Tesla Raven (#29947)

* fingerprinting

* wip

* bug

* fix another bug

* fix rebase

* clean up raven

* forgot to save

* one more rename

* one more rename

* radar fixes

* AP1 also has bosch radar

* put back dashcamOnly

* small fixes

* raven flag

* fix bug

* fix raven flag

* bump opendbc

* fix radar trigger for non-raven

* fix tests?

* bump panda

* more test fixes

* tesla fingerprinting is a bit slower now

* fix tests

* bump opendbc

* bump submodules to master

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7177ec0631

opendbc

@@ -1 +1 @@
-Subproject commit 1745ab51825055cd18748013c4a5e3377319e390
+Subproject commit ff1f1ff335261c469635c57c81817afd04663eab

panda

@@ -1 +1 @@
-Subproject commit ea156f7c628a371bea9a15a29f9068d5392534ba
+Subproject commit 41e9610ff841e4cf62051c6df09c1870f5d12477

release/files_common

@@ -542,7 +542,8 @@ opendbc/vw_golf_mk4.dbc
 opendbc/vw_mqb_2010.dbc
 
 opendbc/tesla_can.dbc
-opendbc/tesla_radar.dbc
+opendbc/tesla_radar_bosch_generated.dbc
+opendbc/tesla_radar_continental_generated.dbc
 opendbc/tesla_powertrain.dbc
 
 tinygrad_repo/openpilot/compile2.py

selfdrive/car/fw_query_definitions.py

@@ -47,6 +47,11 @@ class StdQueries:
   MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
     p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
 
+  SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
+  SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+    p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER)
+
   UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
     p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
   UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \

selfdrive/car/tesla/carstate.py

@@ -2,7 +2,7 @@ import copy
 from collections import deque
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
+from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
@@ -37,13 +37,15 @@ class CarState(CarStateBase):
     ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
 
     # Steering wheel
-    self.hands_on_level = cp.vl["EPAS_sysStatus"]["EPAS_handsOnLevel"]
+    epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
-    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacErrorCode"]), None)
-    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacStatus"]), None)
 
-    ret.steeringAngleDeg = -cp.vl["EPAS_sysStatus"]["EPAS_internalSAS"]
+    self.hands_on_level = epas_status["EPAS_handsOnLevel"]
+    self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
+    steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
+
+    ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
     ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate
-    ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"]
+    ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
     ret.steeringPressed = (self.hands_on_level > 0)
     ret.steerFaultPermanent = steer_status == "EAC_FAULT"
     ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON"))
@@ -85,7 +87,10 @@ class CarState(CarStateBase):
     ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
 
     # Seatbelt
-    ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
+    if self.CP.carFingerprint == CAR.MODELS_RAVEN:
+      ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
+    else:
+      ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
 
     # TODO: blindspot
 
@@ -111,9 +116,14 @@ class CarState(CarStateBase):
       ("DI_state", 10),
       ("STW_ACTN_RQ", 10),
       ("GTW_carState", 10),
-      ("SDM1", 10),
       ("BrakeMessage", 50),
     ]
+
+    if CP.carFingerprint == CAR.MODELS_RAVEN:
+      messages.append(("DriverSeat", 20))
+    else:
+      messages.append(("SDM1", 10))
+
     return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
 
   @staticmethod
@@ -122,4 +132,8 @@ class CarState(CarStateBase):
       # sig_address, frequency
       ("DAS_control", 40),
     ]
+
+    if CP.carFingerprint == CAR.MODELS_RAVEN:
+      messages.append(("EPAS3P_sysStatus", 100))
+
     return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)

selfdrive/car/tesla/fingerprints.py

@@ -25,4 +25,15 @@ FW_VERSIONS = {
       b'\x10#\x01',
     ],
   },
+  CAR.MODELS_RAVEN: {
+    (Ecu.electricBrakeBooster, 0x64d, None): [
+      b'1037123-00-A',
+    ],
+    (Ecu.fwdRadar, 0x671, None): [
+      b'\x01\x00\x99\x02\x01\x00\x10\x00\x00AP8.3.03\x00\x10',
+    ],
+    (Ecu.eps, 0x730, None): [
+      b'SX_0.0.0 (99),SR013.7',
+    ],
+  },
 }

selfdrive/car/tesla/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from openpilot.selfdrive.car.tesla.values import CANBUS
+from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
@@ -28,19 +28,20 @@ class CarInterface(CarInterfaceBase):
 
     # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
     # If so, we assume that it is connected to the longitudinal harness.
+    flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.MODELS_RAVEN else 0)
     if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
       ret.openpilotLongitudinalControl = True
+      flags |= Panda.FLAG_TESLA_LONG_CONTROL
       ret.safetyConfigs = [
-        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
+        get_safety_config(car.CarParams.SafetyModel.tesla, flags),
-        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
+        get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN),
       ]
     else:
       ret.openpilotLongitudinalControl = False
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)]
 
     ret.steerLimitTimer = 1.0
     ret.steerActuatorDelay = 0.25
-
     return ret
 
   def _update(self, c):

selfdrive/car/tesla/radar_interface.py

@@ -1,38 +1,33 @@
 #!/usr/bin/env python3
 from cereal import car
 from opendbc.can.parser import CANParser
-from openpilot.selfdrive.car.tesla.values import DBC, CANBUS
+from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
-RADAR_MSGS_A = list(range(0x310, 0x36E, 3))
-RADAR_MSGS_B = list(range(0x311, 0x36F, 3))
-NUM_POINTS = len(RADAR_MSGS_A)
-
-def get_radar_can_parser(CP):
-  # Status messages
-  messages = [
-    ('TeslaRadarSguInfo', 10),
-  ]
-
-  # Radar tracks. There are also raw point clouds available,
-  # we don't use those.
-  for i in range(NUM_POINTS):
-    msg_id_a = RADAR_MSGS_A[i]
-    msg_id_b = RADAR_MSGS_B[i]
-    messages.extend([
-      (msg_id_a, 8),
-      (msg_id_b, 8),
-    ])
-
-  return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.rcp = get_radar_can_parser(CP)
+    self.CP = CP
+
+    if CP.carFingerprint == CAR.MODELS_RAVEN:
+      messages = [('RadarStatus', 16)]
+      self.num_points = 40
+      self.trigger_msg = 1119
+    else:
+      messages = [('TeslaRadarSguInfo', 10)]
+      self.num_points = 32
+      self.trigger_msg = 878
+
+    for i in range(self.num_points):
+      messages.extend([
+        (f'RadarPoint{i}_A', 16),
+        (f'RadarPoint{i}_B', 16),
+      ])
+
+    self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
     self.updated_messages = set()
     self.track_id = 0
-    self.trigger_msg = RADAR_MSGS_B[-1]
 
   def update(self, can_strings):
     if self.rcp is None:
@@ -48,17 +43,24 @@ class RadarInterface(RadarInterfaceBase):
 
     # Errors
     errors = []
-    sgu_info = self.rcp.vl['TeslaRadarSguInfo']
     if not self.rcp.can_valid:
       errors.append('canError')
-    if sgu_info['RADC_HWFail'] or sgu_info['RADC_SGUFail'] or sgu_info['RADC_SensorDirty']:
+
-      errors.append('fault')
+    if self.CP.carFingerprint == CAR.MODELS_RAVEN:
+      radar_status = self.rcp.vl['RadarStatus']
+      if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
+        errors.append('fault')
+    else:
+      radar_status = self.rcp.vl['TeslaRadarSguInfo']
+      if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']:
+        errors.append('fault')
+
     ret.errors = errors
 
     # Radar tracks
-    for i in range(NUM_POINTS):
+    for i in range(self.num_points):
-      msg_a = self.rcp.vl[RADAR_MSGS_A[i]]
+      msg_a = self.rcp.vl[f'RadarPoint{i}_A']
-      msg_b = self.rcp.vl[RADAR_MSGS_B[i]]
+      msg_b = self.rcp.vl[f'RadarPoint{i}_B']
 
       # Make sure msg A and B are together
       if msg_a['Index'] != msg_b['Index2']:

selfdrive/car/tesla/values.py

@@ -1,8 +1,7 @@
 from collections import namedtuple
-from dataclasses import dataclass, field
 
 from cereal import car
-from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -10,24 +9,25 @@ Ecu = car.CarParams.Ecu
 
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
-
-@dataclass
-class TeslaPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'))
-
-
 class CAR(Platforms):
-  AP1_MODELS = TeslaPlatformConfig(
+  AP1_MODELS = PlatformConfig(
     'TESLA AP1 MODEL S',
     CarInfo("Tesla AP1 Model S", "All"),
-    CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0)
+    CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
+    dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
   )
-  AP2_MODELS = TeslaPlatformConfig(
+  AP2_MODELS = PlatformConfig(
     'TESLA AP2 MODEL S',
     CarInfo("Tesla AP2 Model S", "All"),
-    AP1_MODELS.specs
+    AP1_MODELS.specs,
+    AP1_MODELS.dbc_dict
+  )
+  MODELS_RAVEN = PlatformConfig(
+    'TESLA MODEL S RAVEN',
+    CarInfo("Tesla Model S Raven", "All"),
+    AP1_MODELS.specs,
+    dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
   )
-
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -38,6 +38,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
       rx_offset=0x08,
       bus=0,
     ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.eps],
+      rx_offset=0x08,
+      bus=0,
+    ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
@@ -48,7 +55,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
   ]
 )
 
-
 class CANBUS:
   # Lateral harness
   chassis = 0

selfdrive/car/tests/routes.py

@@ -289,6 +289,7 @@ routes = [
 
   CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS),
   CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS),
+  CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.MODELS_RAVEN),
 
   # Segments that test specific issues
   # Controls mismatch due to interceptor threshold

selfdrive/car/tests/test_fw_fingerprint.py

@@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 8.3, 2: 9.2}
+    total_ref_time = {1: 8.4, 2: 9.3}
     brand_ref_times = {
       1: {
         'gm': 1.0,
@@ -275,13 +275,14 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'mazda': 0.1,
         'nissan': 0.8,
         'subaru': 0.45,
-        'tesla': 0.2,
+        'tesla': 0.3,
         'toyota': 1.6,
         'volkswagen': 0.65,
       },
       2: {
         'ford': 1.6,
         'hyundai': 1.85,
+        'tesla': 0.3,
       }
     }
 

selfdrive/car/torque_data/override.toml

@@ -18,6 +18,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 # Tesla has high torque
 "TESLA AP1 MODEL S" = [nan, 2.5, nan]
 "TESLA AP2 MODEL S" = [nan, 2.5, nan]
+"TESLA MODEL S RAVEN" = [nan, 2.5, nan]
 
 # Guess
 "FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan]