Ram 1500 (#24878)
* RamInit * bump submodules * lil cleanup * clean up carstate formatting and platform grouping make tuple * give it a gold torque star (looks around 2.4 from rough data) * Dasm Fault * bump panda * more cleanup * cleanup car state * more cleanup * some fixes * remove more stuff * fix angle signal scaling and fix lkas control bit * bump panda * update those * same limits as pacifica * cleanup hud alert building * better fault logic * fix rate * set ahb * bring that back * update refs Co-authored-by: Jonathan <jraycec@gmail.com> Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Comma Device <device@comma.ai>pull/24873/head
Adeeb Shihadeh
3 years ago
committed by
GitHub
parent
479b66c992
commit
9b0acacf5e
13 changed files with 226 additions and 141 deletions
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Subproject commit 6c0d0b43c239b89baa83b4a1885d0ce21ab2335e |
Subproject commit fae3ee2e8161d34a7c1939503e583db9b85e5402 |
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from cereal import car |
from cereal import car |
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from selfdrive.car import make_can_msg |
from selfdrive.car.chrysler.values import RAM_CARS |
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GearShifter = car.CarState.GearShifter |
GearShifter = car.CarState.GearShifter |
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VisualAlert = car.CarControl.HUDControl.VisualAlert |
VisualAlert = car.CarControl.HUDControl.VisualAlert |
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def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model): |
def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam): |
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# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed. |
# LKAS_HUD - Controls what lane-keeping icon is displayed |
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# == Color == |
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# 0 hidden? |
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# 1 white |
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# 2 green |
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# 3 ldw |
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# == Lines == |
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# 03 white Lines |
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# 04 grey lines |
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# 09 left lane close |
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# 0A right lane close |
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# 0B left Lane very close |
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# 0C right Lane very close |
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# 0D left cross cross |
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# 0E right lane cross |
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if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw): |
# == Alerts == |
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msg = b'\x00\x00\x00\x03\x00\x00\x00\x00' |
# 7 Normal |
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return make_can_msg(0x2a6, msg, 0) |
# 6 lane departure place hands on wheel |
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color = 1 # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019 |
color = 2 if lkas_active else 1 |
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lines = 1 |
lines = 3 if lkas_active else 0 |
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alerts = 0 |
alerts = 7 if lkas_active else 0 |
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if hud_count < (1 * 4): # first 3 seconds, 4Hz |
if hud_count < (1 * 4): # first 3 seconds, 4Hz |
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alerts = 1 |
alerts = 1 |
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# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID |
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# had color = 1 and lines = 1 but trying 2017 hybrid style for now. |
if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired): |
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if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low): |
color = 4 |
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if lkas_active: |
lines = 0 |
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color = 2 # control active, display green. |
alerts = 6 |
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lines = 6 |
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else: |
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color = 1 # control off, display white. |
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lines = 1 |
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values = { |
values = { |
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"LKAS_ICON_COLOR": color, # byte 0, last 2 bits |
"LKAS_ICON_COLOR": color, |
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"CAR_MODEL": lkas_car_model, # byte 1 |
"CAR_MODEL": car_model, |
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"LKAS_LANE_LINES": lines, # byte 2, last 4 bits |
"LKAS_LANE_LINES": lines, |
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"LKAS_ALERTS": alerts, # byte 3, last 4 bits |
"LKAS_ALERTS": alerts, |
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} |
} |
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if CP.carFingerprint in RAM_CARS: |
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values['AUTO_HIGH_BEAM_ON'] = auto_high_beam |
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return packer.make_can_msg("DAS_6", 0, values) # 0x2a6 |
return packer.make_can_msg("DAS_6", 0, values) |
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def create_lkas_command(packer, apply_steer, moving_fast, frame): |
def create_lkas_command(packer, CP, apply_steer, lat_active, frame): |
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# LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel. |
# LKAS_COMMAND Lane-keeping signal to turn the wheel |
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enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1 |
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values = { |
values = { |
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"STEERING_TORQUE": apply_steer, |
"STEERING_TORQUE": apply_steer, |
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"LKAS_CONTROL_BIT": int(moving_fast), |
"LKAS_CONTROL_BIT": enabled_val if lat_active else 0, |
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"COUNTER": frame % 0x10, |
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} |
} |
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return packer.make_can_msg("LKAS_COMMAND", 0, values) |
return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10) |
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def create_cruise_buttons(packer, frame, cancel=False): |
def create_cruise_buttons(packer, frame, bus, cancel=False): |
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values = { |
values = { |
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"ACC_Cancel": cancel, |
"ACC_Cancel": cancel, |
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"COUNTER": frame % 0x10, |
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} |
} |
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return packer.make_can_msg("CRUISE_BUTTONS", 0, values) |
return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10) |
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b904e52e9de4ff7b2bd7f6af8b19abaf4957e6cc |
ebe7f1285ec60f522179606d483a198535c0e83a |
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