
DATE_FW_ECUS = [Ecu.fwdCamera]
# Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we
# are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# TODO: add back whitelists

64
selfdrive/car/interfaces.py
Unescape View File

@ -6,6 +6,7 @@ from abc import abstractmethod, ABC
from enum import StrEnum
from typing import Any, NamedTuple
from collections.abc import Callable
from functools import cache
from cereal import car
from openpilot.common.basedir import BASEDIR
@ -32,6 +33,18 @@ TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.tom
TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')
TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.toml')
GEAR_SHIFTER_MAP: dict[str, car.CarState.GearShifter] = {
'P': GearShifter.park, 'PARK': GearShifter.park,
'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
'E': GearShifter.eco, 'ECO': GearShifter.eco,
'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
'S': GearShifter.sport, 'SPORT': GearShifter.sport,
'L': GearShifter.low, 'LOW': GearShifter.low,
'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
}
class LatControlInputs(NamedTuple):
lateral_acceleration: float
@ -43,29 +56,34 @@ class LatControlInputs(NamedTuple):
TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float]
def get_torque_params(candidate):
@cache
def get_torque_params():
with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f:
sub = tomllib.load(f)
if candidate in sub:
candidate = sub[candidate]
with open(TORQUE_PARAMS_PATH, 'rb') as f:
params = tomllib.load(f)
with open(TORQUE_OVERRIDE_PATH, 'rb') as f:
override = tomllib.load(f)
# Ensure no overlap
if sum([candidate in x for x in [sub, params, override]]) > 1:
raise RuntimeError(f'{candidate} is defined twice in torque config')
torque_params = {}
for candidate in (sub.keys() | params.keys() | override.keys()) - {'legend'}:
if sum([candidate in x for x in [sub, params, override]]) > 1:
raise RuntimeError(f'{candidate} is defined twice in torque config')
if candidate in override:
out = override[candidate]
elif candidate in params:
out = params[candidate]
else:
raise NotImplementedError(f"Did not find torque params for {candidate}")
return {key: out[i] for i, key in enumerate(params['legend'])}
sub_candidate = sub.get(candidate, candidate)
if sub_candidate in override:
out = override[sub_candidate]
elif sub_candidate in params:
out = params[sub_candidate]
else:
raise NotImplementedError(f"Did not find torque params for {sub_candidate}")
torque_params[sub_candidate] = {key: out[i] for i, key in enumerate(params['legend'])}
if candidate in sub:
torque_params[candidate] = torque_params[sub_candidate]
return torque_params
# generic car and radar interfaces
@ -166,7 +184,7 @@ class CarInterfaceBase(ABC):
ret.carFingerprint = candidate
# Car docs fields
ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
ret.maxLateralAccel = get_torque_params()[candidate]['MAX_LAT_ACCEL_MEASURED']
ret.autoResumeSng = True # describes whether car can resume from a stop automatically
# standard ALC params
@ -199,7 +217,7 @@ class CarInterfaceBase(ABC):
@staticmethod
def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
params = get_torque_params(candidate)
params = get_torque_params()[candidate]
tune.init('torque')
tune.torque.useSteeringAngle = use_steering_angle
@ -422,19 +440,7 @@ class CarStateBase(ABC):
def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
if gear is None:
return GearShifter.unknown
d: dict[str, car.CarState.GearShifter] = {
'P': GearShifter.park, 'PARK': GearShifter.park,
'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
'E': GearShifter.eco, 'ECO': GearShifter.eco,
'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
'S': GearShifter.sport, 'SPORT': GearShifter.sport,
'L': GearShifter.low, 'LOW': GearShifter.low,
'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
}
return d.get(gear.upper(), GearShifter.unknown)
return GEAR_SHIFTER_MAP.get(gear.upper(), GearShifter.unknown)
@staticmethod
def get_can_parser(CP):

2
selfdrive/car/isotp_parallel_query.py
Unescape View File

@ -4,7 +4,7 @@ from functools import partial
import cereal.messaging as messaging
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.selfdrive.pandad import can_list_to_can_capnp
from openpilot.selfdrive.car.fw_query_definitions import AddrType
from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr

2
selfdrive/car/subaru/fingerprints.py
Unescape View File

@ -311,6 +311,7 @@ FW_VERSIONS = {
b'\x00\x00d\xd3\x1f@ \t',
],
(Ecu.engine, 0x7e0, None): [
b'\xa7"@0\x07',
b'\xa7"@p\x07',
b'\xa7)\xa0q\x07',
b'\xba"@@\x07',
@ -319,6 +320,7 @@ FW_VERSIONS = {
(Ecu.transmission, 0x7e1, None): [
b'\x1a\xf6F`\x00',
b'\xda\xf2`\x80\x00',
b'\xda\xf2`p\x00',
b'\xda\xfd\xe0\x80\x00',
b'\xdc\xf2@`\x00',
b'\xdc\xf2``\x00',

1
selfdrive/car/tests/test_can_fingerprint.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
from parameterized import parameterized
from cereal import log, messaging

1
selfdrive/car/tests/test_car_interfaces.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import os
import math
import hypothesis.strategies as st

1
selfdrive/car/tests/test_docs.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
from collections import defaultdict
import os
import pytest

1
selfdrive/car/tests/test_fingerprints.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import os
import sys

1
selfdrive/car/tests/test_fw_fingerprint.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import pytest
import random
import time

34
selfdrive/car/tests/test_lateral_limits.py
Unescape View File

@ -3,6 +3,7 @@ from collections import defaultdict
import importlib
from parameterized import parameterized_class
import pytest
import sys
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car.car_helpers import interfaces
@ -20,8 +21,6 @@ MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3
# jerk is measured over half a second
JERK_MEAS_T = 0.5
car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)])
class TestLateralLimits:
@ -44,7 +43,7 @@ class TestLateralLimits:
CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
cls.control_params = CarControllerParams(CP)
cls.torque_params = get_torque_params(cls.car_model)
cls.torque_params = get_torque_params()[cls.car_model]
@staticmethod
def calculate_0_5s_jerk(control_params, torque_params):
@ -64,9 +63,36 @@ class TestLateralLimits:
def test_jerk_limits(self):
up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE
assert down_jerk <= MAX_LAT_JERK_DOWN
def test_max_lateral_accel(self):
assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL
class LatAccelReport:
car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)
def pytest_sessionfinish(self):
print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n")
max_car_model_len = max([len(car_model) for car_model in self.car_model_jerks])
for car_model, _jerks in sorted(self.car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \
_jerks["down_jerk"] > MAX_LAT_JERK_DOWN
violation_str = " - VIOLATION" if violation else ""
print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " +
f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
@pytest.fixture(scope="class", autouse=True)
def class_setup(self, request):
yield
cls = request.cls
if hasattr(cls, "control_params"):
up_jerk, down_jerk = TestLateralLimits.calculate_0_5s_jerk(cls.control_params, cls.torque_params)
self.car_model_jerks[cls.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
if __name__ == '__main__':
sys.exit(pytest.main([__file__, '-n0', '--no-summary'], plugins=[LatAccelReport()])) # noqa: TID251

1
selfdrive/car/tests/test_models.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import capnp
import os
import importlib

2
selfdrive/car/tests/test_platform_configs.py
Unescape View File

@ -1,5 +1,3 @@
#!/usr/bin/env python3
from openpilot.selfdrive.car.values import PLATFORMS

2
selfdrive/car/torque_data/override.toml
Unescape View File

@ -61,7 +61,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"GMC_ACADIA" = [1.6, 1.6, 0.2]
"LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
"HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.1]
"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005]
"HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
"HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
"KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]

2
selfdrive/car/torque_data/params.toml
Unescape View File

@ -40,7 +40,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745]
"JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048]
"JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003]
"KIA_EV6" = [3.2, 2.093457, 0.05]
"KIA_EV6" = [3.2, 2.093457, 0.005]
"KIA_K5_2021" = [2.405339728085138, 1.460032270828705, 0.11650989850813716]
"KIA_NIRO_EV" = [2.9215954981365337, 2.1500583840260044, 0.09236802474810267]
"KIA_SORENTO" = [2.464854685101844, 1.5335274218367956, 0.12056170567599558]

1
selfdrive/car/toyota/fingerprints.py
Unescape View File

@ -214,6 +214,7 @@ FW_VERSIONS = {
b'8646F0601400 ',
b'8646F0603400 ',
b'8646F0603500 ',
b'8646F0604000 ',
b'8646F0604100 ',
b'8646F0605000 ',
b'8646F0606000 ',

1
selfdrive/car/toyota/tests/test_toyota.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
from hypothesis import given, settings, strategies as st
from cereal import car

1
selfdrive/car/volkswagen/tests/test_volkswagen.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import random
import re

3
selfdrive/car/volkswagen/values.py
Unescape View File

@ -214,10 +214,11 @@ class CAR(Platforms):
VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarDocs("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarDocs("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarDocs("Volkswagen Arteon Shooting Brake 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
VWCarDocs("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
],
VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
chassis_codes={"AN"},
chassis_codes={"AN", "3H"},
wmis={WMI.VOLKSWAGEN_EUROPE_CAR},
)
VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig(

2
selfdrive/controls/controlsd.py
Unescape View File

@ -279,7 +279,7 @@ class Controls:
else:
safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
# safety mismatch allows some time for boardd to set the safety mode and publish it back from panda
# safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)

6
selfdrive/controls/lib/events.py
Unescape View File

@ -51,7 +51,7 @@ class Events:
def __init__(self):
self.events: list[int] = []
self.static_events: list[int] = []
self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
self.event_counters = dict.fromkeys(EVENTS.keys(), 0)
@property
def names(self) -> list[int]:
@ -66,7 +66,7 @@ class Events:
bisect.insort(self.events, event_name)
def clear(self) -> None:
self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
self.events = self.static_events.copy()
def contains(self, event_type: str) -> bool:
@ -85,7 +85,7 @@ class Events:
if not isinstance(alert, Alert):
alert = alert(*callback_args)
if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay:
if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
alert.alert_type = f"{EVENT_NAME[e]}/{et}"
alert.event_type = et
ret.append(alert)

12
selfdrive/controls/lib/longcontrol.py
Unescape View File

@ -5,6 +5,8 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_dead
from openpilot.selfdrive.controls.lib.pid import PIDController
from openpilot.selfdrive.modeld.constants import ModelConstants
CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
LongCtrlState = car.CarControl.Actuators.LongControlState
@ -68,19 +70,19 @@ class LongControl:
# Interp control trajectory
speeds = long_plan.speeds
if len(speeds) == CONTROL_N:
v_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
a_target_now = interp(t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], long_plan.accels)
v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds)
a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels)
v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, CONTROL_N_T_IDX, speeds)
a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now
v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, ModelConstants.T_IDXS[:CONTROL_N], speeds)
v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, CONTROL_N_T_IDX, speeds)
a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now
v_target = min(v_target_lower, v_target_upper)
a_target = min(a_target_lower, a_target_upper)
v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, ModelConstants.T_IDXS[:CONTROL_N], speeds)
v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds)
else:
v_target = 0.0
v_target_now = 0.0

6
selfdrive/controls/lib/longitudinal_planner.py
Unescape View File

@ -62,9 +62,9 @@ class LongitudinalPlanner:
@staticmethod
def parse_model(model_msg, model_error):
if (len(model_msg.position.x) == 33 and
len(model_msg.velocity.x) == 33 and
len(model_msg.acceleration.x) == 33):
if (len(model_msg.position.x) == ModelConstants.IDX_N and
len(model_msg.velocity.x) == ModelConstants.IDX_N and
len(model_msg.acceleration.x) == ModelConstants.IDX_N):
x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)

1
selfdrive/controls/lib/tests/test_alertmanager.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import random
from openpilot.selfdrive.controls.lib.events import Alert, EVENTS

1
selfdrive/controls/lib/tests/test_latcontrol.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
from parameterized import parameterized
from cereal import car, log

1
selfdrive/controls/lib/tests/test_vehicle_model.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import pytest
import math

1
selfdrive/controls/tests/test_alerts.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import copy
import json
import os

1
selfdrive/controls/tests/test_cruise_speed.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import pytest
import itertools
import numpy as np

1
selfdrive/controls/tests/test_following_distance.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import pytest
import itertools
from parameterized import parameterized_class

1
selfdrive/controls/tests/test_leads.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import cereal.messaging as messaging
from openpilot.selfdrive.test.process_replay import replay_process_with_name

4
selfdrive/controls/tests/test_startup.py
Unescape View File

@ -4,7 +4,7 @@ from parameterized import parameterized
from cereal import log, car
import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
@ -105,7 +105,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
for _ in range(1000):
# card waits for boardd to echo back that it has changed the multiplexing mode
# card waits for pandad to echo back that it has changed the multiplexing mode
if not params.get_bool("ObdMultiplexingChanged"):
params.put_bool("ObdMultiplexingChanged", True)

2
selfdrive/controls/tests/test_state_machine.py
Unescape View File

@ -1,5 +1,3 @@
#!/usr/bin/env python3
from cereal import car, log
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car.car_helpers import interfaces

6
selfdrive/debug/clear_dtc.py
Unescape View File

@ -12,11 +12,11 @@ parser.add_argument('--debug', action='store_true')
args = parser.parse_args()
try:
check_output(["pidof", "boardd"])
print("boardd is running, please kill openpilot before running this script! (aborted)")
check_output(["pidof", "pandad"])
print("pandad is running, please kill openpilot before running this script! (aborted)")
sys.exit(1)
except CalledProcessError as e:
if e.returncode != 1: # 1 == no process found (boardd not running)
if e.returncode != 1: # 1 == no process found (pandad not running)
raise e
panda = Panda()

6
selfdrive/debug/cpu_usage_stat.py
Unescape View File

@ -9,10 +9,10 @@ System tools like top/htop can only show current cpu usage values, so I write th
Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
Monitor multiple processes simuteneously.
Sample usage:
root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py boardd,ubloxd
('Add monitored proc:', './boardd')
root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd
('Add monitored proc:', './pandad')
('Add monitored proc:', 'python locationd/ubloxd.py')
boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
'''
import psutil

14
selfdrive/debug/debug_fw_fingerprinting_offline.py
Unescape View File

@ -1,11 +1,12 @@
#!/usr/bin/env python3
import argparse
from openpilot.tools.lib.live_logreader import live_logreader
from openpilot.tools.lib.logreader import LogReader, ReadMode
from panda.python import uds
def main(route: str, addrs: list[int]):
def main(route: str | None, addrs: list[int]):
"""
TODO:
- highlight TX vs RX clearly
@ -13,7 +14,10 @@ def main(route: str, addrs: list[int]):
- print as fixed width table, easier to read
"""
lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True)
if route is None:
lr = live_logreader()
else:
lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True)
start_mono_time = None
prev_mono_time = 0
@ -28,7 +32,7 @@ def main(route: str, addrs: list[int]):
if msg.which() in ("can", 'sendcan'):
for can in getattr(msg, msg.which()):
if can.address in addrs:
if can.address in addrs or not len(addrs):
if msg.logMonoTime != prev_mono_time:
print()
prev_mono_time = msg.logMonoTime
@ -38,8 +42,8 @@ def main(route: str, addrs: list[int]):
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address')
parser.add_argument('route', help='Route name')
parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)')
parser.add_argument('route', nargs='?', help='Route name, live if not specified')
parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
args = parser.parse_args()
addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs]

2
selfdrive/debug/get_fingerprint.py
Unescape View File

@ -4,7 +4,7 @@
# Instructions:
# - connect to a Panda
# - run selfdrive/boardd/boardd
# - run selfdrive/pandad/pandad
# - launching this script
# Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
# - since some messages are published at low frequency, keep this script running for at least 30s,

6
selfdrive/debug/hyundai_enable_radar_points.py
Unescape View File

@ -79,11 +79,11 @@ if __name__ == "__main__":
args = parser.parse_args()
try:
check_output(["pidof", "boardd"])
print("boardd is running, please kill openpilot before running this script! (aborted)")
check_output(["pidof", "pandad"])
print("pandad is running, please kill openpilot before running this script! (aborted)")
sys.exit(1)
except CalledProcessError as e:
if e.returncode != 1: # 1 == no process found (boardd not running)
if e.returncode != 1: # 1 == no process found (pandad not running)
raise e
confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip()

6
selfdrive/debug/read_dtc_status.py
Unescape View File

@ -13,11 +13,11 @@ parser.add_argument('--debug', action='store_true')
args = parser.parse_args()
try:
check_output(["pidof", "boardd"])
print("boardd is running, please kill openpilot before running this script! (aborted)")
check_output(["pidof", "pandad"])
print("pandad is running, please kill openpilot before running this script! (aborted)")
sys.exit(1)
except CalledProcessError as e:
if e.returncode != 1: # 1 == no process found (boardd not running)
if e.returncode != 1: # 1 == no process found (pandad not running)
raise e
panda = Panda()

1
selfdrive/locationd/test/test_calibrationd.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import random
import numpy as np

1
selfdrive/locationd/test/test_locationd.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import pytest
import json
import random

1
selfdrive/locationd/test/test_locationd_scenarios.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import pytest
import numpy as np
from collections import defaultdict

18
selfdrive/modeld/models/commonmodel.cc
Unescape View File

@ -1,13 +1,10 @@
#include "selfdrive/modeld/models/commonmodel.h"
#include <algorithm>
#include <cassert>
#include <cmath>
#include <cstring>
#include "common/clutil.h"
#include "common/mat.h"
#include "common/timing.h"
ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
input_frames = std::make_unique<float[]>(buf_size);
@ -52,21 +49,6 @@ ModelFrame::~ModelFrame() {
CL_CHECK(clReleaseCommandQueue(q));
}
void softmax(const float* input, float* output, size_t len) {
const float max_val = *std::max_element(input, input + len);
float denominator = 0;
for (int i = 0; i < len; i++) {
float const v_exp = expf(input[i] - max_val);
denominator += v_exp;
output[i] = v_exp;
}
const float inv_denominator = 1. / denominator;
for (int i = 0; i < len; i++) {
output[i] *= inv_denominator;
}
}
float sigmoid(float input) {
return 1 / (1 + expf(-input));
}

9
selfdrive/modeld/models/commonmodel.h
Unescape View File

@ -13,20 +13,11 @@
#endif
#include "common/mat.h"
#include "cereal/messaging/messaging.h"
#include "selfdrive/modeld/transforms/loadyuv.h"
#include "selfdrive/modeld/transforms/transform.h"
const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
void softmax(const float* input, float* output, size_t len);
float sigmoid(float input);
template<class T, size_t size>
constexpr const kj::ArrayPtr<const T> to_kj_array_ptr(const std::array<T, size> &arr) {
return kj::ArrayPtr(arr.data(), arr.size());
}
class ModelFrame {
public:
ModelFrame(cl_device_id device_id, cl_context context);

1
selfdrive/modeld/tests/test_modeld.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import numpy as np
import random

1
selfdrive/monitoring/test_monitoring.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import numpy as np
from cereal import car, log

1
selfdrive/navd/tests/test_map_renderer.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import time
import numpy as np
import os

1
selfdrive/navd/tests/test_navd.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import json
import random
import numpy as np

3
selfdrive/pandad/.gitignore vendored
Unescape View File

@ -0,0 +1,3 @@
pandad
pandad_api_impl.cpp
tests/test_pandad_usbprotocol

6
selfdrive/boardd/SConscript → selfdrive/pandad/SConscript
Unescape View File

@ -3,9 +3,9 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging')
libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + 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"])
envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
if GetOption('extras'):
env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs)
env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)

2
selfdrive/boardd/boardd.py → selfdrive/pandad/__init__.py
Unescape View File

@ -1,5 +1,5 @@
# Cython, now uses scons to build
from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
assert can_list_to_can_capnp
def can_capnp_to_can_list(can, src_filter=None):

2
selfdrive/boardd/can_list_to_can_capnp.cc → selfdrive/pandad/can_list_to_can_capnp.cc
Unescape View File

@ -1,5 +1,5 @@
#include "cereal/messaging/messaging.h"
#include "selfdrive/boardd/panda.h"
#include "selfdrive/pandad/panda.h"
void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
MessageBuilder msg;

8
selfdrive/boardd/main.cc → selfdrive/pandad/main.cc
Unescape View File

@ -1,22 +1,22 @@
#include <cassert>
#include "selfdrive/boardd/boardd.h"
#include "selfdrive/pandad/pandad.h"
#include "common/swaglog.h"
#include "common/util.h"
#include "system/hardware/hw.h"
int main(int argc, char *argv[]) {
LOGW("starting boardd");
LOGW("starting pandad");
if (!Hardware::PC()) {
int err;
err = util::set_realtime_priority(54);
assert(err == 0);
err = util::set_core_affinity({4});
err = util::set_core_affinity({3});
assert(err == 0);
}
std::vector<std::string> serials(argv + 1, argv + argc);
boardd_main_thread(serials);
pandad_main_thread(serials);
return 0;
}

4
selfdrive/boardd/panda.cc → selfdrive/pandad/panda.cc
Unescape View File

@ -1,4 +1,4 @@
#include "selfdrive/boardd/panda.h"
#include "selfdrive/pandad/panda.h"
#include <unistd.h>
@ -246,9 +246,9 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_fra
}
if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
// TODO: also reset CAN comms?
LOGE("Panda CAN checksum failed");
size = 0;
can_reset_communications();
return false;
}

2
selfdrive/boardd/panda.h → selfdrive/pandad/panda.h
Unescape View File

@ -13,7 +13,7 @@
#include "cereal/gen/cpp/log.capnp.h"
#include "panda/board/health.h"
#include "panda/board/can_definitions.h"
#include "selfdrive/boardd/panda_comms.h"
#include "selfdrive/pandad/panda_comms.h"
#define USB_TX_SOFT_LIMIT (0x100U)
#define USBPACKET_MAX_SIZE (0x40)

2
selfdrive/boardd/panda_comms.cc → selfdrive/pandad/panda_comms.cc
Unescape View File

@ -1,4 +1,4 @@
#include "selfdrive/boardd/panda.h"
#include "selfdrive/pandad/panda.h"
#include <cassert>
#include <stdexcept>

10
selfdrive/boardd/panda_comms.h → selfdrive/pandad/panda_comms.h
Unescape View File

@ -56,6 +56,13 @@ private:
};
#ifndef __APPLE__
struct __attribute__((packed)) spi_header {
uint8_t sync;
uint8_t endpoint;
uint16_t tx_len;
uint16_t max_rx_len;
};
class PandaSpiHandle : public PandaCommsHandle {
public:
PandaSpiHandle(std::string serial);
@ -79,5 +86,8 @@ private:
int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
int lltransfer(spi_ioc_transfer &t);
spi_header header;
uint32_t xfer_count = 0;
};
#endif

18
selfdrive/boardd/boardd.cc → selfdrive/pandad/pandad.cc
Unescape View File

@ -1,4 +1,4 @@
#include "selfdrive/boardd/boardd.h"
#include "selfdrive/pandad/pandad.h"
#include <algorithm>
#include <array>
@ -25,7 +25,7 @@
// - The internal panda will always be the first panda
// - Consecutive pandas will be sorted based on panda type, and then serial number
// Connecting:
// - If a panda connection is dropped, boardd will reconnect to all pandas
// - If a panda connection is dropped, pandad will reconnect to all pandas
// - If a panda is added, we will only reconnect when we are offroad
// CAN buses:
// - Each panda will have it's block of 4 buses. E.g.: the second panda will use
@ -163,7 +163,7 @@ Panda *connect(std::string serial="", uint32_t index=0) {
}
void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
util::set_thread_name("boardd_can_send");
util::set_thread_name("pandad_can_send");
AlignedBuffer aligned_buf;
std::unique_ptr<Context> context(Context::create());
@ -198,12 +198,12 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
}
void can_recv_thread(std::vector<Panda *> pandas) {
util::set_thread_name("boardd_can_recv");
util::set_thread_name("pandad_can_recv");
PubMaster pm({"can"});
// run at 100Hz
RateKeeper rk("boardd_can_recv", 100);
RateKeeper rk("pandad_can_recv", 100);
std::vector<can_frame> raw_can_data;
while (!do_exit && check_all_connected(pandas)) {
@ -405,7 +405,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
}
void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
util::set_thread_name("boardd_panda_state");
util::set_thread_name("pandad_panda_state");
Params params;
SubMaster sm({"controlsState"});
@ -503,7 +503,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
void peripheral_control_thread(Panda *panda, bool no_fan_control) {
util::set_thread_name("boardd_peripheral_control");
util::set_thread_name("pandad_peripheral_control");
SubMaster sm({"deviceState", "driverCameraState"});
@ -554,8 +554,8 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
}
}
void boardd_main_thread(std::vector<std::string> serials) {
LOGW("launching boardd");
void pandad_main_thread(std::vector<std::string> serials) {
LOGW("launching pandad");
if (serials.size() == 0) {
serials = Panda::list();

4
selfdrive/boardd/boardd.h → selfdrive/pandad/pandad.h
Unescape View File

@ -3,7 +3,7 @@
#include <string>
#include <vector>
#include "selfdrive/boardd/panda.h"
#include "selfdrive/pandad/panda.h"
bool safety_setter_thread(std::vector<Panda *> pandas);
void boardd_main_thread(std::vector<std::string> serials);
void pandad_main_thread(std::vector<std::string> serials);

10
selfdrive/boardd/pandad.py → selfdrive/pandad/pandad.py
Unescape View File

@ -1,5 +1,5 @@
#!/usr/bin/env python3
# simple boardd wrapper that updates the panda first
# simple pandad wrapper that updates the panda first
import os
import usb1
import time
@ -157,10 +157,10 @@ def main() -> NoReturn:
first_run = False
# run boardd with all connected serials as arguments
os.environ['MANAGER_DAEMON'] = 'boardd'
os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
subprocess.run(["./boardd", *panda_serials], check=True)
# run pandad with all connected serials as arguments
os.environ['MANAGER_DAEMON'] = 'pandad'
os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
subprocess.run(["./pandad", *panda_serials], check=True)
if __name__ == "__main__":
main()

0
selfdrive/boardd/boardd_api_impl.pyx → selfdrive/pandad/pandad_api_impl.pyx
Unescape View File

37
selfdrive/boardd/spi.cc → selfdrive/pandad/spi.cc
Unescape View File

@ -13,7 +13,7 @@
#include "common/timing.h"
#include "common/swaglog.h"
#include "panda/board/comms_definitions.h"
#include "selfdrive/boardd/panda_comms.h"
#include "selfdrive/pandad/panda_comms.h"
#define SPI_SYNC 0x5AU
@ -28,13 +28,6 @@ enum SpiError {
ACK_TIMEOUT = -3,
};
struct __attribute__((packed)) spi_header {
uint8_t sync;
uint8_t endpoint;
uint16_t tx_len;
uint16_t max_rx_len;
};
const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
const std::string SPI_DEVICE = "/dev/spidev0.0";
@ -55,6 +48,11 @@ private:
std::recursive_mutex &m;
};
#define SPILOG(fn, fmt, ...) do { \
fn(fmt, ## __VA_ARGS__); \
fn(" %d / 0x%x / %d / %d", \
xfer_count, header.endpoint, header.tx_len, header.max_rx_len); \
} while (0)
PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
int ret;
@ -178,7 +176,7 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
}
if (d < 0) {
LOGE("SPI: bulk transfer failed with %d", d);
SPILOG(LOGE, "SPI: bulk transfer failed with %d", d);
comms_healthy = false;
return d;
}
@ -247,7 +245,7 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
} while (ret < 0 && connected && !timed_out);
if (ret < 0) {
LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
SPILOG(LOGE, "transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
}
return ret;
@ -270,20 +268,20 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
while (true) {
int ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to send ACK request");
SPILOG(LOGE, "SPI: failed to send ACK request");
return ret;
}
if (rx_buf[0] == ack) {
break;
} else if (rx_buf[0] == SPI_NACK) {
LOGD("SPI: got NACK");
SPILOG(LOGD, "SPI: got NACK");
return SpiError::NACK;
}
// handle timeout
if (millis_since_boot() - start_millis > timeout) {
LOGD("SPI: timed out waiting for ACK");
SPILOG(LOGW, "SPI: timed out waiting for ACK");
return SpiError::ACK_TIMEOUT;
}
}
@ -334,7 +332,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
assert(tx_len < SPI_BUF_SIZE);
assert(max_rx_len < SPI_BUF_SIZE);
spi_header header = {
xfer_count++;
header = {
.sync = SPI_SYNC,
.endpoint = endpoint,
.tx_len = tx_len,
@ -352,7 +351,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
transfer.len = sizeof(header) + 1;
ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to send header");
SPILOG(LOGE, "SPI: failed to send header");
return ret;
}
@ -370,7 +369,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
transfer.len = tx_len + 1;
ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to send data");
SPILOG(LOGE, "SPI: failed to send data");
return ret;
}
@ -383,7 +382,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
// Read data
rx_data_len = *(uint16_t *)(rx_buf+1);
if (rx_data_len >= SPI_BUF_SIZE) {
LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
SPILOG(LOGE, "SPI: RX data len larger than buf size %d", rx_data_len);
return -1;
}
@ -391,11 +390,11 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
ret = lltransfer(transfer);
if (ret < 0) {
LOGE("SPI: failed to read rx data");
SPILOG(LOGE, "SPI: failed to read rx data");
return ret;
}
if (!check_checksum(rx_buf, rx_data_len + 4)) {
LOGE("SPI: bad checksum");
SPILOG(LOGE, "SPI: bad checksum");
return -1;
}

0
selfdrive/boardd/__init__.py → selfdrive/pandad/tests/__init__.py
Unescape View File

0
selfdrive/boardd/tests/bootstub.panda.bin → selfdrive/pandad/tests/bootstub.panda.bin
Unescape View File

0
selfdrive/boardd/tests/bootstub.panda_h7.bin → selfdrive/pandad/tests/bootstub.panda_h7.bin
Unescape View File

0
selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin → selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin
Unescape View File

5
selfdrive/boardd/tests/test_pandad.py → selfdrive/pandad/tests/test_pandad.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import os
import pytest
import time
@ -40,7 +39,7 @@ class TestPandad:
managed_processes['pandad'].stop()
if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
raise Exception("boardd failed to start")
raise Exception("pandad failed to start")
return dt
@ -102,7 +101,7 @@ class TestPandad:
ts.append(dt)
# 5s for USB (due to enumeration)
# - 0.2s pandad -> boardd
# - 0.2s pandad -> pandad
# - plus some buffer
assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
print("startup times", ts, sum(ts) / len(ts))

15
selfdrive/boardd/tests/test_boardd_loopback.py → selfdrive/pandad/tests/test_pandad_loopback.py
Unescape View File

@ -1,4 +1,3 @@
#!/usr/bin/env python3
import os
import copy
import random
@ -9,19 +8,21 @@ from pprint import pprint
import cereal.messaging as messaging
from cereal import car, log
from openpilot.common.retry import retry
from openpilot.common.params import Params
from openpilot.common.timeout import Timeout
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
from openpilot.selfdrive.pandad import can_list_to_can_capnp
from openpilot.selfdrive.car import make_can_msg
from openpilot.system.hardware import TICI
from openpilot.selfdrive.test.helpers import phone_only, with_processes
def setup_boardd(num_pandas):
@retry(attempts=3)
def setup_pandad(num_pandas):
params = Params()
params.put_bool("IsOnroad", False)
with Timeout(90, "boardd didn't start"):
with Timeout(90, "pandad didn't start"):
sm = messaging.SubMaster(['pandaStates'])
while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
@ -31,7 +32,7 @@ def setup_boardd(num_pandas):
assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \
connect another panda for multipanda tests."
# boardd safety setting relies on these params
# pandad safety setting relies on these params
cp = car.CarParams.new_message()
safety_config = car.CarParams.SafetyConfig.new_message()
@ -71,7 +72,7 @@ class TestBoarddLoopback:
@with_processes(['pandad'])
def test_loopback(self):
num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
setup_boardd(num_pandas)
setup_pandad(num_pandas)
sendcan = messaging.pub_sock('sendcan')
can = messaging.sub_sock('can', conflate=False, timeout=100)
sm = messaging.SubMaster(['pandaStates'])
@ -79,7 +80,7 @@ class TestBoarddLoopback:
n = 200
for i in range(n):
print(f"boardd loopback {i}/{n}")
print(f"pandad loopback {i}/{n}")
sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas)

54
selfdrive/boardd/tests/test_boardd_spi.py → selfdrive/pandad/tests/test_pandad_spi.py
Unescape View File

@ -1,15 +1,16 @@
#!/usr/bin/env python3
import os
import time
import numpy as np
import pytest
import random
import cereal.messaging as messaging
from cereal.services import SERVICE_LIST
from openpilot.system.hardware import HARDWARE
from openpilot.selfdrive.test.helpers import phone_only, with_processes
from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd
from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
@pytest.mark.tici
class TestBoarddSpi:
@ -18,38 +19,67 @@ class TestBoarddSpi:
if HARDWARE.get_device_type() == 'tici':
pytest.skip("only for spi pandas")
os.environ['STARTED'] = '1'
os.environ['BOARDD_LOOPBACK'] = '1'
os.environ['SPI_ERR_PROB'] = '0.001'
if not JUNGLE_SPAM:
os.environ['BOARDD_LOOPBACK'] = '1'
@phone_only
@with_processes(['pandad'])
def test_spi_corruption(self, subtests):
setup_boardd(1)
setup_pandad(1)
sendcan = messaging.pub_sock('sendcan')
socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
time.sleep(2)
for s in socks.values():
messaging.drain_sock_raw(s)
total_recv_count = 0
total_sent_count = 0
sent_msgs = {bus: list() for bus in range(3)}
st = time.monotonic()
ts = {s: list() for s in socks.keys()}
for _ in range(20):
for _ in range(int(os.getenv("TEST_TIME", "20"))):
# send some CAN messages
if not JUNGLE_SPAM:
sent = send_random_can_messages(sendcan, random.randrange(2, 20))
for k, v in sent.items():
sent_msgs[k].extend(list(v))
total_sent_count += len(v)
for service, sock in socks.items():
for m in messaging.drain_sock(sock):
ts[service].append(m.logMonoTime)
# sanity check for corruption
assert m.valid
assert m.valid or (service == "can")
if service == "can":
assert len(m.can) == 0
for msg in m.can:
if JUNGLE_SPAM:
# PandaJungle.set_generated_can(True)
i = msg.address - 0x200
assert msg.address >= 0x200
assert msg.src == (i%3)
assert msg.dat == b"\xff"*(i%8)
total_recv_count += 1
continue
if msg.src > 4:
continue
key = (msg.address, msg.dat)
assert key in sent_msgs[msg.src], f"got unexpected msg: {msg.src=} {msg.address=} {msg.dat=}"
# TODO: enable this
#sent_msgs[msg.src].remove(key)
total_recv_count += 1
elif service == "pandaStates":
assert len(m.pandaStates) == 1
ps = m.pandaStates[0]
assert ps.uptime < 100
assert ps.uptime < 1000
assert ps.pandaType == "tres"
assert ps.ignitionLine
assert not ps.ignitionCan
assert ps.voltage < 14000
assert 4000 < ps.voltage < 14000
elif service == "peripheralState":
ps = m.peripheralState
assert ps.pandaType == "tres"
@ -67,6 +97,10 @@ class TestBoarddSpi:
with subtests.test(msg="timing check", service=service):
edt = 1e3 / SERVICE_LIST[service].frequency
assert edt*0.9 < np.mean(dts) < edt*1.1
assert np.max(dts) < edt*3
assert np.max(dts) < edt*20
assert np.min(dts) < edt
assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
with subtests.test(msg="CAN traffic"):
print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received")
assert total_recv_count > 20

2
selfdrive/boardd/tests/test_boardd_usbprotocol.cc → selfdrive/pandad/tests/test_pandad_usbprotocol.cc
Unescape View File

@ -4,7 +4,7 @@
#include "catch2/catch.hpp"
#include "cereal/messaging/messaging.h"
#include "common/util.h"
#include "selfdrive/boardd/panda.h"
#include "selfdrive/pandad/panda.h"
struct PandaTest : public Panda {
PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);

Some files were not shown because too many files have changed in this diff Show More

Write Preview
Loading…
Cancel
Save