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

Tesla Raven (#29947)

Browse Source 
* 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
chrysler-long2
Robbe Derks 1 year ago committed by GitHub
parent e6dbf6d614
commit 8a2766a86b
12 changed files with 105 additions and 62 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. 2
      opendbc
  2. 2
      panda
  3. 3
      release/files_common
  4. 5
      selfdrive/car/fw_query_definitions.py
  5. 28
      selfdrive/car/tesla/carstate.py
  6. 11
      selfdrive/car/tesla/fingerprints.py
  7. 11
      selfdrive/car/tesla/interface.py
  8. 60
      selfdrive/car/tesla/radar_interface.py
  9. 34
      selfdrive/car/tesla/values.py
  10. 1
      selfdrive/car/tests/routes.py
  11. 5
      selfdrive/car/tests/test_fw_fingerprint.py
  12. 1
      selfdrive/car/torque_data/override.toml

2
opendbc

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

2
panda

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

3
release/files_common
Unescape View File

@ -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

5
selfdrive/car/fw_query_definitions.py
Unescape View File

@ -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]) + \

28
selfdrive/car/tesla/carstate.py
Unescape View File

@ -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"]
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)
epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
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"))
@ -85,6 +87,9 @@ class CarState(CarStateBase):
ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
# Seatbelt
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)

11
selfdrive/car/tesla/fingerprints.py
Unescape View File

@ -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',
],
},
}

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

@ -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, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
get_safety_config(car.CarParams.SafetyModel.tesla, flags),
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):

60
selfdrive/car/tesla/radar_interface.py
Unescape View File

@ -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']:
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):
msg_a = self.rcp.vl[RADAR_MSGS_A[i]]
msg_b = self.rcp.vl[RADAR_MSGS_B[i]]
for i in range(self.num_points):
msg_a = self.rcp.vl[f'RadarPoint{i}_A']
msg_b = self.rcp.vl[f'RadarPoint{i}_B']
# Make sure msg A and B are together
if msg_a['Index'] != msg_b['Index2']:

34
selfdrive/car/tesla/values.py
Unescape View File

@ -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

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

@ -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

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

@ -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,
}
}

1
selfdrive/car/torque_data/override.toml
Unescape View File

@ -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]

Write Preview
Loading…
Cancel
Save