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cars: platform enums -> prepend brand name (#31927)

Browse Source 
* with brand name

* migrate

* Fix

* fixes

* more

* passes

* fix

* fix the doc

* collects

* these too

* more stuff

* body exception :/

* more

* hardcode i guess

* update ref

* toyota

* more toyota

* and here

* final!

* fix notebooks and ccs

* move this here
old-commit-hash: b0eb3ba4f4
pull/32199/head
Justin Newberry 1 year ago committed by GitHub
parent 428f170f59
commit b899592b18
77 changed files with 1099 additions and 1092 deletions
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  1. 2
      scripts/launch_corolla.sh
  2. 4
      selfdrive/car/body/fingerprints.py
  3. 2
      selfdrive/car/body/values.py
  4. 10
      selfdrive/car/chrysler/fingerprints.py
  5. 5
      selfdrive/car/chrysler/interface.py
  6. 20
      selfdrive/car/chrysler/values.py
  7. 2
      selfdrive/car/docs_definitions.py
  8. 364
      selfdrive/car/fingerprints.py
  9. 16
      selfdrive/car/ford/fingerprints.py
  10. 18
      selfdrive/car/ford/values.py
  11. 18
      selfdrive/car/gm/fingerprints.py
  12. 2
      selfdrive/car/gm/gmcan.py
  13. 30
      selfdrive/car/gm/interface.py
  14. 4
      selfdrive/car/gm/tests/test_gm.py
  15. 26
      selfdrive/car/gm/values.py
  16. 26
      selfdrive/car/honda/carstate.py
  17. 36
      selfdrive/car/honda/fingerprints.py
  18. 2
      selfdrive/car/honda/hondacan.py
  19. 38
      selfdrive/car/honda/interface.py
  20. 68
      selfdrive/car/honda/values.py
  21. 2
      selfdrive/car/hyundai/carstate.py
  22. 76
      selfdrive/car/hyundai/fingerprints.py
  23. 12
      selfdrive/car/hyundai/hyundaican.py
  24. 2
      selfdrive/car/hyundai/interface.py
  25. 28
      selfdrive/car/hyundai/tests/test_hyundai.py
  26. 88
      selfdrive/car/hyundai/values.py
  27. 12
      selfdrive/car/mazda/fingerprints.py
  28. 4
      selfdrive/car/mazda/interface.py
  29. 16
      selfdrive/car/mazda/values.py
  30. 6
      selfdrive/car/nissan/carcontroller.py
  31. 44
      selfdrive/car/nissan/carstate.py
  32. 18
      selfdrive/car/nissan/fingerprints.py
  33. 2
      selfdrive/car/nissan/interface.py
  34. 2
      selfdrive/car/nissan/nissancan.py
  35. 10
      selfdrive/car/nissan/values.py
  36. 30
      selfdrive/car/subaru/fingerprints.py
  37. 18
      selfdrive/car/subaru/interface.py
  38. 46
      selfdrive/car/subaru/values.py
  39. 8
      selfdrive/car/tesla/carstate.py
  40. 6
      selfdrive/car/tesla/fingerprints.py
  41. 2
      selfdrive/car/tesla/interface.py
  42. 4
      selfdrive/car/tesla/radar_interface.py
  43. 12
      selfdrive/car/tesla/values.py
  44. 340
      selfdrive/car/tests/routes.py
  45. 2
      selfdrive/car/tests/test_can_fingerprint.py
  46. 2
      selfdrive/car/tests/test_docs.py
  47. 4
      selfdrive/car/tests/test_lateral_limits.py
  48. 4
      selfdrive/car/tests/test_models.py
  49. 2
      selfdrive/car/torque_data/neural_ff_weights.json
  50. 82
      selfdrive/car/torque_data/override.toml
  51. 125
      selfdrive/car/torque_data/params.toml
  52. 118
      selfdrive/car/torque_data/substitute.toml
  53. 2
      selfdrive/car/toyota/carcontroller.py
  54. 8
      selfdrive/car/toyota/carstate.py
  55. 44
      selfdrive/car/toyota/fingerprints.py
  56. 10
      selfdrive/car/toyota/interface.py
  57. 12
      selfdrive/car/toyota/tests/test_toyota.py
  58. 116
      selfdrive/car/toyota/values.py
  59. 32
      selfdrive/car/volkswagen/fingerprints.py
  60. 34
      selfdrive/car/volkswagen/values.py
  61. 2
      selfdrive/controls/lib/tests/test_latcontrol.py
  62. 2
      selfdrive/controls/lib/tests/test_vehicle_model.py
  63. 2
      selfdrive/controls/tests/test_leads.py
  64. 12
      selfdrive/controls/tests/test_startup.py
  65. 2
      selfdrive/test/helpers.py
  66. 2
      selfdrive/test/longitudinal_maneuvers/plant.py
  67. 4
      selfdrive/test/process_replay/migration.py
  68. 2
      selfdrive/test/process_replay/ref_commit
  69. 2
      selfdrive/test/process_replay/test_fuzzy.py
  70. 36
      selfdrive/test/process_replay/test_processes.py
  71. 2
      selfdrive/test/process_replay/test_regen.py
  72. 4
      selfdrive/test/profiling/profiler.py
  73. 14
      tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
  74. 4
      tools/car_porting/examples/subaru_long_accel.ipynb
  75. 4
      tools/car_porting/examples/subaru_steer_temp_fault.ipynb
  76. 11
      tools/lib/comma_car_segments.py
  77. 8
      tools/lib/tests/test_comma_car_segments.py

2
scripts/launch_corolla.sh
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@ -2,6 +2,6 @@
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
export FINGERPRINT="COROLLA_TSS2" export FINGERPRINT="TOYOTA_COROLLA_TSS2"
export SKIP_FW_QUERY="1" export SKIP_FW_QUERY="1"
$DIR/../launch_openpilot.sh $DIR/../launch_openpilot.sh

4
selfdrive/car/body/fingerprints.py
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@ -8,13 +8,13 @@ Ecu = car.CarParams.Ecu
FINGERPRINTS = { FINGERPRINTS = {
CAR.BODY: [{ CAR.COMMA_BODY: [{
513: 8, 516: 8, 514: 3, 515: 4 513: 8, 516: 8, 514: 3, 515: 4
}], }],
} }
FW_VERSIONS = { FW_VERSIONS = {
CAR.BODY: { CAR.COMMA_BODY: {
(Ecu.engine, 0x720, None): [ (Ecu.engine, 0x720, None): [
b'0.0.01', b'0.0.01',
b'0.3.00a', b'0.3.00a',

2
selfdrive/car/body/values.py
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@ -20,7 +20,7 @@ class CarControllerParams:
class CAR(Platforms): class CAR(Platforms):
BODY = PlatformConfig( COMMA_BODY = PlatformConfig(
[CarDocs("comma body", package="All")], [CarDocs("comma body", package="All")],
CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44), CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
dbc_dict('comma_body', None), dbc_dict('comma_body', None),

10
selfdrive/car/chrysler/fingerprints.py
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@ -4,7 +4,7 @@ from openpilot.selfdrive.car.chrysler.values import CAR
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
FW_VERSIONS = { FW_VERSIONS = {
CAR.PACIFICA_2017_HYBRID: { CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [ (Ecu.combinationMeter, 0x742, None): [
b'68239262AH', b'68239262AH',
b'68239262AI', b'68239262AI',
@ -33,7 +33,7 @@ FW_VERSIONS = {
b'05190226AK', b'05190226AK',
], ],
}, },
CAR.PACIFICA_2018: { CAR.CHRYSLER_PACIFICA_2018: {
(Ecu.combinationMeter, 0x742, None): [ (Ecu.combinationMeter, 0x742, None): [
b'68227902AF', b'68227902AF',
b'68227902AG', b'68227902AG',
@ -90,7 +90,7 @@ FW_VERSIONS = {
b'68380571AB', b'68380571AB',
], ],
}, },
CAR.PACIFICA_2020: { CAR.CHRYSLER_PACIFICA_2020: {
(Ecu.combinationMeter, 0x742, None): [ (Ecu.combinationMeter, 0x742, None): [
b'68405327AC', b'68405327AC',
b'68436233AB', b'68436233AB',
@ -162,7 +162,7 @@ FW_VERSIONS = {
b'68586231AD', b'68586231AD',
], ],
}, },
CAR.PACIFICA_2018_HYBRID: { CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [ (Ecu.combinationMeter, 0x742, None): [
b'68358439AE', b'68358439AE',
b'68358439AG', b'68358439AG',
@ -189,7 +189,7 @@ FW_VERSIONS = {
b'05190226AM', b'05190226AM',
], ],
}, },
CAR.PACIFICA_2019_HYBRID: { CAR.CHRYSLER_PACIFICA_2019_HYBRID: {
(Ecu.combinationMeter, 0x742, None): [ (Ecu.combinationMeter, 0x742, None): [
b'68405292AC', b'68405292AC',
b'68434956AC', b'68434956AC',

5
selfdrive/car/chrysler/interface.py
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@ -29,13 +29,14 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate not in RAM_CARS: if candidate not in RAM_CARS:
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed. # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO) new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw) new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
if new_eps_platform or new_eps_firmware: if new_eps_platform or new_eps_firmware:
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
# Chrysler # Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO): if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]

20
selfdrive/car/chrysler/values.py
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@ -32,34 +32,34 @@ class ChryslerCarSpecs(CarSpecs):
class CAR(Platforms): class CAR(Platforms):
# Chrysler # Chrysler
PACIFICA_2017_HYBRID = ChryslerPlatformConfig( CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")], [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2), ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
) )
PACIFICA_2018_HYBRID = ChryslerPlatformConfig( CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")], [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
PACIFICA_2017_HYBRID.specs, CHRYSLER_PACIFICA_2017_HYBRID.specs,
) )
PACIFICA_2019_HYBRID = ChryslerPlatformConfig( CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")], [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
PACIFICA_2017_HYBRID.specs, CHRYSLER_PACIFICA_2017_HYBRID.specs,
) )
PACIFICA_2018 = ChryslerPlatformConfig( CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
[ChryslerCarDocs("Chrysler Pacifica 2017-18")], [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
PACIFICA_2017_HYBRID.specs, CHRYSLER_PACIFICA_2017_HYBRID.specs,
) )
PACIFICA_2020 = ChryslerPlatformConfig( CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
[ [
ChryslerCarDocs("Chrysler Pacifica 2019-20"), ChryslerCarDocs("Chrysler Pacifica 2019-20"),
ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"), ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
], ],
PACIFICA_2017_HYBRID.specs, CHRYSLER_PACIFICA_2017_HYBRID.specs,
) )
# Dodge # Dodge
DODGE_DURANGO = ChryslerPlatformConfig( DODGE_DURANGO = ChryslerPlatformConfig(
[ChryslerCarDocs("Dodge Durango 2020-21")], [ChryslerCarDocs("Dodge Durango 2020-21")],
PACIFICA_2017_HYBRID.specs, CHRYSLER_PACIFICA_2017_HYBRID.specs,
) )
# Jeep # Jeep

2
selfdrive/car/docs_definitions.py
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@ -346,7 +346,7 @@ class CarDocs:
return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc) return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
else: else:
if CP.carFingerprint == "BODY": if CP.carFingerprint == "COMMA_BODY":
return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>" return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
else: else:
raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}") raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")

364
selfdrive/car/fingerprints.py
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@ -64,32 +64,32 @@ MIGRATION = {
"ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX, "ACURA RDX 2018 ACURAWATCH PLUS": HONDA.ACURA_RDX,
"ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G, "ACURA RDX 2020 TECH": HONDA.ACURA_RDX_3G,
"AUDI A3": VW.AUDI_A3_MK3, "AUDI A3": VW.AUDI_A3_MK3,
"HONDA ACCORD 2018 HYBRID TOURING": HONDA.ACCORD, "HONDA ACCORD 2018 HYBRID TOURING": HONDA.HONDA_ACCORD,
"HONDA ACCORD 1.5T 2018": HONDA.ACCORD, "HONDA ACCORD 1.5T 2018": HONDA.HONDA_ACCORD,
"HONDA ACCORD 2018 LX 1.5T": HONDA.ACCORD, "HONDA ACCORD 2018 LX 1.5T": HONDA.HONDA_ACCORD,
"HONDA ACCORD 2018 SPORT 2T": HONDA.ACCORD, "HONDA ACCORD 2018 SPORT 2T": HONDA.HONDA_ACCORD,
"HONDA ACCORD 2T 2018": HONDA.ACCORD, "HONDA ACCORD 2T 2018": HONDA.HONDA_ACCORD,
"HONDA ACCORD HYBRID 2018": HONDA.ACCORD, "HONDA ACCORD HYBRID 2018": HONDA.HONDA_ACCORD,
"HONDA CIVIC 2016 TOURING": HONDA.CIVIC, "HONDA CIVIC 2016 TOURING": HONDA.HONDA_CIVIC,
"HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.CIVIC_BOSCH, "HONDA CIVIC HATCHBACK 2017 SEDAN/COUPE 2019": HONDA.HONDA_CIVIC_BOSCH,
"HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.CIVIC_BOSCH_DIESEL, "HONDA CIVIC SEDAN 1.6 DIESEL": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
"HONDA CR-V 2016 EXECUTIVE": HONDA.CRV_EU, "HONDA CR-V 2016 EXECUTIVE": HONDA.HONDA_CRV_EU,
"HONDA CR-V 2016 TOURING": HONDA.CRV, "HONDA CR-V 2016 TOURING": HONDA.HONDA_CRV,
"HONDA CR-V 2017 EX": HONDA.CRV_5G, "HONDA CR-V 2017 EX": HONDA.HONDA_CRV_5G,
"HONDA CR-V 2019 HYBRID": HONDA.CRV_HYBRID, "HONDA CR-V 2019 HYBRID": HONDA.HONDA_CRV_HYBRID,
"HONDA FIT 2018 EX": HONDA.FIT, "HONDA FIT 2018 EX": HONDA.HONDA_FIT,
"HONDA HRV 2019 TOURING": HONDA.HRV, "HONDA HRV 2019 TOURING": HONDA.HONDA_HRV,
"HONDA INSIGHT 2019 TOURING": HONDA.INSIGHT, "HONDA INSIGHT 2019 TOURING": HONDA.HONDA_INSIGHT,
"HONDA ODYSSEY 2018 EX-L": HONDA.ODYSSEY, "HONDA ODYSSEY 2018 EX-L": HONDA.HONDA_ODYSSEY,
"HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.ODYSSEY_CHN, "HONDA ODYSSEY 2019 EXCLUSIVE CHN": HONDA.HONDA_ODYSSEY_CHN,
"HONDA PILOT 2017 TOURING": HONDA.PILOT, "HONDA PILOT 2017 TOURING": HONDA.HONDA_PILOT,
"HONDA PILOT 2019 ELITE": HONDA.PILOT, "HONDA PILOT 2019 ELITE": HONDA.HONDA_PILOT,
"HONDA PILOT 2019": HONDA.PILOT, "HONDA PILOT 2019": HONDA.HONDA_PILOT,
"HONDA PASSPORT 2021": HONDA.PILOT, "HONDA PASSPORT 2021": HONDA.HONDA_PILOT,
"HONDA RIDGELINE 2017 BLACK EDITION": HONDA.RIDGELINE, "HONDA RIDGELINE 2017 BLACK EDITION": HONDA.HONDA_RIDGELINE,
"HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.ELANTRA, "HYUNDAI ELANTRA LIMITED ULTIMATE 2017": HYUNDAI.HYUNDAI_ELANTRA,
"HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.SANTA_FE, "HYUNDAI SANTA FE LIMITED 2019": HYUNDAI.HYUNDAI_SANTA_FE,
"HYUNDAI TUCSON DIESEL 2019": HYUNDAI.TUCSON, "HYUNDAI TUCSON DIESEL 2019": HYUNDAI.HYUNDAI_TUCSON,
"KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4, "KIA OPTIMA 2016": HYUNDAI.KIA_OPTIMA_G4,
"KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL, "KIA OPTIMA 2019": HYUNDAI.KIA_OPTIMA_G4_FL,
"KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL, "KIA OPTIMA SX 2019 & 2016": HYUNDAI.KIA_OPTIMA_G4_FL,
@ -102,118 +102,118 @@ MIGRATION = {
"LEXUS RX 350 2016": TOYOTA.LEXUS_RX, "LEXUS RX 350 2016": TOYOTA.LEXUS_RX,
"LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2, "LEXUS RX350 2020": TOYOTA.LEXUS_RX_TSS2,
"LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2, "LEXUS RX450 HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
"TOYOTA SIENNA XLE 2018": TOYOTA.SIENNA, "TOYOTA SIENNA XLE 2018": TOYOTA.TOYOTA_SIENNA,
"TOYOTA C-HR HYBRID 2018": TOYOTA.CHR, "TOYOTA C-HR HYBRID 2018": TOYOTA.TOYOTA_CHR,
"TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.COROLLA_TSS2, "TOYOTA COROLLA HYBRID TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
"TOYOTA RAV4 HYBRID 2019": TOYOTA.RAV4_TSS2, "TOYOTA RAV4 HYBRID 2019": TOYOTA.TOYOTA_RAV4_TSS2,
"LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2, "LEXUS ES HYBRID 2019": TOYOTA.LEXUS_ES_TSS2,
"LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX, "LEXUS NX HYBRID 2018": TOYOTA.LEXUS_NX,
"LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2, "LEXUS NX HYBRID 2020": TOYOTA.LEXUS_NX_TSS2,
"LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2, "LEXUS RX HYBRID 2020": TOYOTA.LEXUS_RX_TSS2,
"TOYOTA ALPHARD HYBRID 2021": TOYOTA.ALPHARD_TSS2, "TOYOTA ALPHARD HYBRID 2021": TOYOTA.TOYOTA_ALPHARD_TSS2,
"TOYOTA AVALON HYBRID 2019": TOYOTA.AVALON_2019, "TOYOTA AVALON HYBRID 2019": TOYOTA.TOYOTA_AVALON_2019,
"TOYOTA AVALON HYBRID 2022": TOYOTA.AVALON_TSS2, "TOYOTA AVALON HYBRID 2022": TOYOTA.TOYOTA_AVALON_TSS2,
"TOYOTA CAMRY HYBRID 2018": TOYOTA.CAMRY, "TOYOTA CAMRY HYBRID 2018": TOYOTA.TOYOTA_CAMRY,
"TOYOTA CAMRY HYBRID 2021": TOYOTA.CAMRY_TSS2, "TOYOTA CAMRY HYBRID 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
"TOYOTA C-HR HYBRID 2022": TOYOTA.CHR_TSS2, "TOYOTA C-HR HYBRID 2022": TOYOTA.TOYOTA_CHR_TSS2,
"TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.HIGHLANDER_TSS2, "TOYOTA HIGHLANDER HYBRID 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
"TOYOTA RAV4 HYBRID 2022": TOYOTA.RAV4_TSS2_2022, "TOYOTA RAV4 HYBRID 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
"TOYOTA RAV4 HYBRID 2023": TOYOTA.RAV4_TSS2_2023, "TOYOTA RAV4 HYBRID 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
"TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.HIGHLANDER, "TOYOTA HIGHLANDER HYBRID 2018": TOYOTA.TOYOTA_HIGHLANDER,
"LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES, "LEXUS ES HYBRID 2018": TOYOTA.LEXUS_ES,
"LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX, "LEXUS RX HYBRID 2017": TOYOTA.LEXUS_RX,
"HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.TUCSON_4TH_GEN, "HYUNDAI TUCSON HYBRID 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
"KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN, "KIA SPORTAGE HYBRID 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
"KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, "KIA SORENTO PLUG-IN HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
# Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/ # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
"COMMA BODY": BODY.BODY, "COMMA BODY": BODY.COMMA_BODY,
"CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.PACIFICA_2017_HYBRID, "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
"CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.PACIFICA_2018_HYBRID, "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
"CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.PACIFICA_2019_HYBRID, "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
"CHRYSLER PACIFICA 2018": CHRYSLER.PACIFICA_2018, "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
"CHRYSLER PACIFICA 2020": CHRYSLER.PACIFICA_2020, "CHRYSLER PACIFICA 2020": CHRYSLER.CHRYSLER_PACIFICA_2020,
"DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO, "DODGE DURANGO 2021": CHRYSLER.DODGE_DURANGO,
"RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN, "RAM 1500 5TH GEN": CHRYSLER.RAM_1500_5TH_GEN,
"RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN, "RAM HD 5TH GEN": CHRYSLER.RAM_HD_5TH_GEN,
"FORD BRONCO SPORT 1ST GEN": FORD.BRONCO_SPORT_MK1, "FORD BRONCO SPORT 1ST GEN": FORD.FORD_BRONCO_SPORT_MK1,
"FORD ESCAPE 4TH GEN": FORD.ESCAPE_MK4, "FORD ESCAPE 4TH GEN": FORD.FORD_ESCAPE_MK4,
"FORD EXPLORER 6TH GEN": FORD.EXPLORER_MK6, "FORD EXPLORER 6TH GEN": FORD.FORD_EXPLORER_MK6,
"FORD F-150 14TH GEN": FORD.F_150_MK14, "FORD F-150 14TH GEN": FORD.FORD_F_150_MK14,
"FORD F-150 LIGHTNING 1ST GEN": FORD.F_150_LIGHTNING_MK1, "FORD F-150 LIGHTNING 1ST GEN": FORD.FORD_F_150_LIGHTNING_MK1,
"FORD FOCUS 4TH GEN": FORD.FOCUS_MK4, "FORD FOCUS 4TH GEN": FORD.FORD_FOCUS_MK4,
"FORD MAVERICK 1ST GEN": FORD.MAVERICK_MK1, "FORD MAVERICK 1ST GEN": FORD.FORD_MAVERICK_MK1,
"FORD MUSTANG MACH-E 1ST GEN": FORD.MUSTANG_MACH_E_MK1, "FORD MUSTANG MACH-E 1ST GEN": FORD.FORD_MUSTANG_MACH_E_MK1,
"HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA, "HOLDEN ASTRA RS-V BK 2017": GM.HOLDEN_ASTRA,
"CHEVROLET VOLT PREMIER 2017": GM.VOLT, "CHEVROLET VOLT PREMIER 2017": GM.CHEVROLET_VOLT,
"CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS, "CADILLAC ATS Premium Performance 2018": GM.CADILLAC_ATS,
"CHEVROLET MALIBU PREMIER 2017": GM.MALIBU, "CHEVROLET MALIBU PREMIER 2017": GM.CHEVROLET_MALIBU,
"GMC ACADIA DENALI 2018": GM.ACADIA, "GMC ACADIA DENALI 2018": GM.GMC_ACADIA,
"BUICK LACROSSE 2017": GM.BUICK_LACROSSE, "BUICK LACROSSE 2017": GM.BUICK_LACROSSE,
"BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL, "BUICK REGAL ESSENCE 2018": GM.BUICK_REGAL,
"CADILLAC ESCALADE 2017": GM.ESCALADE, "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
"CADILLAC ESCALADE ESV 2016": GM.ESCALADE_ESV, "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
"CADILLAC ESCALADE ESV 2019": GM.ESCALADE_ESV_2019, "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
"CHEVROLET BOLT EUV 2022": GM.BOLT_EUV, "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
"CHEVROLET SILVERADO 1500 2020": GM.SILVERADO, "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
"CHEVROLET EQUINOX 2019": GM.EQUINOX, "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
"CHEVROLET TRAILBLAZER 2021": GM.TRAILBLAZER, "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
"HONDA ACCORD 2018": HONDA.ACCORD, "HONDA ACCORD 2018": HONDA.HONDA_ACCORD,
"HONDA CIVIC (BOSCH) 2019": HONDA.CIVIC_BOSCH, "HONDA CIVIC (BOSCH) 2019": HONDA.HONDA_CIVIC_BOSCH,
"HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.CIVIC_BOSCH_DIESEL, "HONDA CIVIC SEDAN 1.6 DIESEL 2019": HONDA.HONDA_CIVIC_BOSCH_DIESEL,
"HONDA CIVIC 2022": HONDA.CIVIC_2022, "HONDA CIVIC 2022": HONDA.HONDA_CIVIC_2022,
"HONDA CR-V 2017": HONDA.CRV_5G, "HONDA CR-V 2017": HONDA.HONDA_CRV_5G,
"HONDA CR-V HYBRID 2019": HONDA.CRV_HYBRID, "HONDA CR-V HYBRID 2019": HONDA.HONDA_CRV_HYBRID,
"HONDA HR-V 2023": HONDA.HRV_3G, "HONDA HR-V 2023": HONDA.HONDA_HRV_3G,
"ACURA RDX 2020": HONDA.ACURA_RDX_3G, "ACURA RDX 2020": HONDA.ACURA_RDX_3G,
"HONDA INSIGHT 2019": HONDA.INSIGHT, "HONDA INSIGHT 2019": HONDA.HONDA_INSIGHT,
"HONDA E 2020": HONDA.HONDA_E, "HONDA E 2020": HONDA.HONDA_E,
"ACURA ILX 2016": HONDA.ACURA_ILX, "ACURA ILX 2016": HONDA.ACURA_ILX,
"HONDA CR-V 2016": HONDA.CRV, "HONDA CR-V 2016": HONDA.HONDA_CRV,
"HONDA CR-V EU 2016": HONDA.CRV_EU, "HONDA CR-V EU 2016": HONDA.HONDA_CRV_EU,
"HONDA FIT 2018": HONDA.FIT, "HONDA FIT 2018": HONDA.HONDA_FIT,
"HONDA FREED 2020": HONDA.FREED, "HONDA FREED 2020": HONDA.HONDA_FREED,
"HONDA HRV 2019": HONDA.HRV, "HONDA HRV 2019": HONDA.HONDA_HRV,
"HONDA ODYSSEY 2018": HONDA.ODYSSEY, "HONDA ODYSSEY 2018": HONDA.HONDA_ODYSSEY,
"HONDA ODYSSEY CHN 2019": HONDA.ODYSSEY_CHN, "HONDA ODYSSEY CHN 2019": HONDA.HONDA_ODYSSEY_CHN,
"ACURA RDX 2018": HONDA.ACURA_RDX, "ACURA RDX 2018": HONDA.ACURA_RDX,
"HONDA PILOT 2017": HONDA.PILOT, "HONDA PILOT 2017": HONDA.HONDA_PILOT,
"HONDA RIDGELINE 2017": HONDA.RIDGELINE, "HONDA RIDGELINE 2017": HONDA.HONDA_RIDGELINE,
"HONDA CIVIC 2016": HONDA.CIVIC, "HONDA CIVIC 2016": HONDA.HONDA_CIVIC,
"HYUNDAI AZERA 6TH GEN": HYUNDAI.AZERA_6TH_GEN, "HYUNDAI AZERA 6TH GEN": HYUNDAI.HYUNDAI_AZERA_6TH_GEN,
"HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.AZERA_HEV_6TH_GEN, "HYUNDAI AZERA HYBRID 6TH GEN": HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN,
"HYUNDAI ELANTRA 2017": HYUNDAI.ELANTRA, "HYUNDAI ELANTRA 2017": HYUNDAI.HYUNDAI_ELANTRA,
"HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.ELANTRA_GT_I30, "HYUNDAI I30 N LINE 2019 & GT 2018 DCT": HYUNDAI.HYUNDAI_ELANTRA_GT_I30,
"HYUNDAI ELANTRA 2021": HYUNDAI.ELANTRA_2021, "HYUNDAI ELANTRA 2021": HYUNDAI.HYUNDAI_ELANTRA_2021,
"HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.ELANTRA_HEV_2021, "HYUNDAI ELANTRA HYBRID 2021": HYUNDAI.HYUNDAI_ELANTRA_HEV_2021,
"HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS, "HYUNDAI GENESIS 2015-2016": HYUNDAI.HYUNDAI_GENESIS,
"HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.IONIQ, "HYUNDAI IONIQ HYBRID 2017-2019": HYUNDAI.HYUNDAI_IONIQ,
"HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.IONIQ_HEV_2022, "HYUNDAI IONIQ HYBRID 2020-2022": HYUNDAI.HYUNDAI_IONIQ_HEV_2022,
"HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.IONIQ_EV_LTD, "HYUNDAI IONIQ ELECTRIC LIMITED 2019": HYUNDAI.HYUNDAI_IONIQ_EV_LTD,
"HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.IONIQ_EV_2020, "HYUNDAI IONIQ ELECTRIC 2020": HYUNDAI.HYUNDAI_IONIQ_EV_2020,
"HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.IONIQ_PHEV_2019, "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
"HYUNDAI IONIQ PHEV 2020": HYUNDAI.IONIQ_PHEV, "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
"HYUNDAI KONA 2020": HYUNDAI.KONA, "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
"HYUNDAI KONA ELECTRIC 2019": HYUNDAI.KONA_EV, "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
"HYUNDAI KONA ELECTRIC 2022": HYUNDAI.KONA_EV_2022, "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
"HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.KONA_EV_2ND_GEN, "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
"HYUNDAI KONA HYBRID 2020": HYUNDAI.KONA_HEV, "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
"HYUNDAI SANTA FE 2019": HYUNDAI.SANTA_FE, "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
"HYUNDAI SANTA FE 2022": HYUNDAI.SANTA_FE_2022, "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
"HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.SANTA_FE_HEV_2022, "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
"HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.SANTA_FE_PHEV_2022, "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
"HYUNDAI SONATA 2020": HYUNDAI.SONATA, "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
"HYUNDAI SONATA 2019": HYUNDAI.SONATA_LF, "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
"HYUNDAI STARIA 4TH GEN": HYUNDAI.STARIA_4TH_GEN, "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
"HYUNDAI TUCSON 2019": HYUNDAI.TUCSON, "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
"HYUNDAI PALISADE 2020": HYUNDAI.PALISADE, "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
"HYUNDAI VELOSTER 2019": HYUNDAI.VELOSTER, "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
"HYUNDAI SONATA HYBRID 2021": HYUNDAI.SONATA_HYBRID, "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
"HYUNDAI IONIQ 5 2022": HYUNDAI.IONIQ_5, "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
"HYUNDAI IONIQ 6 2023": HYUNDAI.IONIQ_6, "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
"HYUNDAI TUCSON 4TH GEN": HYUNDAI.TUCSON_4TH_GEN, "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
"HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.SANTA_CRUZ_1ST_GEN, "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
"HYUNDAI CUSTIN 1ST GEN": HYUNDAI.CUSTIN_1ST_GEN, "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
"KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE, "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
"KIA K5 2021": HYUNDAI.KIA_K5_2021, "KIA K5 2021": HYUNDAI.KIA_K5_2021,
"KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020, "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
@ -245,56 +245,56 @@ MIGRATION = {
"GENESIS G80 2017": HYUNDAI.GENESIS_G80, "GENESIS G80 2017": HYUNDAI.GENESIS_G80,
"GENESIS G90 2017": HYUNDAI.GENESIS_G90, "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
"GENESIS GV80 2023": HYUNDAI.GENESIS_GV80, "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
"MAZDA CX-5": MAZDA.CX5, "MAZDA CX-5": MAZDA.MAZDA_CX5,
"MAZDA CX-9": MAZDA.CX9, "MAZDA CX-9": MAZDA.MAZDA_CX9,
"MAZDA 3": MAZDA.MAZDA3, "MAZDA 3": MAZDA.MAZDA_3,
"MAZDA 6": MAZDA.MAZDA6, "MAZDA 6": MAZDA.MAZDA_6,
"MAZDA CX-9 2021": MAZDA.CX9_2021, "MAZDA CX-9 2021": MAZDA.MAZDA_CX9_2021,
"MAZDA CX-5 2022": MAZDA.CX5_2022, "MAZDA CX-5 2022": MAZDA.MAZDA_CX5_2022,
"NISSAN X-TRAIL 2017": NISSAN.XTRAIL, "NISSAN X-TRAIL 2017": NISSAN.NISSAN_XTRAIL,
"NISSAN LEAF 2018": NISSAN.LEAF, "NISSAN LEAF 2018": NISSAN.NISSAN_LEAF,
"NISSAN ROGUE 2019": NISSAN.ROGUE, "NISSAN ROGUE 2019": NISSAN.NISSAN_ROGUE,
"NISSAN ALTIMA 2020": NISSAN.ALTIMA, "NISSAN ALTIMA 2020": NISSAN.NISSAN_ALTIMA,
"SUBARU ASCENT LIMITED 2019": SUBARU.ASCENT, "SUBARU ASCENT LIMITED 2019": SUBARU.SUBARU_ASCENT,
"SUBARU OUTBACK 6TH GEN": SUBARU.OUTBACK, "SUBARU OUTBACK 6TH GEN": SUBARU.SUBARU_OUTBACK,
"SUBARU LEGACY 7TH GEN": SUBARU.LEGACY, "SUBARU LEGACY 7TH GEN": SUBARU.SUBARU_LEGACY,
"SUBARU IMPREZA LIMITED 2019": SUBARU.IMPREZA, "SUBARU IMPREZA LIMITED 2019": SUBARU.SUBARU_IMPREZA,
"SUBARU IMPREZA SPORT 2020": SUBARU.IMPREZA_2020, "SUBARU IMPREZA SPORT 2020": SUBARU.SUBARU_IMPREZA_2020,
"SUBARU CROSSTREK HYBRID 2020": SUBARU.CROSSTREK_HYBRID, "SUBARU CROSSTREK HYBRID 2020": SUBARU.SUBARU_CROSSTREK_HYBRID,
"SUBARU FORESTER 2019": SUBARU.FORESTER, "SUBARU FORESTER 2019": SUBARU.SUBARU_FORESTER,
"SUBARU FORESTER HYBRID 2020": SUBARU.FORESTER_HYBRID, "SUBARU FORESTER HYBRID 2020": SUBARU.SUBARU_FORESTER_HYBRID,
"SUBARU FORESTER 2017 - 2018": SUBARU.FORESTER_PREGLOBAL, "SUBARU FORESTER 2017 - 2018": SUBARU.SUBARU_FORESTER_PREGLOBAL,
"SUBARU LEGACY 2015 - 2018": SUBARU.LEGACY_PREGLOBAL, "SUBARU LEGACY 2015 - 2018": SUBARU.SUBARU_LEGACY_PREGLOBAL,
"SUBARU OUTBACK 2015 - 2017": SUBARU.OUTBACK_PREGLOBAL, "SUBARU OUTBACK 2015 - 2017": SUBARU.SUBARU_OUTBACK_PREGLOBAL,
"SUBARU OUTBACK 2018 - 2019": SUBARU.OUTBACK_PREGLOBAL_2018, "SUBARU OUTBACK 2018 - 2019": SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018,
"SUBARU FORESTER 2022": SUBARU.FORESTER_2022, "SUBARU FORESTER 2022": SUBARU.SUBARU_FORESTER_2022,
"SUBARU OUTBACK 7TH GEN": SUBARU.OUTBACK_2023, "SUBARU OUTBACK 7TH GEN": SUBARU.SUBARU_OUTBACK_2023,
"SUBARU ASCENT 2023": SUBARU.ASCENT_2023, "SUBARU ASCENT 2023": SUBARU.SUBARU_ASCENT_2023,
'TESLA AP1 MODEL S': TESLA.AP1_MODELS, 'TESLA AP1 MODEL S': TESLA.TESLA_AP1_MODELS,
'TESLA AP2 MODEL S': TESLA.AP2_MODELS, 'TESLA AP2 MODEL S': TESLA.TESLA_AP2_MODELS,
'TESLA MODEL S RAVEN': TESLA.MODELS_RAVEN, 'TESLA MODEL S RAVEN': TESLA.TESLA_MODELS_RAVEN,
"TOYOTA ALPHARD 2020": TOYOTA.ALPHARD_TSS2, "TOYOTA ALPHARD 2020": TOYOTA.TOYOTA_ALPHARD_TSS2,
"TOYOTA AVALON 2016": TOYOTA.AVALON, "TOYOTA AVALON 2016": TOYOTA.TOYOTA_AVALON,
"TOYOTA AVALON 2019": TOYOTA.AVALON_2019, "TOYOTA AVALON 2019": TOYOTA.TOYOTA_AVALON_2019,
"TOYOTA AVALON 2022": TOYOTA.AVALON_TSS2, "TOYOTA AVALON 2022": TOYOTA.TOYOTA_AVALON_TSS2,
"TOYOTA CAMRY 2018": TOYOTA.CAMRY, "TOYOTA CAMRY 2018": TOYOTA.TOYOTA_CAMRY,
"TOYOTA CAMRY 2021": TOYOTA.CAMRY_TSS2, "TOYOTA CAMRY 2021": TOYOTA.TOYOTA_CAMRY_TSS2,
"TOYOTA C-HR 2018": TOYOTA.CHR, "TOYOTA C-HR 2018": TOYOTA.TOYOTA_CHR,
"TOYOTA C-HR 2021": TOYOTA.CHR_TSS2, "TOYOTA C-HR 2021": TOYOTA.TOYOTA_CHR_TSS2,
"TOYOTA COROLLA 2017": TOYOTA.COROLLA, "TOYOTA COROLLA 2017": TOYOTA.TOYOTA_COROLLA,
"TOYOTA COROLLA TSS2 2019": TOYOTA.COROLLA_TSS2, "TOYOTA COROLLA TSS2 2019": TOYOTA.TOYOTA_COROLLA_TSS2,
"TOYOTA HIGHLANDER 2017": TOYOTA.HIGHLANDER, "TOYOTA HIGHLANDER 2017": TOYOTA.TOYOTA_HIGHLANDER,
"TOYOTA HIGHLANDER 2020": TOYOTA.HIGHLANDER_TSS2, "TOYOTA HIGHLANDER 2020": TOYOTA.TOYOTA_HIGHLANDER_TSS2,
"TOYOTA PRIUS 2017": TOYOTA.PRIUS, "TOYOTA PRIUS 2017": TOYOTA.TOYOTA_PRIUS,
"TOYOTA PRIUS v 2017": TOYOTA.PRIUS_V, "TOYOTA PRIUS v 2017": TOYOTA.TOYOTA_PRIUS_V,
"TOYOTA PRIUS TSS2 2021": TOYOTA.PRIUS_TSS2, "TOYOTA PRIUS TSS2 2021": TOYOTA.TOYOTA_PRIUS_TSS2,
"TOYOTA RAV4 2017": TOYOTA.RAV4, "TOYOTA RAV4 2017": TOYOTA.TOYOTA_RAV4,
"TOYOTA RAV4 HYBRID 2017": TOYOTA.RAV4H, "TOYOTA RAV4 HYBRID 2017": TOYOTA.TOYOTA_RAV4H,
"TOYOTA RAV4 2019": TOYOTA.RAV4_TSS2, "TOYOTA RAV4 2019": TOYOTA.TOYOTA_RAV4_TSS2,
"TOYOTA RAV4 2022": TOYOTA.RAV4_TSS2_2022, "TOYOTA RAV4 2022": TOYOTA.TOYOTA_RAV4_TSS2_2022,
"TOYOTA RAV4 2023": TOYOTA.RAV4_TSS2_2023, "TOYOTA RAV4 2023": TOYOTA.TOYOTA_RAV4_TSS2_2023,
"TOYOTA MIRAI 2021": TOYOTA.MIRAI, "TOYOTA MIRAI 2021": TOYOTA.TOYOTA_MIRAI,
"TOYOTA SIENNA 2018": TOYOTA.SIENNA, "TOYOTA SIENNA 2018": TOYOTA.TOYOTA_SIENNA,
"LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH, "LEXUS CT HYBRID 2018": TOYOTA.LEXUS_CTH,
"LEXUS ES 2018": TOYOTA.LEXUS_ES, "LEXUS ES 2018": TOYOTA.LEXUS_ES,
"LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2, "LEXUS ES 2019": TOYOTA.LEXUS_ES_TSS2,
@ -307,22 +307,22 @@ MIGRATION = {
"LEXUS RX 2016": TOYOTA.LEXUS_RX, "LEXUS RX 2016": TOYOTA.LEXUS_RX,
"LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2, "LEXUS RX 2020": TOYOTA.LEXUS_RX_TSS2,
"LEXUS GS F 2016": TOYOTA.LEXUS_GS_F, "LEXUS GS F 2016": TOYOTA.LEXUS_GS_F,
"VOLKSWAGEN ARTEON 1ST GEN": VW.ARTEON_MK1, "VOLKSWAGEN ARTEON 1ST GEN": VW.VOLKSWAGEN_ARTEON_MK1,
"VOLKSWAGEN ATLAS 1ST GEN": VW.ATLAS_MK1, "VOLKSWAGEN ATLAS 1ST GEN": VW.VOLKSWAGEN_ATLAS_MK1,
"VOLKSWAGEN CADDY 3RD GEN": VW.CADDY_MK3, "VOLKSWAGEN CADDY 3RD GEN": VW.VOLKSWAGEN_CADDY_MK3,
"VOLKSWAGEN CRAFTER 2ND GEN": VW.CRAFTER_MK2, "VOLKSWAGEN CRAFTER 2ND GEN": VW.VOLKSWAGEN_CRAFTER_MK2,
"VOLKSWAGEN GOLF 7TH GEN": VW.GOLF_MK7, "VOLKSWAGEN GOLF 7TH GEN": VW.VOLKSWAGEN_GOLF_MK7,
"VOLKSWAGEN JETTA 7TH GEN": VW.JETTA_MK7, "VOLKSWAGEN JETTA 7TH GEN": VW.VOLKSWAGEN_JETTA_MK7,
"VOLKSWAGEN PASSAT 8TH GEN": VW.PASSAT_MK8, "VOLKSWAGEN PASSAT 8TH GEN": VW.VOLKSWAGEN_PASSAT_MK8,
"VOLKSWAGEN PASSAT NMS": VW.PASSAT_NMS, "VOLKSWAGEN PASSAT NMS": VW.VOLKSWAGEN_PASSAT_NMS,
"VOLKSWAGEN POLO 6TH GEN": VW.POLO_MK6, "VOLKSWAGEN POLO 6TH GEN": VW.VOLKSWAGEN_POLO_MK6,
"VOLKSWAGEN SHARAN 2ND GEN": VW.SHARAN_MK2, "VOLKSWAGEN SHARAN 2ND GEN": VW.VOLKSWAGEN_SHARAN_MK2,
"VOLKSWAGEN TAOS 1ST GEN": VW.TAOS_MK1, "VOLKSWAGEN TAOS 1ST GEN": VW.VOLKSWAGEN_TAOS_MK1,
"VOLKSWAGEN T-CROSS 1ST GEN": VW.TCROSS_MK1, "VOLKSWAGEN T-CROSS 1ST GEN": VW.VOLKSWAGEN_TCROSS_MK1,
"VOLKSWAGEN TIGUAN 2ND GEN": VW.TIGUAN_MK2, "VOLKSWAGEN TIGUAN 2ND GEN": VW.VOLKSWAGEN_TIGUAN_MK2,
"VOLKSWAGEN TOURAN 2ND GEN": VW.TOURAN_MK2, "VOLKSWAGEN TOURAN 2ND GEN": VW.VOLKSWAGEN_TOURAN_MK2,
"VOLKSWAGEN TRANSPORTER T6.1": VW.TRANSPORTER_T61, "VOLKSWAGEN TRANSPORTER T6.1": VW.VOLKSWAGEN_TRANSPORTER_T61,
"VOLKSWAGEN T-ROC 1ST GEN": VW.TROC_MK1, "VOLKSWAGEN T-ROC 1ST GEN": VW.VOLKSWAGEN_TROC_MK1,
"AUDI A3 3RD GEN": VW.AUDI_A3_MK3, "AUDI A3 3RD GEN": VW.AUDI_A3_MK3,
"AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1, "AUDI Q2 1ST GEN": VW.AUDI_Q2_MK1,
"AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2, "AUDI Q3 2ND GEN": VW.AUDI_Q3_MK2,

16
selfdrive/car/ford/fingerprints.py
Unescape View File

@ -4,7 +4,7 @@ from openpilot.selfdrive.car.ford.values import CAR
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
FW_VERSIONS = { FW_VERSIONS = {
CAR.BRONCO_SPORT_MK1: { CAR.FORD_BRONCO_SPORT_MK1: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -23,7 +23,7 @@ FW_VERSIONS = {
b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.ESCAPE_MK4: { CAR.FORD_ESCAPE_MK4: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -46,7 +46,7 @@ FW_VERSIONS = {
b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.EXPLORER_MK6: { CAR.FORD_EXPLORER_MK6: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -74,7 +74,7 @@ FW_VERSIONS = {
b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.F_150_MK14: { CAR.FORD_F_150_MK14: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
@ -89,7 +89,7 @@ FW_VERSIONS = {
b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.F_150_LIGHTNING_MK1: { CAR.FORD_F_150_LIGHTNING_MK1: {
(Ecu.abs, 0x760, None): [ (Ecu.abs, 0x760, None): [
b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
@ -100,7 +100,7 @@ FW_VERSIONS = {
b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.MUSTANG_MACH_E_MK1: { CAR.FORD_MUSTANG_MACH_E_MK1: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LJ9C-14D003-AM\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LJ9C-14D003-CC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -115,7 +115,7 @@ FW_VERSIONS = {
b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'ML3T-14H102-ABS\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.FOCUS_MK4: { CAR.FORD_FOCUS_MK4: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
@ -129,7 +129,7 @@ FW_VERSIONS = {
b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.MAVERICK_MK1: { CAR.FORD_MAVERICK_MK1: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],

18
selfdrive/car/ford/values.py
Unescape View File

@ -66,7 +66,7 @@ class FordCarDocs(CarDocs):
def init_make(self, CP: car.CarParams): def init_make(self, CP: car.CarParams):
harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3 harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1): if CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_MAVERICK_MK1, CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1):
self.car_parts = CarParts([Device.threex_angled_mount, harness]) self.car_parts = CarParts([Device.threex_angled_mount, harness])
else: else:
self.car_parts = CarParts([Device.threex, harness]) self.car_parts = CarParts([Device.threex, harness])
@ -96,44 +96,44 @@ class FordCANFDPlatformConfig(FordPlatformConfig):
class CAR(Platforms): class CAR(Platforms):
BRONCO_SPORT_MK1 = FordPlatformConfig( FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
[FordCarDocs("Ford Bronco Sport 2021-23")], [FordCarDocs("Ford Bronco Sport 2021-23")],
CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7), CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
) )
ESCAPE_MK4 = FordPlatformConfig( FORD_ESCAPE_MK4 = FordPlatformConfig(
[ [
FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True), FordCarDocs("Ford Escape 2020-22", hybrid=True, plug_in_hybrid=True),
FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True), FordCarDocs("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
], ],
CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7), CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
) )
EXPLORER_MK6 = FordPlatformConfig( FORD_EXPLORER_MK6 = FordPlatformConfig(
[ [
FordCarDocs("Ford Explorer 2020-23", hybrid=True), # Hybrid: Limited and Platinum only FordCarDocs("Ford Explorer 2020-23", hybrid=True), # Hybrid: Limited and Platinum only
FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only FordCarDocs("Lincoln Aviator 2020-23", "Co-Pilot360 Plus", plug_in_hybrid=True), # Hybrid: Grand Touring only
], ],
CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8), CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
) )
F_150_MK14 = FordCANFDPlatformConfig( FORD_F_150_MK14 = FordCANFDPlatformConfig(
[FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)], [FordCarDocs("Ford F-150 2022-23", "Co-Pilot360 Active 2.0", hybrid=True)],
CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0), CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
) )
F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig( FORD_F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
[FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")], [FordCarDocs("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0")],
CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
) )
FOCUS_MK4 = FordPlatformConfig( FORD_FOCUS_MK4 = FordPlatformConfig(
[FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)], # mHEV only
CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0), CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
) )
MAVERICK_MK1 = FordPlatformConfig( FORD_MAVERICK_MK1 = FordPlatformConfig(
[ [
FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True), FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True), FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
], ],
CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0), CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
) )
MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig( FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
[FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")], [FordCarDocs("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0")],
CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio
) )

18
selfdrive/car/gm/fingerprints.py
Unescape View File

@ -9,7 +9,7 @@ FINGERPRINTS = {
CAR.HOLDEN_ASTRA: [{ CAR.HOLDEN_ASTRA: [{
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
}], }],
CAR.VOLT: [{ CAR.CHEVROLET_VOLT: [{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
}, },
{ {
@ -27,31 +27,31 @@ FINGERPRINTS = {
CAR.CADILLAC_ATS: [{ CAR.CADILLAC_ATS: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}], }],
CAR.MALIBU: [{ CAR.CHEVROLET_MALIBU: [{
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}], }],
CAR.ACADIA: [{ CAR.GMC_ACADIA: [{
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}, },
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}], }],
CAR.ESCALADE: [{ CAR.CADILLAC_ESCALADE: [{
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}], }],
CAR.ESCALADE_ESV: [{ CAR.CADILLAC_ESCALADE_ESV: [{
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}], }],
CAR.ESCALADE_ESV_2019: [{ CAR.CADILLAC_ESCALADE_ESV_2019: [{
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}], }],
CAR.BOLT_EUV: [{ CAR.CHEVROLET_BOLT_EUV: [{
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}], }],
CAR.SILVERADO: [{ CAR.CHEVROLET_SILVERADO: [{
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}], }],
CAR.EQUINOX: [{ CAR.CHEVROLET_EQUINOX: [{
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}, },
{ {

2
selfdrive/car/gm/gmcan.py
Unescape View File

@ -76,7 +76,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
mode = 0x1 mode = 0x1
# TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
if enabled and CP.carFingerprint in (CAR.BOLT_EUV,): if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
mode = 0x9 mode = 0x9
if apply_brake > 0: if apply_brake > 0:

30
selfdrive/car/gm/interface.py
Unescape View File

@ -22,9 +22,9 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
NON_LINEAR_TORQUE_PARAMS = { NON_LINEAR_TORQUE_PARAMS = {
CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178], CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772], CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122] CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
} }
NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json') NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase):
return 0.10006696 * sigmoid * (v_ego + 3.12485927) return 0.10006696 * sigmoid * (v_ego + 3.12485927)
def get_steer_feedforward_function(self): def get_steer_feedforward_function(self):
if self.CP.carFingerprint == CAR.VOLT: if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
return self.get_steer_feedforward_volt return self.get_steer_feedforward_volt
else: else:
return CarInterfaceBase.get_steer_feedforward_default return CarInterfaceBase.get_steer_feedforward_default
@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
return float(self.neural_ff_model.predict(inputs)) + friction return float(self.neural_ff_model.predict(inputs)) + friction
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
if self.CP.carFingerprint == CAR.BOLT_EUV: if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint) self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
return self.torque_from_lateral_accel_neural return self.torque_from_lateral_accel_neural
elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS: elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
# These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is # These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list. # added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} or \ ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable) (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
@ -150,7 +150,7 @@ class CarInterface(CarInterfaceBase):
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
if candidate == CAR.VOLT: if candidate == CAR.CHEVROLET_VOLT:
ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17] ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kiBP = [0.]
@ -158,7 +158,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt() ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
elif candidate == CAR.ACADIA: elif candidate == CAR.GMC_ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@ -166,14 +166,14 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.BUICK_LACROSSE: elif candidate == CAR.BUICK_LACROSSE:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.ESCALADE: elif candidate == CAR.CADILLAC_ESCALADE:
ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.minEnableSpeed = -1. # engage speed is decided by pcm
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019): elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.minEnableSpeed = -1. # engage speed is decided by pcm
if candidate == CAR.ESCALADE_ESV: if candidate == CAR.CADILLAC_ESCALADE_ESV:
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045 ret.lateralTuning.pid.kf = 0.000045
@ -181,11 +181,11 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BOLT_EUV: elif candidate == CAR.CHEVROLET_BOLT_EUV:
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.SILVERADO: elif candidate == CAR.CHEVROLET_SILVERADO:
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera. # with foot on brake to allow engagement, but this platform only has that check in the camera.
# TODO: check if this is split by EV/ICE with more platforms in the future # TODO: check if this is split by EV/ICE with more platforms in the future
@ -193,10 +193,10 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = -1. ret.minEnableSpeed = -1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.EQUINOX: elif candidate == CAR.CHEVROLET_EQUINOX:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.TRAILBLAZER: elif candidate == CAR.CHEVROLET_TRAILBLAZER:
ret.steerActuatorDelay = 0.2 ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

4
selfdrive/car/gm/tests/test_gm.py
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@ -14,11 +14,11 @@ class TestGMFingerprint(unittest.TestCase):
self.assertGreater(len(fingerprints), 0) self.assertGreater(len(fingerprints), 0)
# Trailblazer is in dashcam # Trailblazer is in dashcam
if car_model != CAR.TRAILBLAZER: if car_model != CAR.CHEVROLET_TRAILBLAZER:
self.assertTrue(all(len(finger) for finger in fingerprints)) self.assertTrue(all(len(finger) for finger in fingerprints))
# The camera can sometimes be communicating on startup # The camera can sometimes be communicating on startup
if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}: if car_model in CAMERA_ACC_CAR - {CAR.CHEVROLET_TRAILBLAZER}:
for finger in fingerprints: for finger in fingerprints:
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET): for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
self.assertEqual(finger.get(required_addr), 8, required_addr) self.assertEqual(finger.get(required_addr), 8, required_addr)

26
selfdrive/car/gm/values.py
Unescape View File

@ -94,7 +94,7 @@ class CAR(Platforms):
[GMCarDocs("Holden Astra 2017")], [GMCarDocs("Holden Astra 2017")],
GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
) )
VOLT = GMPlatformConfig( CHEVROLET_VOLT = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")], [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469), GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
) )
@ -102,11 +102,11 @@ class CAR(Platforms):
[GMCarDocs("Cadillac ATS Premium Performance 2018")], [GMCarDocs("Cadillac ATS Premium Performance 2018")],
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
) )
MALIBU = GMPlatformConfig( CHEVROLET_MALIBU = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu Premier 2017")], [GMCarDocs("Chevrolet Malibu Premier 2017")],
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
) )
ACADIA = GMPlatformConfig( GMC_ACADIA = GMPlatformConfig(
[GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")], [GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
) )
@ -118,37 +118,37 @@ class CAR(Platforms):
[GMCarDocs("Buick Regal Essence 2018")], [GMCarDocs("Buick Regal Essence 2018")],
GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
) )
ESCALADE = GMPlatformConfig( CADILLAC_ESCALADE = GMPlatformConfig(
[GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")], [GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
) )
ESCALADE_ESV = GMPlatformConfig( CADILLAC_ESCALADE_ESV = GMPlatformConfig(
[GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")], [GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0), GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
) )
ESCALADE_ESV_2019 = GMPlatformConfig( CADILLAC_ESCALADE_ESV_2019 = GMPlatformConfig(
[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")], [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
ESCALADE_ESV.specs, CADILLAC_ESCALADE_ESV.specs,
) )
BOLT_EUV = GMPlatformConfig( CHEVROLET_BOLT_EUV = GMPlatformConfig(
[ [
GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
], ],
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0), GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
) )
SILVERADO = GMPlatformConfig( CHEVROLET_SILVERADO = GMPlatformConfig(
[ [
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"), GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
], ],
GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0), GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
) )
EQUINOX = GMPlatformConfig( CHEVROLET_EQUINOX = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22")], [GMCarDocs("Chevrolet Equinox 2019-22")],
GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
) )
TRAILBLAZER = GMPlatformConfig( CHEVROLET_TRAILBLAZER = GMPlatformConfig(
[GMCarDocs("Chevrolet Trailblazer 2021-22")], [GMCarDocs("Chevrolet Trailblazer 2021-22")],
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0), GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
) )
@ -226,10 +226,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)], extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
) )
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness) # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER} CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
STEER_THRESHOLD = 1.0 STEER_THRESHOLD = 1.0

26
selfdrive/car/honda/carstate.py
Unescape View File

@ -28,7 +28,7 @@ def get_can_messages(CP, gearbox_msg):
("STEER_MOTOR_TORQUE", 0), # TODO: not on every car ("STEER_MOTOR_TORQUE", 0), # TODO: not on every car
] ]
if CP.carFingerprint == CAR.ODYSSEY_CHN: if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
messages += [ messages += [
("SCM_FEEDBACK", 25), ("SCM_FEEDBACK", 25),
("SCM_BUTTONS", 50), ("SCM_BUTTONS", 50),
@ -39,7 +39,7 @@ def get_can_messages(CP, gearbox_msg):
("SCM_BUTTONS", 25), ("SCM_BUTTONS", 25),
] ]
if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E): if CP.carFingerprint in (CAR.HONDA_CRV_HYBRID, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
messages.append((gearbox_msg, 50)) messages.append((gearbox_msg, 50))
else: else:
messages.append((gearbox_msg, 100)) messages.append((gearbox_msg, 100))
@ -47,7 +47,7 @@ def get_can_messages(CP, gearbox_msg):
if CP.flags & HondaFlags.BOSCH_ALT_BRAKE: if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
messages.append(("BRAKE_MODULE", 50)) messages.append(("BRAKE_MODULE", 50))
if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): if CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
messages.append(("EPB_STATUS", 50)) messages.append(("EPB_STATUS", 50))
if CP.carFingerprint in HONDA_BOSCH: if CP.carFingerprint in HONDA_BOSCH:
@ -58,16 +58,16 @@ def get_can_messages(CP, gearbox_msg):
("ACC_CONTROL", 50), ("ACC_CONTROL", 50),
] ]
else: # Nidec signals else: # Nidec signals
if CP.carFingerprint == CAR.ODYSSEY_CHN: if CP.carFingerprint == CAR.HONDA_ODYSSEY_CHN:
messages.append(("CRUISE_PARAMS", 10)) messages.append(("CRUISE_PARAMS", 10))
else: else:
messages.append(("CRUISE_PARAMS", 50)) messages.append(("CRUISE_PARAMS", 50))
# TODO: clean this up # TODO: clean this up
if CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
pass pass
elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
pass pass
else: else:
messages.append(("DOORS_STATUS", 3)) messages.append(("DOORS_STATUS", 3))
@ -85,7 +85,7 @@ class CarState(CarStateBase):
super().__init__(CP) super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
self.gearbox_msg = "GEARBOX" self.gearbox_msg = "GEARBOX"
if CP.carFingerprint == CAR.ACCORD and CP.transmissionType == TransmissionType.cvt: if CP.carFingerprint == CAR.HONDA_ACCORD and CP.transmissionType == TransmissionType.cvt:
self.gearbox_msg = "GEARBOX_15T" self.gearbox_msg = "GEARBOX_15T"
self.main_on_sig_msg = "SCM_FEEDBACK" self.main_on_sig_msg = "SCM_FEEDBACK"
@ -125,10 +125,10 @@ class CarState(CarStateBase):
# panda checks if the signal is non-zero # panda checks if the signal is non-zero
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
# TODO: find a common signal across all cars # TODO: find a common signal across all cars
if self.CP.carFingerprint in (CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
else: else:
ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"], ret.doorOpen = any([cp.vl["DOORS_STATUS"]["DOOR_OPEN_FL"], cp.vl["DOORS_STATUS"]["DOOR_OPEN_FR"],
@ -181,7 +181,7 @@ class CarState(CarStateBase):
ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1 ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
# TODO: set for all cars # TODO: set for all cars
if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): if self.CP.carFingerprint in (HONDA_BOSCH | {CAR.HONDA_CIVIC, CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN}):
ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0 ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"]) gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
@ -232,7 +232,7 @@ class CarState(CarStateBase):
ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"]) ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE): if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
if ret.brake > 0.1: if ret.brake > 0.1:
ret.brakePressed = True ret.brakePressed = True

36
selfdrive/car/honda/fingerprints.py
Unescape View File

@ -10,7 +10,7 @@ Ecu = car.CarParams.Ecu
FW_VERSIONS = { FW_VERSIONS = {
CAR.ACCORD: { CAR.HONDA_ACCORD: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [ (Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-6A0-8720\x00\x00', b'37805-6A0-8720\x00\x00',
b'37805-6A0-9520\x00\x00', b'37805-6A0-9520\x00\x00',
@ -205,7 +205,7 @@ FW_VERSIONS = {
b'38897-TWD-J020\x00\x00', b'38897-TWD-J020\x00\x00',
], ],
}, },
CAR.CIVIC: { CAR.HONDA_CIVIC: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [ (Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5AA-A640\x00\x00', b'37805-5AA-A640\x00\x00',
b'37805-5AA-A650\x00\x00', b'37805-5AA-A650\x00\x00',
@ -305,7 +305,7 @@ FW_VERSIONS = {
b'38897-TBA-A020\x00\x00', b'38897-TBA-A020\x00\x00',
], ],
}, },
CAR.CIVIC_BOSCH: { CAR.HONDA_CIVIC_BOSCH: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [ (Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5AA-A940\x00\x00', b'37805-5AA-A940\x00\x00',
b'37805-5AA-A950\x00\x00', b'37805-5AA-A950\x00\x00',
@ -490,7 +490,7 @@ FW_VERSIONS = {
b'39494-TGL-G030\x00\x00', b'39494-TGL-G030\x00\x00',
], ],
}, },
CAR.CIVIC_BOSCH_DIESEL: { CAR.HONDA_CIVIC_BOSCH_DIESEL: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [ (Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-59N-G630\x00\x00', b'37805-59N-G630\x00\x00',
b'37805-59N-G830\x00\x00', b'37805-59N-G830\x00\x00',
@ -528,7 +528,7 @@ FW_VERSIONS = {
b'38897-TBA-A020\x00\x00', b'38897-TBA-A020\x00\x00',
], ],
}, },
CAR.CRV: { CAR.HONDA_CRV: {
(Ecu.vsa, 0x18da28f1, None): [ (Ecu.vsa, 0x18da28f1, None): [
b'57114-T1W-A230\x00\x00', b'57114-T1W-A230\x00\x00',
b'57114-T1W-A240\x00\x00', b'57114-T1W-A240\x00\x00',
@ -548,7 +548,7 @@ FW_VERSIONS = {
b'36161-T1X-A830\x00\x00', b'36161-T1X-A830\x00\x00',
], ],
}, },
CAR.CRV_5G: { CAR.HONDA_CRV_5G: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [ (Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-5PA-3060\x00\x00', b'37805-5PA-3060\x00\x00',
b'37805-5PA-3080\x00\x00', b'37805-5PA-3080\x00\x00',
@ -676,7 +676,7 @@ FW_VERSIONS = {
b'77959-TMM-F040\x00\x00', b'77959-TMM-F040\x00\x00',
], ],
}, },
CAR.CRV_EU: { CAR.HONDA_CRV_EU: {
(Ecu.programmedFuelInjection, 0x18da10f1, None): [ (Ecu.programmedFuelInjection, 0x18da10f1, None): [
b'37805-R5Z-G740\x00\x00', b'37805-R5Z-G740\x00\x00',
b'37805-R5Z-G780\x00\x00', b'37805-R5Z-G780\x00\x00',
@ -702,7 +702,7 @@ FW_VERSIONS = {
b'77959-T1G-G940\x00\x00', b'77959-T1G-G940\x00\x00',
], ],
}, },
CAR.CRV_HYBRID: { CAR.HONDA_CRV_HYBRID: {
(Ecu.vsa, 0x18da28f1, None): [ (Ecu.vsa, 0x18da28f1, None): [
b'57114-TMB-H030\x00\x00', b'57114-TMB-H030\x00\x00',
b'57114-TPA-G020\x00\x00', b'57114-TPA-G020\x00\x00',
@ -747,7 +747,7 @@ FW_VERSIONS = {
b'77959-TLA-H240\x00\x00', b'77959-TLA-H240\x00\x00',
], ],
}, },
CAR.FIT: { CAR.HONDA_FIT: {
(Ecu.vsa, 0x18da28f1, None): [ (Ecu.vsa, 0x18da28f1, None): [
b'57114-T5R-L020\x00\x00', b'57114-T5R-L020\x00\x00',
b'57114-T5R-L220\x00\x00', b'57114-T5R-L220\x00\x00',
@ -774,7 +774,7 @@ FW_VERSIONS = {
b'77959-T5R-A230\x00\x00', b'77959-T5R-A230\x00\x00',
], ],
}, },
CAR.FREED: { CAR.HONDA_FREED: {
(Ecu.gateway, 0x18daeff1, None): [ (Ecu.gateway, 0x18daeff1, None): [
b'38897-TDK-J010\x00\x00', b'38897-TDK-J010\x00\x00',
], ],
@ -796,7 +796,7 @@ FW_VERSIONS = {
b'36161-TDK-J530\x00\x00', b'36161-TDK-J530\x00\x00',
], ],
}, },
CAR.ODYSSEY: { CAR.HONDA_ODYSSEY: {
(Ecu.gateway, 0x18daeff1, None): [ (Ecu.gateway, 0x18daeff1, None): [
b'38897-THR-A010\x00\x00', b'38897-THR-A010\x00\x00',
b'38897-THR-A020\x00\x00', b'38897-THR-A020\x00\x00',
@ -899,7 +899,7 @@ FW_VERSIONS = {
b'54008-THR-A020\x00\x00', b'54008-THR-A020\x00\x00',
], ],
}, },
CAR.ODYSSEY_CHN: { CAR.HONDA_ODYSSEY_CHN: {
(Ecu.eps, 0x18da30f1, None): [ (Ecu.eps, 0x18da30f1, None): [
b'39990-T6D-H220\x00\x00', b'39990-T6D-H220\x00\x00',
], ],
@ -916,7 +916,7 @@ FW_VERSIONS = {
b'77959-T6A-P110\x00\x00', b'77959-T6A-P110\x00\x00',
], ],
}, },
CAR.PILOT: { CAR.HONDA_PILOT: {
(Ecu.shiftByWire, 0x18da0bf1, None): [ (Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TG7-A520\x00\x00', b'54008-TG7-A520\x00\x00',
b'54008-TG7-A530\x00\x00', b'54008-TG7-A530\x00\x00',
@ -1178,7 +1178,7 @@ FW_VERSIONS = {
b'39990-TJB-A130\x00\x00', b'39990-TJB-A130\x00\x00',
], ],
}, },
CAR.RIDGELINE: { CAR.HONDA_RIDGELINE: {
(Ecu.eps, 0x18da30f1, None): [ (Ecu.eps, 0x18da30f1, None): [
b'39990-T6Z-A020\x00\x00', b'39990-T6Z-A020\x00\x00',
b'39990-T6Z-A030\x00\x00', b'39990-T6Z-A030\x00\x00',
@ -1221,7 +1221,7 @@ FW_VERSIONS = {
b'57114-TJZ-A520\x00\x00', b'57114-TJZ-A520\x00\x00',
], ],
}, },
CAR.INSIGHT: { CAR.HONDA_INSIGHT: {
(Ecu.eps, 0x18da30f1, None): [ (Ecu.eps, 0x18da30f1, None): [
b'39990-TXM-A040\x00\x00', b'39990-TXM-A040\x00\x00',
], ],
@ -1254,7 +1254,7 @@ FW_VERSIONS = {
b'78109-TXM-C010\x00\x00', b'78109-TXM-C010\x00\x00',
], ],
}, },
CAR.HRV: { CAR.HONDA_HRV: {
(Ecu.gateway, 0x18daeff1, None): [ (Ecu.gateway, 0x18daeff1, None): [
b'38897-T7A-A010\x00\x00', b'38897-T7A-A010\x00\x00',
b'38897-T7A-A110\x00\x00', b'38897-T7A-A110\x00\x00',
@ -1280,7 +1280,7 @@ FW_VERSIONS = {
b'78109-THX-C220\x00\x00', b'78109-THX-C220\x00\x00',
], ],
}, },
CAR.HRV_3G: { CAR.HONDA_HRV_3G: {
(Ecu.eps, 0x18da30f1, None): [ (Ecu.eps, 0x18da30f1, None): [
b'39990-3W0-A030\x00\x00', b'39990-3W0-A030\x00\x00',
], ],
@ -1350,7 +1350,7 @@ FW_VERSIONS = {
b'57114-TYF-E030\x00\x00', b'57114-TYF-E030\x00\x00',
], ],
}, },
CAR.CIVIC_2022: { CAR.HONDA_CIVIC_2022: {
(Ecu.eps, 0x18da30f1, None): [ (Ecu.eps, 0x18da30f1, None): [
b'39990-T24-T120\x00\x00', b'39990-T24-T120\x00\x00',
b'39990-T39-A130\x00\x00', b'39990-T39-A130\x00\x00',

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

@ -195,7 +195,7 @@ def create_ui_commands(packer, CAN, CP, enabled, pcm_speed, hud, is_metric, acc_
} }
commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values)) commands.append(packer.make_can_msg('RADAR_HUD', CAN.pt, radar_hud_values))
if CP.carFingerprint == CAR.CIVIC_BOSCH: if CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {})) commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", CAN.pt, {}))
return commands return commands

38
selfdrive/car/honda/interface.py
Unescape View File

@ -52,7 +52,7 @@ class CarInterface(CarInterfaceBase):
ret.pcmCruise = True ret.pcmCruise = True
if candidate == CAR.CRV_5G: if candidate == CAR.HONDA_CRV_5G:
ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar] ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]
# Detect Bosch cars with new HUD msgs # Detect Bosch cars with new HUD msgs
@ -60,7 +60,7 @@ class CarInterface(CarInterfaceBase):
ret.flags |= HondaFlags.BOSCH_EXT_HUD.value ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
# Accord ICE 1.5T CVT has different gearbox message # Accord ICE 1.5T CVT has different gearbox message
if candidate == CAR.ACCORD and 0x191 in fingerprint[CAN.pt]: if candidate == CAR.HONDA_ACCORD and 0x191 in fingerprint[CAN.pt]:
ret.transmissionType = TransmissionType.cvt ret.transmissionType = TransmissionType.cvt
# Certain Hondas have an extra steering sensor at the bottom of the steering rack, # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
@ -89,7 +89,7 @@ class CarInterface(CarInterfaceBase):
if fw.ecu == "eps" and b"," in fw.fwVersion: if fw.ecu == "eps" and b"," in fw.fwVersion:
eps_modified = True eps_modified = True
if candidate == CAR.CIVIC: if candidate == CAR.HONDA_CIVIC:
if eps_modified: if eps_modified:
# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE # stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680 # stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
@ -103,11 +103,11 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate == CAR.ACCORD: elif candidate == CAR.HONDA_ACCORD:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
if eps_modified: if eps_modified:
@ -119,12 +119,12 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
elif candidate in (CAR.CRV, CAR.CRV_EU): elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_5G: elif candidate == CAR.HONDA_CRV_5G:
if eps_modified: if eps_modified:
# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F # stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400 # stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
@ -136,22 +136,22 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.CRV_HYBRID: elif candidate == CAR.HONDA_CRV_HYBRID:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
elif candidate == CAR.FIT: elif candidate == CAR.HONDA_FIT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.FREED: elif candidate == CAR.HONDA_FREED:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate in (CAR.HRV, CAR.HRV_3G): elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
if candidate == CAR.HRV: if candidate == CAR.HONDA_HRV:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025 ret.wheelSpeedFactor = 1.025
else: else:
@ -165,22 +165,22 @@ class CarInterface(CarInterfaceBase):
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
if candidate == CAR.ODYSSEY_CHN: if candidate == CAR.HONDA_ODYSSEY_CHN:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
else: else:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
elif candidate == CAR.PILOT: elif candidate == CAR.HONDA_PILOT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.RIDGELINE: elif candidate == CAR.HONDA_RIDGELINE:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
elif candidate == CAR.INSIGHT: elif candidate == CAR.HONDA_INSIGHT:
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
@ -193,7 +193,7 @@ class CarInterface(CarInterfaceBase):
# These cars use alternate user brake msg (0x1BE) # These cars use alternate user brake msg (0x1BE)
# TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE # TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE
if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.ACCORD: if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.HONDA_ACCORD:
ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
if ret.flags & HondaFlags.BOSCH_ALT_BRAKE: if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
@ -212,7 +212,7 @@ class CarInterface(CarInterfaceBase):
# min speed to enable ACC. if car can do stop and go, then set enabling speed # min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
# conflict with PCM acc # conflict with PCM acc
ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
ret.steerActuatorDelay = 0.1 ret.steerActuatorDelay = 0.1

68
selfdrive/car/honda/values.py
Unescape View File

@ -115,7 +115,7 @@ class HondaNidecPlatformConfig(PlatformConfig):
class CAR(Platforms): class CAR(Platforms):
# Bosch Cars # Bosch Cars
ACCORD = HondaBoschPlatformConfig( HONDA_ACCORD = HondaBoschPlatformConfig(
[ [
HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarDocs("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarDocs("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
@ -125,7 +125,7 @@ class CAR(Platforms):
CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467), CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
) )
CIVIC_BOSCH = HondaBoschPlatformConfig( HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
[ [
HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", HondaCarDocs("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
@ -134,34 +134,34 @@ class CAR(Platforms):
CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec
dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
) )
CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig( HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
[], # don't show in docs [], # don't show in docs
CIVIC_BOSCH.specs, HONDA_CIVIC_BOSCH.specs,
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
) )
CIVIC_2022 = HondaBoschPlatformConfig( HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
[ [
HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
], ],
CIVIC_BOSCH.specs, HONDA_CIVIC_BOSCH.specs,
dbc_dict('honda_civic_ex_2022_can_generated', None), dbc_dict('honda_civic_ex_2022_can_generated', None),
flags=HondaFlags.BOSCH_RADARLESS, flags=HondaFlags.BOSCH_RADARLESS,
) )
CRV_5G = HondaBoschPlatformConfig( HONDA_CRV_5G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)], [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
# steerRatio: 12.3 is spec end-to-end # steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
flags=HondaFlags.BOSCH_ALT_BRAKE, flags=HondaFlags.BOSCH_ALT_BRAKE,
) )
CRV_HYBRID = HondaBoschPlatformConfig( HONDA_CRV_HYBRID = HondaBoschPlatformConfig(
[HondaCarDocs("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS)], [HondaCarDocs("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS)],
# mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
dbc_dict('honda_accord_2018_can_generated', None), dbc_dict('honda_accord_2018_can_generated', None),
) )
HRV_3G = HondaBoschPlatformConfig( HONDA_HRV_3G = HondaBoschPlatformConfig(
[HondaCarDocs("Honda HR-V 2023", "All")], [HondaCarDocs("Honda HR-V 2023", "All")],
CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5), CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5),
dbc_dict('honda_civic_ex_2022_can_generated', None), dbc_dict('honda_civic_ex_2022_can_generated', None),
@ -173,7 +173,7 @@ class CAR(Platforms):
dbc_dict('acura_rdx_2020_can_generated', None), dbc_dict('acura_rdx_2020_can_generated', None),
flags=HondaFlags.BOSCH_ALT_BRAKE, flags=HondaFlags.BOSCH_ALT_BRAKE,
) )
INSIGHT = HondaBoschPlatformConfig( HONDA_INSIGHT = HondaBoschPlatformConfig(
[HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)], [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec
dbc_dict('honda_insight_ex_2019_can_generated', None), dbc_dict('honda_insight_ex_2019_can_generated', None),
@ -191,45 +191,45 @@ class CAR(Platforms):
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CRV = HondaNidecPlatformConfig( HONDA_CRV = HondaNidecPlatformConfig(
[HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)], [HondaCarDocs("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec
dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CRV_EU = HondaNidecPlatformConfig( HONDA_CRV_EU = HondaNidecPlatformConfig(
[], # Euro version of CRV Touring, don't show in docs [], # Euro version of CRV Touring, don't show in docs
CRV.specs, HONDA_CRV.specs,
dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
FIT = HondaNidecPlatformConfig( HONDA_FIT = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)], [HondaCarDocs("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75),
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
FREED = HondaNidecPlatformConfig( HONDA_FREED = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)], [HondaCarDocs("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
HRV = HondaNidecPlatformConfig( HONDA_HRV = HondaNidecPlatformConfig(
[HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)], [HondaCarDocs("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS)],
HRV_3G.specs, HONDA_HRV_3G.specs,
dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
ODYSSEY = HondaNidecPlatformConfig( HONDA_ODYSSEY = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Odyssey 2018-20")], [HondaCarDocs("Honda Odyssey 2018-20")],
CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82), CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82),
dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_PCM_ACCEL, flags=HondaFlags.NIDEC_ALT_PCM_ACCEL,
) )
ODYSSEY_CHN = HondaNidecPlatformConfig( HONDA_ODYSSEY_CHN = HondaNidecPlatformConfig(
[], # Chinese version of Odyssey, don't show in docs [], # Chinese version of Odyssey, don't show in docs
ODYSSEY.specs, HONDA_ODYSSEY.specs,
dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
@ -239,7 +239,7 @@ class CAR(Platforms):
dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
PILOT = HondaNidecPlatformConfig( HONDA_PILOT = HondaNidecPlatformConfig(
[ [
HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarDocs("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarDocs("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
@ -248,13 +248,13 @@ class CAR(Platforms):
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
RIDGELINE = HondaNidecPlatformConfig( HONDA_RIDGELINE = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)], [HondaCarDocs("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS)],
CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec
dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES,
) )
CIVIC = HondaNidecPlatformConfig( HONDA_CIVIC = HondaNidecPlatformConfig(
[HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")], [HondaCarDocs("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE")],
CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec
dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
@ -307,16 +307,16 @@ FW_QUERY_CONFIG = FwQueryConfig(
# We lose these ECUs without the comma power on these cars. # We lose these ECUs without the comma power on these cars.
# Note that we still attempt to match with them when they are present # Note that we still attempt to match with them when they are present
non_essential_ecus={ non_essential_ecus={
Ecu.programmedFuelInjection: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G], Ecu.programmedFuelInjection: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
Ecu.transmission: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G], Ecu.transmission: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
Ecu.srs: [CAR.ACCORD], Ecu.srs: [CAR.HONDA_ACCORD],
Ecu.eps: [CAR.ACCORD], Ecu.eps: [CAR.HONDA_ACCORD],
Ecu.vsa: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G], Ecu.vsa: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
Ecu.combinationMeter: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G], Ecu.combinationMeter: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
Ecu.gateway: [CAR.ACCORD, CAR.CIVIC, CAR.CIVIC_BOSCH, CAR.CRV_5G], Ecu.gateway: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
Ecu.electricBrakeBooster: [CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CRV_5G], Ecu.electricBrakeBooster: [CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G],
Ecu.shiftByWire: [CAR.ACCORD], # existence correlates with transmission type for ICE Ecu.shiftByWire: [CAR.HONDA_ACCORD], # existence correlates with transmission type for ICE
Ecu.hud: [CAR.ACCORD], # existence correlates with trim level Ecu.hud: [CAR.HONDA_ACCORD], # existence correlates with trim level
}, },
extra_ecus=[ extra_ecus=[
# The only other ECU on PT bus accessible by camera on radarless Civic # The only other ECU on PT bus accessible by camera on radarless Civic
@ -327,7 +327,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
STEER_THRESHOLD = { STEER_THRESHOLD = {
# default is 1200, overrides go here # default is 1200, overrides go here
CAR.ACURA_RDX: 400, CAR.ACURA_RDX: 400,
CAR.CRV_EU: 400, CAR.HONDA_CRV_EU: 400,
} }
HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL) HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL)

2
selfdrive/car/hyundai/carstate.py
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@ -207,7 +207,7 @@ class CarState(CarStateBase):
# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP'] # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP" left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
if self.CP.carFingerprint == CAR.KONA_EV_2ND_GEN: if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT" left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig], ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
cp.vl["BLINKERS"][right_blinker_sig]) cp.vl["BLINKERS"][right_blinker_sig])

76
selfdrive/car/hyundai/fingerprints.py
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@ -5,7 +5,7 @@ from openpilot.selfdrive.car.hyundai.values import CAR
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
FINGERPRINTS = { FINGERPRINTS = {
CAR.SANTA_FE: [{ CAR.HYUNDAI_SANTA_FE: [{
67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
}, },
{ {
@ -14,7 +14,7 @@ FINGERPRINTS = {
{ {
67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8 67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
}], }],
CAR.SONATA: [{ CAR.HYUNDAI_SONATA: [{
67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
}], }],
CAR.KIA_STINGER: [{ CAR.KIA_STINGER: [{
@ -23,13 +23,13 @@ FINGERPRINTS = {
CAR.GENESIS_G90: [{ 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 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.IONIQ_EV_2020: [{ 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: 8 127: 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.KONA_EV: [{ 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: 8 127: 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
}], }],
CAR.KONA_EV_2022: [{ CAR.HYUNDAI_KONA_EV_2022: [{
127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
}], }],
CAR.KIA_NIRO_EV: [{ CAR.KIA_NIRO_EV: [{
@ -44,7 +44,7 @@ FINGERPRINTS = {
} }
FW_VERSIONS = { FW_VERSIONS = {
CAR.AZERA_6TH_GEN: { CAR.HYUNDAI_AZERA_6TH_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ',
], ],
@ -61,7 +61,7 @@ FW_VERSIONS = {
b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.AZERA_HEV_6TH_GEN: { CAR.HYUNDAI_AZERA_HEV_6TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903', b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903',
b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.01 99211-G8000 181109', b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.01 99211-G8000 181109',
@ -93,7 +93,7 @@ FW_VERSIONS = {
b'\xf1\x00DH LKAS 1.5 -140425', b'\xf1\x00DH LKAS 1.5 -140425',
], ],
}, },
CAR.IONIQ: { CAR.HYUNDAI_IONIQ: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ',
], ],
@ -110,7 +110,7 @@ FW_VERSIONS = {
b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00', b'\xf1\x816U3H1051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H1051\x00\x00HAE0G16US2\x00\x00\x00\x00',
], ],
}, },
CAR.IONIQ_PHEV_2019: { CAR.HYUNDAI_IONIQ_PHEV_2019: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ', b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2100 ',
], ],
@ -128,7 +128,7 @@ FW_VERSIONS = {
b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81', b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PAE0G16NS1\xdbD\r\x81',
], ],
}, },
CAR.IONIQ_PHEV: { CAR.HYUNDAI_IONIQ_PHEV: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ',
b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ',
@ -162,7 +162,7 @@ FW_VERSIONS = {
b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00', b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
], ],
}, },
CAR.IONIQ_EV_2020: { CAR.HYUNDAI_IONIQ_EV_2020: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00AEev SCC F-CUP 1.00 1.00 99110-G7200 ', 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 1.00 99110-G7500 ',
@ -180,7 +180,7 @@ FW_VERSIONS = {
b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819', b'\xf1\x00AEE MFC AT EUR RHD 1.00 1.01 95740-G2600 190819',
], ],
}, },
CAR.IONIQ_EV_LTD: { CAR.HYUNDAI_IONIQ_EV_LTD: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ', b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7000 ',
b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ', b'\xf1\x00AEev SCC F-CUP 1.00 1.00 96400-G7100 ',
@ -199,7 +199,7 @@ FW_VERSIONS = {
b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222', b'\xf1\x00AEE MFC AT USA LHD 1.00 1.00 95740-G2400 180222',
], ],
}, },
CAR.IONIQ_HEV_2022: { CAR.HYUNDAI_IONIQ_HEV_2022: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ',
b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ',
@ -218,7 +218,7 @@ FW_VERSIONS = {
b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00', b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00',
], ],
}, },
CAR.SONATA: { CAR.HYUNDAI_SONATA: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ',
b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ',
@ -361,7 +361,7 @@ FW_VERSIONS = {
b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc', b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
], ],
}, },
CAR.SONATA_LF: { CAR.HYUNDAI_SONATA_LF: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ', b'\xf1\x00LF__ SCC F-CUP 1.00 1.00 96401-C2200 ',
], ],
@ -389,7 +389,7 @@ FW_VERSIONS = {
b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8', b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B4051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24SL2n\x8d\xbe\xd8',
], ],
}, },
CAR.TUCSON: { CAR.HYUNDAI_TUCSON: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ', b'\xf1\x00TL__ FCA F-CUP 1.00 1.01 99110-D3500 ',
b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ', b'\xf1\x00TL__ FCA F-CUP 1.00 1.02 99110-D3510 ',
@ -407,7 +407,7 @@ FW_VERSIONS = {
b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a', b'\xf1\x87LBJXAN202299KF22\x87x\x87\x88ww\x87xx\x88\x97\x88\x87\x88\x98x\x88\x99\x98\x89\x87o\xf6\xff\x87w\x7f\xff\x12\x9a\xf1\x81U083\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U083\x00\x00\x00\x00\x00\x00TTL2V20KL1\x8fRn\x8a',
], ],
}, },
CAR.SANTA_FE: { CAR.HYUNDAI_SANTA_FE: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1210 ', b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1210 ',
b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ', b'\xf1\x00TM__ SCC F-CUP 1.00 1.01 99110-S2000 ',
@ -470,7 +470,7 @@ FW_VERSIONS = {
b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00', b'\xf1\x87SDKXAA2443414GG1vfvgwv\x87h\x88\x88\x88\x88ww\x87wwwww\x99_\xfc\xffvD?\xffl\xd2\xf1\x816W3E1051\x00\x00\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4G24NS6\x00\x00\x00\x00',
], ],
}, },
CAR.SANTA_FE_2022: { CAR.HYUNDAI_SANTA_FE_2022: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ',
b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ',
@ -532,7 +532,7 @@ FW_VERSIONS = {
b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.SANTA_FE_HEV_2022: { CAR.HYUNDAI_SANTA_FE_HEV_2022: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ', b'\xf1\x00TMhe SCC FHCUP 1.00 1.00 99110-CL500 ',
b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ',
@ -565,7 +565,7 @@ FW_VERSIONS = {
b'\xf1\x87391312MTL0', b'\xf1\x87391312MTL0',
], ],
}, },
CAR.SANTA_FE_PHEV_2022: { CAR.HYUNDAI_SANTA_FE_PHEV_2022: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00TMhe SCC F-CUP 1.00 1.00 99110-CL500 ', b'\xf1\x00TMhe SCC F-CUP 1.00 1.00 99110-CL500 ',
b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ', b'\xf1\x00TMhe SCC FHCUP 1.00 1.01 99110-CL500 ',
@ -591,7 +591,7 @@ FW_VERSIONS = {
b'\xf1\x87391312MTF1', b'\xf1\x87391312MTF1',
], ],
}, },
CAR.CUSTIN_1ST_GEN: { CAR.HYUNDAI_CUSTIN_1ST_GEN: {
(Ecu.abs, 0x7d1, None): [ (Ecu.abs, 0x7d1, None): [
b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200', b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
], ],
@ -685,7 +685,7 @@ FW_VERSIONS = {
b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
], ],
}, },
CAR.PALISADE: { CAR.HYUNDAI_PALISADE: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ',
b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ',
@ -792,7 +792,7 @@ FW_VERSIONS = {
b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89', b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
], ],
}, },
CAR.VELOSTER: { CAR.HYUNDAI_VELOSTER: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ', b'\xf1\x00JS__ SCC H-CUP 1.00 1.02 95650-J3200 ',
b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ', b'\xf1\x00JS__ SCC HNCUP 1.00 1.02 95650-J3100 ',
@ -918,7 +918,7 @@ FW_VERSIONS = {
b'\xf1\x810000000000\x00', b'\xf1\x810000000000\x00',
], ],
}, },
CAR.KONA: { CAR.HYUNDAI_KONA: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ', b'\xf1\x00OS__ SCC F-CUP 1.00 1.00 95655-J9200 ',
], ],
@ -1063,7 +1063,7 @@ FW_VERSIONS = {
b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2', b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
], ],
}, },
CAR.KONA_EV: { CAR.HYUNDAI_KONA_EV: {
(Ecu.abs, 0x7d1, None): [ (Ecu.abs, 0x7d1, None): [
b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000', b'\xf1\x00OS IEB \x01 212 \x11\x13 58520-K4000',
b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
@ -1091,7 +1091,7 @@ FW_VERSIONS = {
b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ', b'\xf1\x00OSev SCC FNCUP 1.00 1.01 99110-K4000 ',
], ],
}, },
CAR.KONA_EV_2022: { CAR.HYUNDAI_KONA_EV_2022: {
(Ecu.abs, 0x7d1, None): [ (Ecu.abs, 0x7d1, None): [
b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010', b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010', b'\xf1\x00OS IEB \x03 102"\x05\x16 58520-K4010',
@ -1120,7 +1120,7 @@ FW_VERSIONS = {
b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00',
], ],
}, },
CAR.KONA_EV_2ND_GEN: { CAR.HYUNDAI_KONA_EV_2ND_GEN: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ', b'\xf1\x00SXev RDR ----- 1.00 1.00 99110-BF000 ',
], ],
@ -1320,7 +1320,7 @@ FW_VERSIONS = {
b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.ELANTRA: { CAR.HYUNDAI_ELANTRA: {
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251', b'\xf1\x00AD LKAS AT USA LHD 1.01 1.01 95895-F2000 251',
b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31', b'\xf1\x00ADP LKAS AT USA LHD 1.00 1.03 99211-F2000 X31',
@ -1347,7 +1347,7 @@ FW_VERSIONS = {
b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ', b'\xf1\x00AD__ SCC H-CUP 1.00 1.01 96400-F2100 ',
], ],
}, },
CAR.ELANTRA_GT_I30: { CAR.HYUNDAI_ELANTRA_GT_I30: {
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
b'\xf1\x00PD LKAS AT USA LHD 1.00 1.02 95740-G3000 A51', b'\xf1\x00PD LKAS AT USA LHD 1.00 1.02 95740-G3000 A51',
@ -1375,7 +1375,7 @@ FW_VERSIONS = {
b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ',
], ],
}, },
CAR.ELANTRA_2021: { CAR.HYUNDAI_ELANTRA_2021: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ',
b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ', b'\xf1\x00CN7_ SCC FHCUP 1.00 1.01 99110-AA000 ',
@ -1417,7 +1417,7 @@ FW_VERSIONS = {
b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0',
], ],
}, },
CAR.ELANTRA_HEV_2021: { CAR.HYUNDAI_ELANTRA_HEV_2021: {
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819',
b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930',
@ -1448,7 +1448,7 @@ FW_VERSIONS = {
b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.KONA_HEV: { CAR.HYUNDAI_KONA_HEV: {
(Ecu.abs, 0x7d1, None): [ (Ecu.abs, 0x7d1, None): [
b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000', b'\xf1\x00OS IEB \x01 104 \x11 58520-CM000',
], ],
@ -1468,7 +1468,7 @@ FW_VERSIONS = {
b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.SONATA_HYBRID: { CAR.HYUNDAI_SONATA_HYBRID: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ',
b'\xf1\x00DNhe SCC FHCUP 1.00 1.00 99110-L5000 ', b'\xf1\x00DNhe SCC FHCUP 1.00 1.00 99110-L5000 ',
@ -1544,7 +1544,7 @@ FW_VERSIONS = {
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328',
], ],
}, },
CAR.IONIQ_5: { CAR.HYUNDAI_IONIQ_5: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ',
], ],
@ -1564,7 +1564,7 @@ FW_VERSIONS = {
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110',
], ],
}, },
CAR.IONIQ_6: { CAR.HYUNDAI_IONIQ_6: {
(Ecu.fwdRadar, 0x7d0, None): [ (Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ',
], ],
@ -1574,7 +1574,7 @@ FW_VERSIONS = {
b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213',
], ],
}, },
CAR.TUCSON_4TH_GEN: { CAR.HYUNDAI_TUCSON_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A', b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
@ -1594,7 +1594,7 @@ FW_VERSIONS = {
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
], ],
}, },
CAR.SANTA_CRUZ_1ST_GEN: { CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
@ -1708,7 +1708,7 @@ FW_VERSIONS = {
b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ',
], ],
}, },
CAR.STARIA_4TH_GEN: { CAR.HYUNDAI_STARIA_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [ (Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00US4 MFC AT KOR LHD 1.00 1.06 99211-CG000 230524', b'\xf1\x00US4 MFC AT KOR LHD 1.00 1.06 99211-CG000 230524',
], ],

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

@ -33,12 +33,12 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req,
values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq
values["CF_Lkas_MsgCount"] = frame % 0x10 values["CF_Lkas_MsgCount"] = frame % 0x10
if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, if CP.carFingerprint in (CAR.HYUNDAI_SONATA, CAR.HYUNDAI_PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.HYUNDAI_SANTA_FE,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.HYUNDAI_IONIQ_EV_2020, CAR.HYUNDAI_IONIQ_PHEV, CAR.KIA_SELTOS, CAR.HYUNDAI_ELANTRA_2021, CAR.GENESIS_G70_2020,
CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN): CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN):
values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
values["CF_Lkas_LdwsOpt_USM"] = 2 values["CF_Lkas_LdwsOpt_USM"] = 2

2
selfdrive/car/hyundai/interface.py
Unescape View File

@ -132,7 +132,7 @@ class CarInterface(CarInterfaceBase):
elif ret.flags & HyundaiFlags.EV: elif ret.flags & HyundaiFlags.EV:
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS
if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): if candidate in (CAR.HYUNDAI_KONA, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022):
ret.flags |= HyundaiFlags.ALT_LIMITS.value ret.flags |= HyundaiFlags.ALT_LIMITS.value
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS

28
selfdrive/car/hyundai/tests/test_hyundai.py
Unescape View File

@ -18,22 +18,22 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
NO_DATES_PLATFORMS = { NO_DATES_PLATFORMS = {
# CAN FD # CAN FD
CAR.KIA_SPORTAGE_5TH_GEN, CAR.KIA_SPORTAGE_5TH_GEN,
CAR.SANTA_CRUZ_1ST_GEN, CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
CAR.TUCSON_4TH_GEN, CAR.HYUNDAI_TUCSON_4TH_GEN,
# CAN # CAN
CAR.ELANTRA, CAR.HYUNDAI_ELANTRA,
CAR.ELANTRA_GT_I30, CAR.HYUNDAI_ELANTRA_GT_I30,
CAR.KIA_CEED, CAR.KIA_CEED,
CAR.KIA_FORTE, CAR.KIA_FORTE,
CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4,
CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_G4_FL,
CAR.KIA_SORENTO, CAR.KIA_SORENTO,
CAR.KONA, CAR.HYUNDAI_KONA,
CAR.KONA_EV, CAR.HYUNDAI_KONA_EV,
CAR.KONA_EV_2022, CAR.HYUNDAI_KONA_EV_2022,
CAR.KONA_HEV, CAR.HYUNDAI_KONA_HEV,
CAR.SONATA_LF, CAR.HYUNDAI_SONATA_LF,
CAR.VELOSTER, CAR.HYUNDAI_VELOSTER,
} }
@ -67,7 +67,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
# Tucson having Santa Cruz camera and EPS for example # Tucson having Santa Cruz camera and EPS for example
for car_model, ecus in FW_VERSIONS.items(): for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value): with self.subTest(car_model=car_model.value):
if car_model == CAR.SANTA_CRUZ_1ST_GEN: if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN:
raise unittest.SkipTest("Skip checking Santa Cruz for its parts") raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]): for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
@ -108,9 +108,9 @@ class TestHyundaiFingerprint(unittest.TestCase):
# Third and fourth character are usually EV/hybrid identifiers # Third and fourth character are usually EV/hybrid identifiers
codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)} codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)}
if car_model == CAR.PALISADE: if car_model == CAR.HYUNDAI_PALISADE:
self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}") self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}")
elif car_model == CAR.KONA_EV and ecu[0] == Ecu.fwdCamera: elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera:
self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}") self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}")
else: else:
self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}") self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}")
@ -120,7 +120,7 @@ class TestHyundaiFingerprint(unittest.TestCase):
def test_platform_code_ecus_available(self): def test_platform_code_ecus_available(self):
# TODO: add queries for these non-CAN FD cars to get EPS # TODO: add queries for these non-CAN FD cars to get EPS
no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.ELANTRA} CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA}
# Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
for car_model, ecus in FW_VERSIONS.items(): for car_model, ecus in FW_VERSIONS.items():

88
selfdrive/car/hyundai/values.py
Unescape View File

@ -35,8 +35,8 @@ class CarControllerParams:
# To determine the limit for your car, find the maximum value that the stock LKAS will request. # To determine the limit for your car, find the maximum value that the stock LKAS will request.
# If the max stock LKAS request is <384, add your car to this list. # If the max stock LKAS request is <384, add your car to this list.
elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ, elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV, CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO): CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
self.STEER_MAX = 255 self.STEER_MAX = 255
@ -134,11 +134,11 @@ class HyundaiCanFDPlatformConfig(PlatformConfig):
class CAR(Platforms): class CAR(Platforms):
# Hyundai # Hyundai
AZERA_6TH_GEN = HyundaiPlatformConfig( HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5), CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
) )
AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
[ [
HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
@ -146,7 +146,7 @@ class CAR(Platforms):
CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5), CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
flags=HyundaiFlags.HYBRID, flags=HyundaiFlags.HYBRID,
) )
ELANTRA = HyundaiPlatformConfig( HYUNDAI_ELANTRA = HyundaiPlatformConfig(
[ [
# TODO: 2017-18 could be Hyundai G # TODO: 2017-18 could be Hyundai G
HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
@ -156,20 +156,20 @@ class CAR(Platforms):
CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385), CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH, flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
) )
ELANTRA_GT_I30 = HyundaiPlatformConfig( HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig(
[ [
HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
], ],
ELANTRA.specs, HYUNDAI_ELANTRA.specs,
flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH, flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
) )
ELANTRA_2021 = HyundaiPlatformConfig( HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))], [HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
flags=HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.CHECKSUM_CRC8,
) )
ELANTRA_HEV_2021 = HyundaiPlatformConfig( HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
car_parts=CarParts.common([CarHarness.hyundai_k]))], car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
@ -184,101 +184,101 @@ class CAR(Platforms):
CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS), CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY, flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
) )
IONIQ = HyundaiPlatformConfig( HYUNDAI_IONIQ = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))], [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
) )
IONIQ_HEV_2022 = HyundaiPlatformConfig( HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))], # TODO: confirm 2020-21 harness, [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))], # TODO: confirm 2020-21 harness,
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY, flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
) )
IONIQ_EV_LTD = HyundaiPlatformConfig( HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))], [HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
) )
IONIQ_EV_2020 = HyundaiPlatformConfig( HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))], [HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV, flags=HyundaiFlags.EV,
) )
IONIQ_PHEV_2019 = HyundaiPlatformConfig( HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))], [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
) )
IONIQ_PHEV = HyundaiPlatformConfig( HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))], [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID, flags=HyundaiFlags.HYBRID,
) )
KONA = HyundaiPlatformConfig( HYUNDAI_KONA = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))], [HyundaiCarDocs("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b]))],
CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CLUSTER_GEARS, flags=HyundaiFlags.CLUSTER_GEARS,
) )
KONA_EV = HyundaiPlatformConfig( HYUNDAI_KONA_EV = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))], [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV, flags=HyundaiFlags.EV,
) )
KONA_EV_2022 = HyundaiPlatformConfig( HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))], [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV, flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
) )
KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig( HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
car_parts=CarParts.common([CarHarness.hyundai_r]))], car_parts=CarParts.common([CarHarness.hyundai_r]))],
CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385), CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
) )
KONA_HEV = HyundaiPlatformConfig( HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages, [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))], # TODO: check packages,
CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
flags=HyundaiFlags.HYBRID, flags=HyundaiFlags.HYBRID,
) )
SANTA_FE = HyundaiPlatformConfig( HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
car_parts=CarParts.common([CarHarness.hyundai_d]))], car_parts=CarParts.common([CarHarness.hyundai_d]))],
CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82), CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
) )
SANTA_FE_2022 = HyundaiPlatformConfig( HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
car_parts=CarParts.common([CarHarness.hyundai_l]))], car_parts=CarParts.common([CarHarness.hyundai_l]))],
SANTA_FE.specs, HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.CHECKSUM_CRC8,
) )
SANTA_FE_HEV_2022 = HyundaiPlatformConfig( HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))], [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
SANTA_FE.specs, HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
) )
SANTA_FE_PHEV_2022 = HyundaiPlatformConfig( HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))], [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
SANTA_FE.specs, HYUNDAI_SANTA_FE.specs,
flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
) )
SONATA = HyundaiPlatformConfig( HYUNDAI_SONATA = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
car_parts=CarParts.common([CarHarness.hyundai_a]))], car_parts=CarParts.common([CarHarness.hyundai_a]))],
CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
) )
SONATA_LF = HyundaiPlatformConfig( HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))], [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable
flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS, flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
) )
STARIA_4TH_GEN = HyundaiCanFDPlatformConfig( HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], [HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
) )
TUCSON = HyundaiPlatformConfig( HYUNDAI_TUCSON = HyundaiPlatformConfig(
[ [
HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
@ -286,7 +286,7 @@ class CAR(Platforms):
CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385), CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
flags=HyundaiFlags.TCU_GEARS, flags=HyundaiFlags.TCU_GEARS,
) )
PALISADE = HyundaiPlatformConfig( HYUNDAI_PALISADE = HyundaiPlatformConfig(
[ [
HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
@ -294,17 +294,17 @@ class CAR(Platforms):
CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63), CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
) )
VELOSTER = HyundaiPlatformConfig( HYUNDAI_VELOSTER = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))], [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5), CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS, flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
) )
SONATA_HYBRID = HyundaiPlatformConfig( HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))], [HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
SONATA.specs, HYUNDAI_SONATA.specs,
flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
) )
IONIQ_5 = HyundaiCanFDPlatformConfig( HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
[ [
HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
@ -313,12 +313,12 @@ class CAR(Platforms):
CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65), CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
flags=HyundaiFlags.EV, flags=HyundaiFlags.EV,
) )
IONIQ_6 = HyundaiCanFDPlatformConfig( 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", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
IONIQ_5.specs, HYUNDAI_IONIQ_5.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
) )
TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig( HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
[ [
HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
HyundaiCarDocs("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarDocs("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
@ -326,12 +326,12 @@ class CAR(Platforms):
], ],
CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385), CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
) )
SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig( HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
[HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))], [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
# weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2), CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
) )
CUSTIN_1ST_GEN = HyundaiPlatformConfig( HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
[HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))], [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
flags=HyundaiFlags.CHECKSUM_CRC8, flags=HyundaiFlags.CHECKSUM_CRC8,
@ -743,9 +743,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
# We lose these ECUs without the comma power on these cars. # We lose these ECUs without the comma power on these cars.
# Note that we still attempt to match with them when they are present # Note that we still attempt to match with them when they are present
non_essential_ecus={ non_essential_ecus={
Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA], Ecu.transmission: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA],
Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA], Ecu.engine: [CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA],
Ecu.abs: [CAR.PALISADE, CAR.SONATA], Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA],
}, },
extra_ecus=[ extra_ecus=[
(Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms

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

@ -4,7 +4,7 @@ from openpilot.selfdrive.car.mazda.values import CAR
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
FW_VERSIONS = { FW_VERSIONS = {
CAR.CX5_2022: { CAR.MAZDA_CX5_2022: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KSD5-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
@ -41,7 +41,7 @@ FW_VERSIONS = {
b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.CX5: { CAR.MAZDA_CX5: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -110,7 +110,7 @@ FW_VERSIONS = {
b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.CX9: { CAR.MAZDA_CX9: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -160,7 +160,7 @@ FW_VERSIONS = {
b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFM-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.MAZDA3: { CAR.MAZDA_3: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -195,7 +195,7 @@ FW_VERSIONS = {
b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYKE-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.MAZDA6: { CAR.MAZDA_6: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -227,7 +227,7 @@ FW_VERSIONS = {
b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
}, },
CAR.CX9_2021: { CAR.MAZDA_CX9_2021: {
(Ecu.eps, 0x730, None): [ (Ecu.eps, 0x730, None): [
b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],

4
selfdrive/car/mazda/interface.py
Unescape View File

@ -16,14 +16,14 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
ret.radarUnavailable = True ret.radarUnavailable = True
ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021) ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
ret.steerActuatorDelay = 0.1 ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.8 ret.steerLimitTimer = 0.8
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate not in (CAR.CX5_2022, ): if candidate not in (CAR.MAZDA_CX5_2022, ):
ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41

16
selfdrive/car/mazda/values.py
Unescape View File

@ -50,29 +50,29 @@ class MazdaPlatformConfig(PlatformConfig):
class CAR(Platforms): class CAR(Platforms):
CX5 = MazdaPlatformConfig( MAZDA_CX5 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-5 2017-21")], [MazdaCarDocs("Mazda CX-5 2017-21")],
MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5)
) )
CX9 = MazdaPlatformConfig( MAZDA_CX9 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-9 2016-20")], [MazdaCarDocs("Mazda CX-9 2016-20")],
MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6)
) )
MAZDA3 = MazdaPlatformConfig( MAZDA_3 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda 3 2017-18")], [MazdaCarDocs("Mazda 3 2017-18")],
MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0)
) )
MAZDA6 = MazdaPlatformConfig( MAZDA_6 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda 6 2017-20")], [MazdaCarDocs("Mazda 6 2017-20")],
MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5)
) )
CX9_2021 = MazdaPlatformConfig( MAZDA_CX9_2021 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")], [MazdaCarDocs("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4")],
CX9.specs MAZDA_CX9.specs
) )
CX5_2022 = MazdaPlatformConfig( MAZDA_CX5_2022 = MazdaPlatformConfig(
[MazdaCarDocs("Mazda CX-5 2022-24")], [MazdaCarDocs("Mazda CX-5 2022-24")],
CX5.specs, MAZDA_CX5.specs,
) )

6
selfdrive/car/nissan/carcontroller.py
Unescape View File

@ -51,21 +51,21 @@ class CarController(CarControllerBase):
self.apply_angle_last = apply_angle self.apply_angle_last = apply_angle
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd: if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:
can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg)) can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
# TODO: Find better way to cancel! # TODO: Find better way to cancel!
# For some reason spamming the cancel button is unreliable on the Leaf # For some reason spamming the cancel button is unreliable on the Leaf
# We now cancel by making propilot think the seatbelt is unlatched, # We now cancel by making propilot think the seatbelt is unlatched,
# this generates a beep and a warning message every time you disengage # this generates a beep and a warning message every time you disengage
if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0: if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0:
can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd)) can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
can_sends.append(nissancan.create_steering_control( can_sends.append(nissancan.create_steering_control(
self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque)) self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
# Below are the HUD messages. We copy the stock message and modify # Below are the HUD messages. We copy the stock message and modify
if self.CP.carFingerprint != CAR.ALTIMA: if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
if self.frame % 2 == 0: if self.frame % 2 == 0:
can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
hud_control.leftLaneDepart, hud_control.rightLaneDepart)) hud_control.leftLaneDepart, hud_control.rightLaneDepart))

44
selfdrive/car/nissan/carstate.py
Unescape View File

@ -29,16 +29,16 @@ class CarState(CarStateBase):
self.prev_distance_button = self.distance_button self.prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"] self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA): if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"] ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"] ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
ret.gasPressed = bool(ret.gas > 3) ret.gasPressed = bool(ret.gas > 3)
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA): if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"]) ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"]) ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
ret.wheelSpeeds = self.get_wheel_speeds( ret.wheelSpeeds = self.get_wheel_speeds(
@ -52,38 +52,38 @@ class CarState(CarStateBase):
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0 ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0
if self.CP.carFingerprint == CAR.ALTIMA: if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"]) ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
else: else:
ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"]) ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL): if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL):
ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0 ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"]) ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
if self.CP.carFingerprint == CAR.LEAF: if self.CP.carFingerprint == CAR.NISSAN_LEAF:
ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0 ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
elif self.CP.carFingerprint == CAR.LEAF_IC: elif self.CP.carFingerprint == CAR.NISSAN_LEAF_IC:
ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1 ret.seatbeltUnlatched = cp.vl["CANCEL_MSG"]["CANCEL_SEATBELT"] == 1
ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"]) ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
elif self.CP.carFingerprint == CAR.ALTIMA: elif self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0 ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"]) ret.cruiseState.available = bool(cp_adas.vl["PRO_PILOT"]["CRUISE_ON"])
if self.CP.carFingerprint == CAR.ALTIMA: if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"] speed = cp.vl["PROPILOT_HUD"]["SET_SPEED"]
else: else:
speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"] speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
if speed != 255: if speed != 255:
if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
else: else:
conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
ret.cruiseState.speed = speed * conversion ret.cruiseState.speed = speed * conversion
ret.cruiseState.speedCluster = (speed - 1) * conversion # Speed on HUD is always 1 lower than actually sent on can bus ret.cruiseState.speedCluster = (speed - 1) * conversion # Speed on HUD is always 1 lower than actually sent on can bus
if self.CP.carFingerprint == CAR.ALTIMA: if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
else: else:
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
@ -107,17 +107,17 @@ class CarState(CarStateBase):
can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"]) can_gear = int(cp.vl["GEARBOX"]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None)) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
if self.CP.carFingerprint == CAR.ALTIMA: if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"]) self.lkas_enabled = bool(cp.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
else: else:
self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"]) self.lkas_enabled = bool(cp_adas.vl["LKAS_SETTINGS"]["LKAS_ENABLED"])
self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"]) self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"]) self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
if self.CP.carFingerprint != CAR.ALTIMA: if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"]) self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"]) self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
@ -136,14 +136,14 @@ class CarState(CarStateBase):
("LIGHTS", 10), ("LIGHTS", 10),
] ]
if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA): if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
messages += [ messages += [
("GAS_PEDAL", 100), ("GAS_PEDAL", 100),
("CRUISE_THROTTLE", 50), ("CRUISE_THROTTLE", 50),
("HUD", 25), ("HUD", 25),
] ]
elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC): elif CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
messages += [ messages += [
("BRAKE_PEDAL", 100), ("BRAKE_PEDAL", 100),
("CRUISE_THROTTLE", 50), ("CRUISE_THROTTLE", 50),
@ -152,7 +152,7 @@ class CarState(CarStateBase):
("SEATBELT", 10), ("SEATBELT", 10),
] ]
if CP.carFingerprint == CAR.ALTIMA: if CP.carFingerprint == CAR.NISSAN_ALTIMA:
messages += [ messages += [
("CRUISE_STATE", 10), ("CRUISE_STATE", 10),
("LKAS_SETTINGS", 10), ("LKAS_SETTINGS", 10),
@ -168,7 +168,7 @@ class CarState(CarStateBase):
def get_adas_can_parser(CP): def get_adas_can_parser(CP):
# this function generates lists for signal, messages and initial values # this function generates lists for signal, messages and initial values
if CP.carFingerprint == CAR.ALTIMA: if CP.carFingerprint == CAR.NISSAN_ALTIMA:
messages = [ messages = [
("LKAS", 100), ("LKAS", 100),
("PRO_PILOT", 100), ("PRO_PILOT", 100),
@ -188,9 +188,9 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
messages = [] messages = []
if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL): if CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL):
messages.append(("PRO_PILOT", 100)) messages.append(("PRO_PILOT", 100))
elif CP.carFingerprint == CAR.ALTIMA: elif CP.carFingerprint == CAR.NISSAN_ALTIMA:
messages.append(("STEER_TORQUE_SENSOR", 100)) messages.append(("STEER_TORQUE_SENSOR", 100))
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)

18
selfdrive/car/nissan/fingerprints.py
Unescape View File

@ -5,31 +5,31 @@ from openpilot.selfdrive.car.nissan.values import CAR
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
FINGERPRINTS = { FINGERPRINTS = {
CAR.XTRAIL: [{ CAR.NISSAN_XTRAIL: [{
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8
}, },
{ {
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 527: 1, 548: 8, 637: 4, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 8, 1497: 3, 1534: 6, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8
}], }],
CAR.LEAF: [{ CAR.NISSAN_LEAF: [{
2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8 2: 5, 42: 6, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 944: 1, 976: 6, 1008: 7, 1011: 7, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8, 1856: 8, 1859: 8, 1861: 8, 1864: 8, 1874: 8, 1888: 8, 1891: 8, 1893: 8, 1906: 8, 1947: 8, 1949: 8, 1979: 8, 1981: 8, 2016: 8, 2017: 8, 2021: 8, 643: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8
}, },
{ {
2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8 2: 5, 42: 8, 264: 3, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 724: 6, 758: 3, 761: 2, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 976: 6, 1008: 7, 1009: 8, 1010: 8, 1011: 7, 1012: 8, 1013: 8, 1019: 8, 1020: 8, 1021: 8, 1022: 8, 1057: 3, 1227: 8, 1228: 8, 1261: 5, 1342: 1, 1354: 8, 1361: 8, 1402: 8, 1459: 8, 1477: 8, 1497: 3, 1549: 8, 1573: 6, 1821: 8, 1837: 8
}], }],
CAR.LEAF_IC: [{ CAR.NISSAN_LEAF_IC: [{
2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8 2: 5, 42: 6, 264: 3, 282: 8, 361: 8, 372: 8, 384: 8, 389: 8, 403: 8, 459: 7, 460: 4, 470: 8, 520: 1, 569: 8, 581: 8, 634: 7, 640: 8, 643: 5, 644: 8, 645: 8, 646: 5, 658: 8, 682: 8, 683: 8, 689: 8, 756: 5, 758: 3, 761: 2, 783: 3, 830: 2, 852: 8, 853: 8, 856: 8, 861: 8, 943: 8, 944: 1, 1001: 6, 1057: 3, 1227: 8, 1228: 8, 1229: 8, 1342: 1, 1354: 8, 1361: 8, 1459: 8, 1477: 8, 1497: 3, 1514: 6, 1549: 8, 1573: 6, 1792: 8, 1821: 8, 1822: 8, 1837: 8, 1838: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8
}], }],
CAR.ROGUE: [{ CAR.NISSAN_ROGUE: [{
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 634: 7, 643: 5, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 783: 3, 851: 8, 855: 8, 1041: 8, 1042: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1534: 7, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1839: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}], }],
CAR.ALTIMA: [{ CAR.NISSAN_ALTIMA: [{
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 438: 8, 451: 8, 517: 8, 520: 2, 522: 8, 523: 6, 539: 8, 541: 7, 542: 8, 543: 8, 544: 8, 545: 8, 546: 8, 547: 8, 548: 8, 570: 8, 576: 8, 577: 8, 582: 8, 583: 8, 584: 8, 586: 8, 587: 8, 588: 8, 589: 8, 590: 8, 591: 8, 592: 8, 600: 8, 601: 8, 610: 8, 611: 8, 612: 8, 614: 8, 615: 8, 616: 8, 617: 8, 622: 8, 623: 8, 634: 7, 638: 8, 645: 8, 648: 5, 654: 6, 658: 8, 659: 8, 660: 8, 661: 8, 665: 8, 666: 8, 674: 2, 675: 8, 676: 8, 682: 8, 683: 8, 684: 8, 685: 8, 686: 8, 687: 8, 689: 8, 690: 8, 703: 8, 708: 7, 709: 7, 711: 7, 712: 7, 713: 7, 714: 8, 715: 8, 716: 8, 717: 7, 718: 7, 719: 7, 720: 7, 723: 8, 726: 7, 727: 7, 728: 7, 735: 8, 746: 8, 748: 6, 749: 6, 750: 8, 758: 3, 772: 8, 773: 6, 774: 7, 775: 8, 776: 6, 777: 7, 778: 6, 779: 7, 781: 7, 782: 7, 783: 3, 851: 8, 855: 5, 1001: 6, 1041: 8, 1042: 8, 1055: 3, 1100: 7, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1110: 7, 1111: 7, 1144: 7, 1145: 7, 1227: 8, 1228: 8, 1229: 8, 1232: 8, 1247: 4, 1258: 8, 1259: 8, 1266: 8, 1273: 7, 1306: 1, 1314: 8, 1323: 8, 1324: 8, 1342: 1, 1376: 8, 1401: 8, 1454: 8, 1497: 3, 1514: 6, 1526: 8, 1527: 5, 1792: 8, 1821: 8, 1823: 8, 1837: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}], }],
} }
FW_VERSIONS = { FW_VERSIONS = {
CAR.ALTIMA: { CAR.NISSAN_ALTIMA: {
(Ecu.fwdCamera, 0x707, None): [ (Ecu.fwdCamera, 0x707, None): [
b'284N86CA1D', b'284N86CA1D',
], ],
@ -43,7 +43,7 @@ FW_VERSIONS = {
b'284U29HE0A', b'284U29HE0A',
], ],
}, },
CAR.LEAF: { CAR.NISSAN_LEAF: {
(Ecu.abs, 0x740, None): [ (Ecu.abs, 0x740, None): [
b'476605SA1C', b'476605SA1C',
b'476605SA7D', b'476605SA7D',
@ -72,7 +72,7 @@ FW_VERSIONS = {
b'284U26WK0C', b'284U26WK0C',
], ],
}, },
CAR.LEAF_IC: { CAR.NISSAN_LEAF_IC: {
(Ecu.fwdCamera, 0x707, None): [ (Ecu.fwdCamera, 0x707, None): [
b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
@ -94,7 +94,7 @@ FW_VERSIONS = {
b'284U25SK2D', b'284U25SK2D',
], ],
}, },
CAR.XTRAIL: { CAR.NISSAN_XTRAIL: {
(Ecu.fwdCamera, 0x707, None): [ (Ecu.fwdCamera, 0x707, None): [
b'284N86FR2A', b'284N86FR2A',
], ],

2
selfdrive/car/nissan/interface.py
Unescape View File

@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarUnavailable = True ret.radarUnavailable = True
if candidate == CAR.ALTIMA: if candidate == CAR.NISSAN_ALTIMA:
# Altima has EPS on C-CAN unlike the others that have it on V-CAN # Altima has EPS on C-CAN unlike the others that have it on V-CAN
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS

2
selfdrive/car/nissan/nissancan.py
Unescape View File

@ -39,7 +39,7 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
"unsure2", "unsure2",
"unsure3", "unsure3",
]} ]}
can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2 can_bus = 1 if car_fingerprint == CAR.NISSAN_ALTIMA else 2
values["CANCEL_BUTTON"] = 1 values["CANCEL_BUTTON"] = 1
values["NO_BUTTON_PRESSED"] = 0 values["NO_BUTTON_PRESSED"] = 0

10
selfdrive/car/nissan/values.py
Unescape View File

@ -37,23 +37,23 @@ class NissanPlaformConfig(PlatformConfig):
class CAR(Platforms): class CAR(Platforms):
XTRAIL = NissanPlaformConfig( NISSAN_XTRAIL = NissanPlaformConfig(
[NissanCarDocs("Nissan X-Trail 2017")], [NissanCarDocs("Nissan X-Trail 2017")],
NissanCarSpecs(mass=1610, wheelbase=2.705) NissanCarSpecs(mass=1610, wheelbase=2.705)
) )
LEAF = NissanPlaformConfig( NISSAN_LEAF = NissanPlaformConfig(
[NissanCarDocs("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")], [NissanCarDocs("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY")],
NissanCarSpecs(mass=1610, wheelbase=2.705), NissanCarSpecs(mass=1610, wheelbase=2.705),
dbc_dict('nissan_leaf_2018_generated', None), dbc_dict('nissan_leaf_2018_generated', None),
) )
# Leaf with ADAS ECU found behind instrument cluster instead of glovebox # Leaf with ADAS ECU found behind instrument cluster instead of glovebox
# Currently the only known difference between them is the inverted seatbelt signal. # Currently the only known difference between them is the inverted seatbelt signal.
LEAF_IC = LEAF.override(car_docs=[]) NISSAN_LEAF_IC = NISSAN_LEAF.override(car_docs=[])
ROGUE = NissanPlaformConfig( NISSAN_ROGUE = NissanPlaformConfig(
[NissanCarDocs("Nissan Rogue 2018-20")], [NissanCarDocs("Nissan Rogue 2018-20")],
NissanCarSpecs(mass=1610, wheelbase=2.705) NissanCarSpecs(mass=1610, wheelbase=2.705)
) )
ALTIMA = NissanPlaformConfig( NISSAN_ALTIMA = NissanPlaformConfig(
[NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))], [NissanCarDocs("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b]))],
NissanCarSpecs(mass=1492, wheelbase=2.824) NissanCarSpecs(mass=1492, wheelbase=2.824)
) )

30
selfdrive/car/subaru/fingerprints.py
Unescape View File

@ -4,7 +4,7 @@ from openpilot.selfdrive.car.subaru.values import CAR
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
FW_VERSIONS = { FW_VERSIONS = {
CAR.ASCENT: { CAR.SUBARU_ASCENT: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa5 \x19\x02\x00', b'\xa5 \x19\x02\x00',
b'\xa5 !\x02\x00', b'\xa5 !\x02\x00',
@ -33,7 +33,7 @@ FW_VERSIONS = {
b'\x01\xfe\xfa\x00\x00', b'\x01\xfe\xfa\x00\x00',
], ],
}, },
CAR.ASCENT_2023: { CAR.SUBARU_ASCENT_2023: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa5 #\x03\x00', b'\xa5 #\x03\x00',
], ],
@ -50,7 +50,7 @@ FW_VERSIONS = {
b'\x04\xfe\xf3\x00\x00', b'\x04\xfe\xf3\x00\x00',
], ],
}, },
CAR.LEGACY: { CAR.SUBARU_LEGACY: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa1 \x02\x01', b'\xa1 \x02\x01',
b'\xa1 \x02\x02', b'\xa1 \x02\x02',
@ -78,7 +78,7 @@ FW_VERSIONS = {
b'\xa7\xfe\xc4@\x00', b'\xa7\xfe\xc4@\x00',
], ],
}, },
CAR.IMPREZA: { CAR.SUBARU_IMPREZA: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'z\x84\x19\x90\x00', b'z\x84\x19\x90\x00',
b'z\x94\x08\x90\x00', b'z\x94\x08\x90\x00',
@ -158,7 +158,7 @@ FW_VERSIONS = {
b'\xe5\xf5B\x00\x00', b'\xe5\xf5B\x00\x00',
], ],
}, },
CAR.IMPREZA_2020: { CAR.SUBARU_IMPREZA_2020: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa2 \x193\x00', b'\xa2 \x193\x00',
b'\xa2 \x194\x00', b'\xa2 \x194\x00',
@ -212,7 +212,7 @@ FW_VERSIONS = {
b'\xe9\xf6F0\x00', b'\xe9\xf6F0\x00',
], ],
}, },
CAR.CROSSTREK_HYBRID: { CAR.SUBARU_CROSSTREK_HYBRID: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa2 \x19e\x01', b'\xa2 \x19e\x01',
b'\xa2 !e\x01', b'\xa2 !e\x01',
@ -230,7 +230,7 @@ FW_VERSIONS = {
b'\xf4!`0\x07', b'\xf4!`0\x07',
], ],
}, },
CAR.FORESTER: { CAR.SUBARU_FORESTER: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa3 \x18\x14\x00', b'\xa3 \x18\x14\x00',
b'\xa3 \x18&\x00', b'\xa3 \x18&\x00',
@ -270,7 +270,7 @@ FW_VERSIONS = {
b'\x1a\xf6b`\x00', b'\x1a\xf6b`\x00',
], ],
}, },
CAR.FORESTER_HYBRID: { CAR.SUBARU_FORESTER_HYBRID: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa3 \x19T\x00', b'\xa3 \x19T\x00',
], ],
@ -287,7 +287,7 @@ FW_VERSIONS = {
b'\x1b\xa7@a\x00', b'\x1b\xa7@a\x00',
], ],
}, },
CAR.FORESTER_PREGLOBAL: { CAR.SUBARU_FORESTER_PREGLOBAL: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'm\x97\x14@', b'm\x97\x14@',
b'}\x97\x14@', b'}\x97\x14@',
@ -318,7 +318,7 @@ FW_VERSIONS = {
b'\xdc\xf2`\x81\x00', b'\xdc\xf2`\x81\x00',
], ],
}, },
CAR.LEGACY_PREGLOBAL: { CAR.SUBARU_LEGACY_PREGLOBAL: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'[\x97D\x00', b'[\x97D\x00',
b'[\xba\xc4\x03', b'[\xba\xc4\x03',
@ -351,7 +351,7 @@ FW_VERSIONS = {
b'\xbf\xfb\xc0\x80\x00', b'\xbf\xfb\xc0\x80\x00',
], ],
}, },
CAR.OUTBACK_PREGLOBAL: { CAR.SUBARU_OUTBACK_PREGLOBAL: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'[\xba\xac\x03', b'[\xba\xac\x03',
b'[\xf7\xac\x00', b'[\xf7\xac\x00',
@ -404,7 +404,7 @@ FW_VERSIONS = {
b'\xbf\xfb\xe0b\x00', b'\xbf\xfb\xe0b\x00',
], ],
}, },
CAR.OUTBACK_PREGLOBAL_2018: { CAR.SUBARU_OUTBACK_PREGLOBAL_2018: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\x8b\x97\xac\x00', b'\x8b\x97\xac\x00',
b'\x8b\x97\xbc\x00', b'\x8b\x97\xbc\x00',
@ -447,7 +447,7 @@ FW_VERSIONS = {
b'\xbc\xfb\xe0\x80\x00', b'\xbc\xfb\xe0\x80\x00',
], ],
}, },
CAR.OUTBACK: { CAR.SUBARU_OUTBACK: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa1 \x06\x00', b'\xa1 \x06\x00',
b'\xa1 \x06\x01', b'\xa1 \x06\x01',
@ -496,7 +496,7 @@ FW_VERSIONS = {
b'\xa7\xfe\xf4@\x00', b'\xa7\xfe\xf4@\x00',
], ],
}, },
CAR.FORESTER_2022: { CAR.SUBARU_FORESTER_2022: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa3 !v\x00', b'\xa3 !v\x00',
b'\xa3 !x\x00', b'\xa3 !x\x00',
@ -529,7 +529,7 @@ FW_VERSIONS = {
b'\x1e\xf6D0\x00', b'\x1e\xf6D0\x00',
], ],
}, },
CAR.OUTBACK_2023: { CAR.SUBARU_OUTBACK_2023: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\xa1 #\x14\x00', b'\xa1 #\x14\x00',
b'\xa1 #\x17\x00', b'\xa1 #\x17\x00',

18
selfdrive/car/subaru/interface.py
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@ -40,45 +40,45 @@ class CarInterface(CarInterfaceBase):
else: else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate in (CAR.ASCENT, CAR.ASCENT_2023): if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
ret.steerActuatorDelay = 0.3 # end-to-end angle controller ret.steerActuatorDelay = 0.3 # end-to-end angle controller
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00003 ret.lateralTuning.pid.kf = 0.00003
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
elif candidate == CAR.IMPREZA: elif candidate == CAR.SUBARU_IMPREZA:
ret.steerActuatorDelay = 0.4 # end-to-end angle controller ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
elif candidate == CAR.IMPREZA_2020: elif candidate == CAR.SUBARU_IMPREZA_2020:
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
elif candidate == CAR.CROSSTREK_HYBRID: elif candidate == CAR.SUBARU_CROSSTREK_HYBRID:
ret.steerActuatorDelay = 0.1 ret.steerActuatorDelay = 0.1
elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID): elif candidate in (CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_2022, CAR.SUBARU_FORESTER_HYBRID):
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kf = 0.000038 ret.lateralTuning.pid.kf = 0.000038
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]] ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023): elif candidate in (CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023):
ret.steerActuatorDelay = 0.1 ret.steerActuatorDelay = 0.1
elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018): elif candidate in (CAR.SUBARU_FORESTER_PREGLOBAL, CAR.SUBARU_OUTBACK_PREGLOBAL_2018):
ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE # Outback 2018-2019 and Forester have reversed driver torque signal ret.safetyConfigs[0].safetyParam = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE # Outback 2018-2019 and Forester have reversed driver torque signal
elif candidate == CAR.LEGACY_PREGLOBAL: elif candidate == CAR.SUBARU_LEGACY_PREGLOBAL:
ret.steerActuatorDelay = 0.15 ret.steerActuatorDelay = 0.15
elif candidate == CAR.OUTBACK_PREGLOBAL: elif candidate == CAR.SUBARU_OUTBACK_PREGLOBAL:
pass pass
else: else:
raise ValueError(f"unknown car: {candidate}") raise ValueError(f"unknown car: {candidate}")

46
selfdrive/car/subaru/values.py
Unescape View File

@ -23,7 +23,7 @@ class CarControllerParams:
self.STEER_MAX = 1000 self.STEER_MAX = 1000
self.STEER_DELTA_UP = 40 self.STEER_DELTA_UP = 40
self.STEER_DELTA_DOWN = 40 self.STEER_DELTA_DOWN = 40
elif CP.carFingerprint == CAR.IMPREZA_2020: elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
self.STEER_MAX = 1439 self.STEER_MAX = 1439
else: else:
self.STEER_MAX = 2047 self.STEER_MAX = 2047
@ -120,19 +120,19 @@ class SubaruGen2PlatformConfig(SubaruPlatformConfig):
class CAR(Platforms): class CAR(Platforms):
# Global platform # Global platform
ASCENT = SubaruPlatformConfig( SUBARU_ASCENT = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Ascent 2019-21", "All")], [SubaruCarDocs("Subaru Ascent 2019-21", "All")],
CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5),
) )
OUTBACK = SubaruGen2PlatformConfig( SUBARU_OUTBACK = SubaruGen2PlatformConfig(
[SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))], [SubaruCarDocs("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
) )
LEGACY = SubaruGen2PlatformConfig( SUBARU_LEGACY = SubaruGen2PlatformConfig(
[SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))], [SubaruCarDocs("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b]))],
OUTBACK.specs, SUBARU_OUTBACK.specs,
) )
IMPREZA = SubaruPlatformConfig( SUBARU_IMPREZA = SubaruPlatformConfig(
[ [
SubaruCarDocs("Subaru Impreza 2017-19"), SubaruCarDocs("Subaru Impreza 2017-19"),
SubaruCarDocs("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), SubaruCarDocs("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@ -140,7 +140,7 @@ class CAR(Platforms):
], ],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15), CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15),
) )
IMPREZA_2020 = SubaruPlatformConfig( SUBARU_IMPREZA_2020 = SubaruPlatformConfig(
[ [
SubaruCarDocs("Subaru Impreza 2020-22"), SubaruCarDocs("Subaru Impreza 2020-22"),
SubaruCarDocs("Subaru Crosstrek 2020-23"), SubaruCarDocs("Subaru Crosstrek 2020-23"),
@ -150,60 +150,60 @@ class CAR(Platforms):
flags=SubaruFlags.STEER_RATE_LIMITED, flags=SubaruFlags.STEER_RATE_LIMITED,
) )
# TODO: is there an XV and Impreza too? # TODO: is there an XV and Impreza too?
CROSSTREK_HYBRID = SubaruPlatformConfig( SUBARU_CROSSTREK_HYBRID = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))], [SubaruCarDocs("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b]))],
CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.HYBRID, flags=SubaruFlags.HYBRID,
) )
FORESTER = SubaruPlatformConfig( SUBARU_FORESTER = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Forester 2019-21", "All")], [SubaruCarDocs("Subaru Forester 2019-21", "All")],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17),
flags=SubaruFlags.STEER_RATE_LIMITED, flags=SubaruFlags.STEER_RATE_LIMITED,
) )
FORESTER_HYBRID = SubaruPlatformConfig( SUBARU_FORESTER_HYBRID = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Forester Hybrid 2020")], [SubaruCarDocs("Subaru Forester Hybrid 2020")],
FORESTER.specs, SUBARU_FORESTER.specs,
flags=SubaruFlags.HYBRID, flags=SubaruFlags.HYBRID,
) )
# Pre-global # Pre-global
FORESTER_PREGLOBAL = SubaruPlatformConfig( SUBARU_FORESTER_PREGLOBAL = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Forester 2017-18")], [SubaruCarDocs("Subaru Forester 2017-18")],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20), CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20),
dbc_dict('subaru_forester_2017_generated', None), dbc_dict('subaru_forester_2017_generated', None),
flags=SubaruFlags.PREGLOBAL, flags=SubaruFlags.PREGLOBAL,
) )
LEGACY_PREGLOBAL = SubaruPlatformConfig( SUBARU_LEGACY_PREGLOBAL = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Legacy 2015-18")], [SubaruCarDocs("Subaru Legacy 2015-18")],
CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5), CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5),
dbc_dict('subaru_outback_2015_generated', None), dbc_dict('subaru_outback_2015_generated', None),
flags=SubaruFlags.PREGLOBAL, flags=SubaruFlags.PREGLOBAL,
) )
OUTBACK_PREGLOBAL = SubaruPlatformConfig( SUBARU_OUTBACK_PREGLOBAL = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Outback 2015-17")], [SubaruCarDocs("Subaru Outback 2015-17")],
FORESTER_PREGLOBAL.specs, SUBARU_FORESTER_PREGLOBAL.specs,
dbc_dict('subaru_outback_2015_generated', None), dbc_dict('subaru_outback_2015_generated', None),
flags=SubaruFlags.PREGLOBAL, flags=SubaruFlags.PREGLOBAL,
) )
OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig( SUBARU_OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Outback 2018-19")], [SubaruCarDocs("Subaru Outback 2018-19")],
FORESTER_PREGLOBAL.specs, SUBARU_FORESTER_PREGLOBAL.specs,
dbc_dict('subaru_outback_2019_generated', None), dbc_dict('subaru_outback_2019_generated', None),
flags=SubaruFlags.PREGLOBAL, flags=SubaruFlags.PREGLOBAL,
) )
# Angle LKAS # Angle LKAS
FORESTER_2022 = SubaruPlatformConfig( SUBARU_FORESTER_2022 = SubaruPlatformConfig(
[SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))], [SubaruCarDocs("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c]))],
FORESTER.specs, SUBARU_FORESTER.specs,
flags=SubaruFlags.LKAS_ANGLE, flags=SubaruFlags.LKAS_ANGLE,
) )
OUTBACK_2023 = SubaruGen2PlatformConfig( SUBARU_OUTBACK_2023 = SubaruGen2PlatformConfig(
[SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))], [SubaruCarDocs("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
OUTBACK.specs, SUBARU_OUTBACK.specs,
flags=SubaruFlags.LKAS_ANGLE, flags=SubaruFlags.LKAS_ANGLE,
) )
ASCENT_2023 = SubaruGen2PlatformConfig( SUBARU_ASCENT_2023 = SubaruGen2PlatformConfig(
[SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))], [SubaruCarDocs("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d]))],
ASCENT.specs, SUBARU_ASCENT.specs,
flags=SubaruFlags.LKAS_ANGLE, flags=SubaruFlags.LKAS_ANGLE,
) )

8
selfdrive/car/tesla/carstate.py
Unescape View File

@ -37,7 +37,7 @@ class CarState(CarStateBase):
ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1) ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1)
# Steering wheel # Steering wheel
epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.MODELS_RAVEN else cp.vl["EPAS_sysStatus"] epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN else cp.vl["EPAS_sysStatus"]
self.hands_on_level = epas_status["EPAS_handsOnLevel"] 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) self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
@ -87,7 +87,7 @@ class CarState(CarStateBase):
ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1) ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1)
# Seatbelt # Seatbelt
if self.CP.carFingerprint == CAR.MODELS_RAVEN: if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1) ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1)
else: else:
ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1) ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1)
@ -119,7 +119,7 @@ class CarState(CarStateBase):
("BrakeMessage", 50), ("BrakeMessage", 50),
] ]
if CP.carFingerprint == CAR.MODELS_RAVEN: if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
messages.append(("DriverSeat", 20)) messages.append(("DriverSeat", 20))
else: else:
messages.append(("SDM1", 10)) messages.append(("SDM1", 10))
@ -133,7 +133,7 @@ class CarState(CarStateBase):
("DAS_control", 40), ("DAS_control", 40),
] ]
if CP.carFingerprint == CAR.MODELS_RAVEN: if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
messages.append(("EPAS3P_sysStatus", 100)) messages.append(("EPAS3P_sysStatus", 100))
return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis) return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)

6
selfdrive/car/tesla/fingerprints.py
Unescape View File

@ -5,13 +5,13 @@ from openpilot.selfdrive.car.tesla.values import CAR
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
FINGERPRINTS = { FINGERPRINTS = {
CAR.AP1_MODELS: [{ CAR.TESLA_AP1_MODELS: [{
1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
}], }],
} }
FW_VERSIONS = { FW_VERSIONS = {
CAR.AP2_MODELS: { CAR.TESLA_AP2_MODELS: {
(Ecu.adas, 0x649, None): [ (Ecu.adas, 0x649, None): [
b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11',
], ],
@ -25,7 +25,7 @@ FW_VERSIONS = {
b'\x10#\x01', b'\x10#\x01',
], ],
}, },
CAR.MODELS_RAVEN: { CAR.TESLA_MODELS_RAVEN: {
(Ecu.electricBrakeBooster, 0x64d, None): [ (Ecu.electricBrakeBooster, 0x64d, None): [
b'1037123-00-A', b'1037123-00-A',
], ],

2
selfdrive/car/tesla/interface.py
Unescape View File

@ -28,7 +28,7 @@ class CarInterface(CarInterfaceBase):
# Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus # 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. # If so, we assume that it is connected to the longitudinal harness.
flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.MODELS_RAVEN else 0) flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.TESLA_MODELS_RAVEN else 0)
if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()): if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
ret.openpilotLongitudinalControl = True ret.openpilotLongitudinalControl = True
flags |= Panda.FLAG_TESLA_LONG_CONTROL flags |= Panda.FLAG_TESLA_LONG_CONTROL

4
selfdrive/car/tesla/radar_interface.py
Unescape View File

@ -10,7 +10,7 @@ class RadarInterface(RadarInterfaceBase):
super().__init__(CP) super().__init__(CP)
self.CP = CP self.CP = CP
if CP.carFingerprint == CAR.MODELS_RAVEN: if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
messages = [('RadarStatus', 16)] messages = [('RadarStatus', 16)]
self.num_points = 40 self.num_points = 40
self.trigger_msg = 1119 self.trigger_msg = 1119
@ -46,7 +46,7 @@ class RadarInterface(RadarInterfaceBase):
if not self.rcp.can_valid: if not self.rcp.can_valid:
errors.append('canError') errors.append('canError')
if self.CP.carFingerprint == CAR.MODELS_RAVEN: if self.CP.carFingerprint == CAR.TESLA_MODELS_RAVEN:
radar_status = self.rcp.vl['RadarStatus'] radar_status = self.rcp.vl['RadarStatus']
if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']: if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']:
errors.append('fault') errors.append('fault')

12
selfdrive/car/tesla/values.py
Unescape View File

@ -10,19 +10,19 @@ Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CAR(Platforms): class CAR(Platforms):
AP1_MODELS = PlatformConfig( TESLA_AP1_MODELS = PlatformConfig(
[CarDocs("Tesla AP1 Model S", "All")], [CarDocs("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') dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
) )
AP2_MODELS = PlatformConfig( TESLA_AP2_MODELS = PlatformConfig(
[CarDocs("Tesla AP2 Model S", "All")], [CarDocs("Tesla AP2 Model S", "All")],
AP1_MODELS.specs, TESLA_AP1_MODELS.specs,
AP1_MODELS.dbc_dict TESLA_AP1_MODELS.dbc_dict
) )
MODELS_RAVEN = PlatformConfig( TESLA_MODELS_RAVEN = PlatformConfig(
[CarDocs("Tesla Model S Raven", "All")], [CarDocs("Tesla Model S Raven", "All")],
AP1_MODELS.specs, TESLA_AP1_MODELS.specs,
dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can') dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
) )

340
selfdrive/car/tests/routes.py
Unescape View File

@ -17,14 +17,14 @@ from openpilot.selfdrive.car.body.values import CAR as COMMA
# TODO: add routes for these cars # TODO: add routes for these cars
non_tested_cars = [ non_tested_cars = [
FORD.F_150_MK14, FORD.FORD_F_150_MK14,
GM.CADILLAC_ATS, GM.CADILLAC_ATS,
GM.HOLDEN_ASTRA, GM.HOLDEN_ASTRA,
GM.MALIBU, GM.CHEVROLET_MALIBU,
HYUNDAI.GENESIS_G90, HYUNDAI.GENESIS_G90,
HONDA.ODYSSEY_CHN, HONDA.HONDA_ODYSSEY_CHN,
VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2, # need a route from an ACC-equipped Crafter
SUBARU.FORESTER_HYBRID, SUBARU.SUBARU_FORESTER_HYBRID,
] ]
@ -35,81 +35,81 @@ class CarTestRoute(NamedTuple):
routes = [ routes = [
CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY), CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.COMMA_BODY),
CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE), CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019), CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.PACIFICA_2017_HYBRID), CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID),
CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.PACIFICA_2018), CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID), CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),
CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID), CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID),
CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020), CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.CHRYSLER_PACIFICA_2020),
CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500_5TH_GEN), CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500_5TH_GEN),
CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD_5TH_GEN, segment=6), CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD_5TH_GEN, segment=6),
CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO), CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO),
CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1), CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.FORD_BRONCO_SPORT_MK1),
CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4), CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.FORD_ESCAPE_MK4),
CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6), CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.FORD_EXPLORER_MK6),
CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4), CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FORD_FOCUS_MK4),
CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1), CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1),
CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.F_150_LIGHTNING_MK1), CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.FORD_F_150_LIGHTNING_MK1),
CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.MUSTANG_MACH_E_MK1), CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1),
#TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.GMC_ACADIA),
CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE), CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.EQUINOX), CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.CHEVROLET_EQUINOX),
CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE), CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.CADILLAC_ESCALADE),
CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.CADILLAC_ESCALADE_ESV),
CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.ESCALADE_ESV_2019), CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.CADILLAC_ESCALADE_ESV_2019),
CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.CHEVROLET_VOLT),
CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1), CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.CHEVROLET_BOLT_EUV, segment=1),
CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14), # Bolt EV CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.CHEVROLET_BOLT_EUV, segment=14), # Bolt EV
CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO), CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.CHEVROLET_SILVERADO),
CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.TRAILBLAZER), CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.CHEVROLET_TRAILBLAZER),
CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G), CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC), CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.HONDA_CIVIC),
CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.CRV_EU), CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.HONDA_CRV_EU),
CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.CRV), CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.HONDA_CRV),
CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.CRV_HYBRID), CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.HONDA_CRV_HYBRID),
CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT), CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.HONDA_FIT),
CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED), CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.HONDA_FREED),
CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV), CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HONDA_HRV),
CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HRV_3G), CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HONDA_HRV_3G),
CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX), CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.HONDA_ACCORD), # 1.5T
CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.HONDA_ACCORD), # 2.0T
CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD), # 2021 with new style HUD msgs CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.HONDA_ACCORD), # 2021 with new style HUD msgs
CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.ACCORD), # hybrid CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.HONDA_ACCORD), # hybrid
CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.ACCORD), # hybrid, 2021 with new style HUD msgs CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.HONDA_ACCORD), # hybrid, 2021 with new style HUD msgs
CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.CRV_5G), CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.HONDA_CRV_5G),
CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.ODYSSEY), CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY),
CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL), CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL),
CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT), CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.HONDA_INSIGHT),
CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT), CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.HONDA_PILOT),
CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PILOT), # Passport CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.HONDA_PILOT), # Passport
CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH), CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.HONDA_CIVIC_BOSCH),
CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX), CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE), CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE),
CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E),
CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022),
CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN), CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN),
CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.AZERA_HEV_6TH_GEN), CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN),
CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12), CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN), CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80), CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.CUSTIN_1ST_GEN), CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN), CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE), CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022), CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022), CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1), CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022, segment=1),
CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN), CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN), # Chinese model CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN), # Chinese model
CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
@ -118,36 +118,36 @@ routes = [
CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H), CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H),
CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL), CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.STARIA_4TH_GEN), CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN), # 2023 CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # 2023
CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_4TH_GEN), # hybrid CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # hybrid
CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5), CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14), CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN), # plug-in hybrid CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN), # plug-in hybrid
CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2 CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5), # HDA2
CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.IONIQ_6, segment=6), # HDA2 CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6), # HDA2
CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),
CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV), CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV),
CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.IONIQ_PHEV), # openpilot longitudinal enabled CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV), # openpilot longitudinal enabled
CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.HYUNDAI_IONIQ_EV_2020),
CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.IONIQ_EV_LTD), CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.HYUNDAI_IONIQ_EV_LTD),
CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.IONIQ), CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.HYUNDAI_IONIQ),
CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.IONIQ), # openpilot longitudinal enabled CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.HYUNDAI_IONIQ), # openpilot longitudinal enabled
CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022), CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA), CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV), CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.KONA_EV), # openpilot longitudinal enabled CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV), # openpilot longitudinal enabled
CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11), CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.KONA_EV_2ND_GEN, segment=13), CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022), CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022),
CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER),
CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2
CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1
CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6), CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
@ -164,37 +164,37 @@ routes = [
CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN), CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # openpilot longitudinal CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # openpilot longitudinal
CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # hybrid CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # hybrid
CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.HYUNDAI_ELANTRA),
CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA_GT_I30), CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.HYUNDAI_ELANTRA_GT_I30),
CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021), CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID), CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020), CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80), CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2), CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.TOYOTA_ALPHARD_TSS2),
CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARD_TSS2), # hybrid CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.TOYOTA_ALPHARD_TSS2), # hybrid
CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON), CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.TOYOTA_AVALON),
CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019), CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.TOYOTA_AVALON_2019),
CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALON_2019), # hybrid CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.TOYOTA_AVALON_2019), # hybrid
CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2), CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.TOYOTA_AVALON_TSS2),
CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALON_TSS2), # hybrid CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.TOYOTA_AVALON_TSS2), # hybrid
CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY), CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.TOYOTA_CAMRY),
CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY), # openpilot longitudinal, with radar CAN filter CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.TOYOTA_CAMRY), # openpilot longitudinal, with radar CAN filter
CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRY), # hybrid CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.TOYOTA_CAMRY), # hybrid
CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2), CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.TOYOTA_CAMRY_TSS2),
CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRY_TSS2), # hybrid CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.TOYOTA_CAMRY_TSS2), # hybrid
CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.COROLLA), CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.TOYOTA_COROLLA),
CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2), CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.TOYOTA_COROLLA_TSS2),
CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2), # hybrid CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.TOYOTA_COROLLA_TSS2), # hybrid
CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS), CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.TOYOTA_PRIUS),
CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4), CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.TOYOTA_RAV4),
CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H), CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.TOYOTA_RAV4H),
CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.TOYOTA_RAV4_TSS2),
CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.TOYOTA_RAV4_TSS2_2022),
CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.RAV4_TSS2_2023), CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.TOYOTA_RAV4_TSS2_2023),
CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4_TSS2), # hybrid CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2), # hybrid
CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4_TSS2_2022), # hybrid CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022), # hybrid
CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid
CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
@ -211,39 +211,39 @@ routes = [
CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2), CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2),
CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2), # hybrid CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2), # hybrid
CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2), CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2),
CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2), CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.TOYOTA_HIGHLANDER_TSS2),
CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2), # hybrid CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.TOYOTA_HIGHLANDER_TSS2), # hybrid
CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER), CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.TOYOTA_HIGHLANDER),
CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDER), # hybrid CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.TOYOTA_HIGHLANDER), # hybrid
CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA), CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.TOYOTA_SIENNA),
CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS), CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2), CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2), CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.TOYOTA_PRIUS_TSS2),
CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI), CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.TOYOTA_MIRAI),
CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR), CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR),
CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHR), # hybrid CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR), # hybrid
CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2), CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2),
CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.TOYOTA_CHR_TSS2), # openpilot longitudinal, with smartDSU
CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2), # hybrid CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2), # hybrid
CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled
CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V),
CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1),
CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1), CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.VOLKSWAGEN_ATLAS_MK1),
CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.CADDY_MK3), CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.VOLKSWAGEN_CADDY_MK3),
CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7), # Stock ACC CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7), # Stock ACC
CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7), # openpilot longitudinal CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7), # openpilot longitudinal
CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7), CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK7),
CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8), CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8),
CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS), CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS),
CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6), CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.VOLKSWAGEN_POLO_MK6),
CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.SHARAN_MK2), CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.VOLKSWAGEN_SHARAN_MK2),
CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1), CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.VOLKSWAGEN_TAOS_MK1),
CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1), CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.VOLKSWAGEN_TCROSS_MK1),
CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2), CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.VOLKSWAGEN_TIGUAN_MK2),
CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2), CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.VOLKSWAGEN_TOURAN_MK2),
CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.TRANSPORTER_T61), CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.VOLKSWAGEN_TRANSPORTER_T61),
CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.TROC_MK1), CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.VOLKSWAGEN_TROC_MK1),
CarTestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3), CarTestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),
CarTestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1), CarTestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1),
CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2), CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
@ -257,42 +257,42 @@ routes = [
CarTestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_SCALA_MK1), CarTestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_SCALA_MK1),
CarTestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3), CarTestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3),
CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.ASCENT), CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.SUBARU_ASCENT),
CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.SUBARU_FORESTER),
CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.SUBARU_IMPREZA),
CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.SUBARU_IMPREZA_2020),
CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.IMPREZA), # openpilot longitudinal CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.SUBARU_IMPREZA), # openpilot longitudinal
# CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled
CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.SUBARU_OUTBACK, segment=10),
CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.SUBARU_LEGACY, segment=3),
CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2), CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.SUBARU_CROSSTREK_HYBRID, segment=2),
CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4), CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.SUBARU_FORESTER_2022, segment=4),
CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7), CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.SUBARU_OUTBACK_2023, segment=7),
CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.ASCENT_2023, segment=7), CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.SUBARU_ASCENT_2023, segment=7),
# Pre-global, dashcam # Pre-global, dashcam
CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.SUBARU_FORESTER_PREGLOBAL),
CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL), CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.SUBARU_LEGACY_PREGLOBAL),
CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL), CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.SUBARU_OUTBACK_PREGLOBAL),
CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018), CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018),
CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL), CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.NISSAN_XTRAIL),
CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.LEAF), CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.NISSAN_LEAF),
CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.LEAF_IC), CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.NISSAN_LEAF_IC),
CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.ROGUE), CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.NISSAN_ROGUE),
CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.ALTIMA), CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.NISSAN_ALTIMA),
CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.CX5), CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.MAZDA_CX5),
CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.CX9), CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.MAZDA_CX9),
CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA3), CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA_3),
CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA6), CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA_6),
CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.CX9_2021), CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.MAZDA_CX9_2021),
CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.CX5_2022), CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022),
CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS), CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.TESLA_AP1_MODELS),
CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS), CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.TESLA_AP2_MODELS),
CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.MODELS_RAVEN), CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.TESLA_MODELS_RAVEN),
# Segments that test specific issues # Segments that test specific issues
# Controls mismatch due to standstill threshold # Controls mismatch due to standstill threshold
CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22), CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22),
] ]

2
selfdrive/car/tests/test_can_fingerprint.py
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@ -28,7 +28,7 @@ class TestCanFingerprint(unittest.TestCase):
def test_timing(self): def test_timing(self):
# just pick any CAN fingerprinting car # just pick any CAN fingerprinting car
car_model = "BOLT_EUV" car_model = "CHEVROLET_BOLT_EUV"
fingerprint = FINGERPRINTS[car_model][0] fingerprint = FINGERPRINTS[car_model][0]
cases = [] cases = []

2
selfdrive/car/tests/test_docs.py
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@ -69,7 +69,7 @@ class TestCarDocs(unittest.TestCase):
for car in self.all_cars: for car in self.all_cars:
with self.subTest(car=car): with self.subTest(car=car):
# honda sanity check, it's the definition of a no torque star # honda sanity check, it's the definition of a no torque star
if car.car_fingerprint in (HONDA.ACCORD, HONDA.CIVIC, HONDA.CRV, HONDA.ODYSSEY, HONDA.PILOT): if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT):
self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star") self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star")
elif car.car_name in ("toyota", "hyundai"): elif car.car_name in ("toyota", "hyundai"):
self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star") self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")

4
selfdrive/car/tests/test_lateral_limits.py
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@ -24,8 +24,8 @@ JERK_MEAS_T = 0.5
# TODO: put these cars within limits # TODO: put these cars within limits
ABOVE_LIMITS_CARS = [ ABOVE_LIMITS_CARS = [
SUBARU.LEGACY, SUBARU.SUBARU_LEGACY,
SUBARU.OUTBACK, SUBARU.SUBARU_OUTBACK,
] ]
car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict) car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict)

4
selfdrive/car/tests/test_models.py
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@ -367,7 +367,7 @@ class TestCarModelBase(unittest.TestCase):
# TODO: remove this exception once this mismatch is resolved # TODO: remove this exception once this mismatch is resolved
brake_pressed = CS.brakePressed brake_pressed = CS.brakePressed
if CS.brakePressed and not self.safety.get_brake_pressed_prev(): if CS.brakePressed and not self.safety.get_brake_pressed_prev():
if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05: if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
brake_pressed = False brake_pressed = False
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev()) self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
@ -430,7 +430,7 @@ class TestCarModelBase(unittest.TestCase):
# TODO: remove this exception once this mismatch is resolved # TODO: remove this exception once this mismatch is resolved
brake_pressed = CS.brakePressed brake_pressed = CS.brakePressed
if CS.brakePressed and not self.safety.get_brake_pressed_prev(): if CS.brakePressed and not self.safety.get_brake_pressed_prev():
if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05: if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
brake_pressed = False brake_pressed = False
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()

2
selfdrive/car/torque_data/neural_ff_weights.json
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File diff suppressed because one or more lines are too long

82
selfdrive/car/torque_data/override.toml
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@ -1,53 +1,53 @@
legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
### angle control ### angle control
# Nissan appears to have torque # Nissan appears to have torque
"XTRAIL" = [nan, 1.5, nan] "NISSAN_XTRAIL" = [nan, 1.5, nan]
"ALTIMA" = [nan, 1.5, nan] "NISSAN_ALTIMA" = [nan, 1.5, nan]
"LEAF_IC" = [nan, 1.5, nan] "NISSAN_LEAF_IC" = [nan, 1.5, nan]
"LEAF" = [nan, 1.5, nan] "NISSAN_LEAF" = [nan, 1.5, nan]
"ROGUE" = [nan, 1.5, nan] "NISSAN_ROGUE" = [nan, 1.5, nan]
# New subarus angle based controllers # New subarus angle based controllers
"FORESTER_2022" = [nan, 3.0, nan] "SUBARU_FORESTER_2022" = [nan, 3.0, nan]
"OUTBACK_2023" = [nan, 3.0, nan] "SUBARU_OUTBACK_2023" = [nan, 3.0, nan]
"ASCENT_2023" = [nan, 3.0, nan] "SUBARU_ASCENT_2023" = [nan, 3.0, nan]
# Toyota LTA also has torque # Toyota LTA also has torque
"RAV4_TSS2_2023" = [nan, 3.0, nan] "TOYOTA_RAV4_TSS2_2023" = [nan, 3.0, nan]
# Tesla has high torque # Tesla has high torque
"AP1_MODELS" = [nan, 2.5, nan] "TESLA_AP1_MODELS" = [nan, 2.5, nan]
"AP2_MODELS" = [nan, 2.5, nan] "TESLA_AP2_MODELS" = [nan, 2.5, nan]
"MODELS_RAVEN" = [nan, 2.5, nan] "TESLA_MODELS_RAVEN" = [nan, 2.5, nan]
# Guess # Guess
"BRONCO_SPORT_MK1" = [nan, 1.5, nan] "FORD_BRONCO_SPORT_MK1" = [nan, 1.5, nan]
"ESCAPE_MK4" = [nan, 1.5, nan] "FORD_ESCAPE_MK4" = [nan, 1.5, nan]
"EXPLORER_MK6" = [nan, 1.5, nan] "FORD_EXPLORER_MK6" = [nan, 1.5, nan]
"F_150_MK14" = [nan, 1.5, nan] "FORD_F_150_MK14" = [nan, 1.5, nan]
"FOCUS_MK4" = [nan, 1.5, nan] "FORD_FOCUS_MK4" = [nan, 1.5, nan]
"MAVERICK_MK1" = [nan, 1.5, nan] "FORD_MAVERICK_MK1" = [nan, 1.5, nan]
"F_150_LIGHTNING_MK1" = [nan, 1.5, nan] "FORD_F_150_LIGHTNING_MK1" = [nan, 1.5, nan]
"MUSTANG_MACH_E_MK1" = [nan, 1.5, nan] "FORD_MUSTANG_MACH_E_MK1" = [nan, 1.5, nan]
### ###
# No steering wheel # No steering wheel
"BODY" = [nan, 1000, nan] "COMMA_BODY" = [nan, 1000, nan]
# Totally new cars # Totally new cars
"RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05] "RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05]
"RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05] "RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05]
"OUTBACK" = [2.0, 2.0, 0.2] "SUBARU_OUTBACK" = [2.0, 2.0, 0.2]
"ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] "CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
"ESCALADE_ESV_2019" = [1.15, 1.3, 0.2] "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
"BOLT_EUV" = [2.0, 2.0, 0.05] "CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
"SILVERADO" = [1.9, 1.9, 0.112] "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
"TRAILBLAZER" = [1.33, 1.9, 0.16] "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
"EQUINOX" = [2.5, 2.5, 0.05] "CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
"CADDY_MK3" = [1.2, 1.2, 0.1] "VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
"PASSAT_NMS" = [2.5, 2.5, 0.1] "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
"SHARAN_MK2" = [2.5, 2.5, 0.1] "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
"SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1] "HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
"KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1] "KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
"GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1] "GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
"GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1] "GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1]
@ -57,20 +57,20 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14] "KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14]
"GENESIS_GV80" = [2.5, 2.5, 0.1] "GENESIS_GV80" = [2.5, 2.5, 0.1]
"KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15] "KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15]
"ACADIA" = [1.6, 1.6, 0.2] "GMC_ACADIA" = [1.6, 1.6, 0.2]
"LEXUS_IS_TSS2" = [2.0, 2.0, 0.1] "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
"KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1] "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
"IONIQ_6" = [2.5, 2.5, 0.1] "HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.1]
"AZERA_6TH_GEN" = [1.8, 1.8, 0.1] "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
"AZERA_HEV_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] "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
"CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1] "HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
"LEXUS_GS_F" = [2.5, 2.5, 0.08] "LEXUS_GS_F" = [2.5, 2.5, 0.08]
"STARIA_4TH_GEN" = [1.8, 2.0, 0.15] "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
# Dashcam or fallback configured as ideal car # Dashcam or fallback configured as ideal car
"MOCK" = [10.0, 10, 0.0] "MOCK" = [10.0, 10, 0.0]
# Manually checked # Manually checked
"CIVIC_2022" = [2.5, 1.2, 0.15] "HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
"HRV_3G" = [2.5, 1.2, 0.2] "HONDA_HRV_3G" = [2.5, 1.2, 0.2]

125
selfdrive/car/torque_data/params.toml
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@ -4,40 +4,40 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"ACURA_RDX_3G" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598] "ACURA_RDX_3G" = [1.4314459806646749, 0.33874701282109954, 0.18048847083897598]
"AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905] "AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
"AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097] "AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
"VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] "CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
"PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022] "CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
"PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085] "CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
"PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237] "CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
"PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818] "CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818]
"PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520] "CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520]
"GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221] "GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
"ACCORD" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265] "HONDA_ACCORD" = [1.6893333799149202, 0.3246749081720698, 0.2120497022936265]
"CIVIC_BOSCH" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094] "HONDA_CIVIC_BOSCH" = [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
"CIVIC" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544] "HONDA_CIVIC" = [1.6528895627785531, 0.4018518740819229, 0.25458812851328544]
"CRV" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127] "HONDA_CRV" = [0.7667141440182675, 0.5927571534745969, 0.40909087636157127]
"CRV_5G" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528] "HONDA_CRV_5G" = [2.01323205142022, 0.2700612209345081, 0.2238412881331528]
"CRV_HYBRID" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083] "HONDA_CRV_HYBRID" = [2.072034634644233, 0.7152085160516978, 0.20237105008376083]
"FIT" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281] "HONDA_FIT" = [1.5719981427109775, 0.5712761407108976, 0.110773383324281]
"HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094] "HONDA_HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
"INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876] "HONDA_INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
"ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] "HONDA_ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
"PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] "HONDA_PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
"RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] "HONDA_RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
"ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819] "HYUNDAI_ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819]
"HYUNDAI_GENESIS" = [2.7807965280270794, 2.325, 0.0984484465421171] "HYUNDAI_GENESIS" = [2.7807965280270794, 2.325, 0.0984484465421171]
"IONIQ_5" = [3.172929, 2.713050, 0.096019] "HYUNDAI_IONIQ_5" = [3.172929, 2.713050, 0.096019]
"IONIQ_EV_LTD" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276] "HYUNDAI_IONIQ_EV_LTD" = [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
"IONIQ_PHEV" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] "HYUNDAI_IONIQ_PHEV" = [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
"IONIQ_PHEV_2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482] "HYUNDAI_IONIQ_PHEV_2019" = [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
"KONA_EV" = [3.078814714619148, 2.307336938253934, 0.12359762054065548] "HYUNDAI_KONA_EV" = [3.078814714619148, 2.307336938253934, 0.12359762054065548]
"PALISADE" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651] "HYUNDAI_PALISADE" = [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
"SANTA_FE" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] "HYUNDAI_SANTA_FE" = [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
"SANTA_FE_HEV_2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963] "HYUNDAI_SANTA_FE_HEV_2022" = [3.501877602644835, 2.729064118456137, 0.10384068104538963]
"SANTA_FE_PHEV_2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] "HYUNDAI_SANTA_FE_PHEV_2022" = [1.6953050513611045, 1.5837614296206861, 0.12672855941458458]
"SONATA_LF" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] "HYUNDAI_SONATA_LF" = [2.2200457811703953, 1.2967330275895228, 0.14039920986586393]
"SONATA" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] "HYUNDAI_SONATA" = [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
"SONATA_HYBRID" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382] "HYUNDAI_SONATA_HYBRID" = [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
"TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745] "HYUNDAI_TUCSON_4TH_GEN" = [2.960174, 2.860284, 0.108745]
"JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048] "JEEP_GRAND_CHEROKEE_2019" = [2.30972, 1.289689569171081, 0.117048]
"JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003] "JEEP_GRAND_CHEROKEE" = [2.27116, 1.4057367824262523, 0.11725947414922003]
"KIA_EV6" = [3.2, 2.093457, 0.05] "KIA_EV6" = [3.2, 2.093457, 0.05]
@ -50,36 +50,33 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"LEXUS_NX_TSS2" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] "LEXUS_NX_TSS2" = [2.4331999786982936, 2.1045680431705414, 0.14099899317761067]
"LEXUS_RX" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034] "LEXUS_RX" = [1.6430539050086406, 1.181960058934143, 0.19768806040843034]
"LEXUS_RX_TSS2" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557] "LEXUS_RX_TSS2" = [1.5375561442049257, 1.343166476215164, 0.1931062001527557]
"CX9_2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] "MAZDA_CX9_2021" = [1.7601682915983443, 1.0889677335154337, 0.17713792194297195]
"SKODA_SUPERB_MK3" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708] "SKODA_SUPERB_MK3" = [1.166437404652981, 1.1686163012668165, 0.12194533036948708]
"FORESTER" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745] "SUBARU_FORESTER" = [3.6617001649776793, 2.342197172531713, 0.11075960785398745]
"IMPREZA" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938] "SUBARU_IMPREZA" = [1.0670704910352047, 0.8234374840709592, 0.20986563268614938]
"IMPREZA_2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627] "SUBARU_IMPREZA_2020" = [2.6068223389108303, 2.134872342760203, 0.15261513193561627]
"AVALON" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022] "TOYOTA_AVALON" = [2.5185770183845646, 1.7153346784214922, 0.10603968787111022]
"AVALON_2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492] "TOYOTA_AVALON_2019" = [1.7036141952825095, 1.239619084240008, 0.08459830394899492]
"AVALON_TSS2" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] "TOYOTA_AVALON_TSS2" = [2.3154403649717357, 2.7777922854327124, 0.11453999639164605]
"CHR" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193] "TOYOTA_CHR" = [1.5591084333664578, 1.271271459066948, 0.20259087058453193]
"CHR_TSS2" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] "TOYOTA_CHR_TSS2" = [1.7678810166088303, 1.3742176337919942, 0.2319674583741509]
"CAMRY" = [2.0568162685952505, 1.7576185169559122, 0.108878753] "TOYOTA_CAMRY" = [2.0568162685952505, 1.7576185169559122, 0.108878753]
"CAMRY_TSS2" = [2.3548324999999997, 2.368900128946771, 0.118436] "TOYOTA_CAMRY_TSS2" = [2.3548324999999997, 2.368900128946771, 0.118436]
"COROLLA" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652] "TOYOTA_COROLLA" = [3.117154369115421, 1.8438132575043773, 0.12289685869250652]
"COROLLA_TSS2" = [1.991132339206426, 1.868866242720403, 0.19570063298031432] "TOYOTA_COROLLA_TSS2" = [1.991132339206426, 1.868866242720403, 0.19570063298031432]
"HIGHLANDER" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398] "TOYOTA_HIGHLANDER" = [1.8108348718624456, 1.6348421600679828, 0.15972686105120398]
"HIGHLANDER_TSS2" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725] "TOYOTA_HIGHLANDER_TSS2" = [1.9617570834136164, 1.8611643317268927, 0.14519673256119725]
"MIRAI" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565] "TOYOTA_MIRAI" = [2.506899832157829, 1.7417213930750164, 0.20182618449440565]
"PRIUS" = [1.60, 1.5023147650693636, 0.151515] "TOYOTA_PRIUS" = [1.60, 1.5023147650693636, 0.151515]
"PRIUS_TSS2" = [1.972600, 1.9104337425537743, 0.170968] "TOYOTA_PRIUS_TSS2" = [1.972600, 1.9104337425537743, 0.170968]
"RAV4" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975] "TOYOTA_RAV4" = [2.085695074355425, 2.2142832316984733, 0.13339165270103975]
"RAV4_TSS2" = [2.279239424615458, 2.087101966779332, 0.13682208413446817] "TOYOTA_RAV4_TSS2" = [2.279239424615458, 2.087101966779332, 0.13682208413446817]
"TOYOTA RAV4 2019 8965" = [2.3080951748210854, 2.1189367835820603, 0.12942102328134028] "TOYOTA_RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406]
"TOYOTA RAV4 2019 x02" = [2.762293266024922, 2.243615865975329, 0.11113568178327986] "TOYOTA_RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174]
"RAV4H" = [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] "TOYOTA_SIENNA" = [1.689726, 1.3208264576110418, 0.140456]
"RAV4_TSS2_2022" = [2.241883248393209, 1.9304407208090029, 0.112174] "VOLKSWAGEN_ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032]
"TOYOTA RAV4 2022 x02" = [3.044930631831037, 2.3979189796380918, 0.14023209146703736] "VOLKSWAGEN_ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367]
"SIENNA" = [1.689726, 1.3208264576110418, 0.140456] "VOLKSWAGEN_GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586]
"ARTEON_MK1" = [1.45136518053819, 1.3639364049316804, 0.23806361745695032] "VOLKSWAGEN_JETTA_MK7" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
"ATLAS_MK1" = [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] "VOLKSWAGEN_PASSAT_MK8" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
"GOLF_MK7" = [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] "VOLKSWAGEN_TIGUAN_MK2" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
"JETTA_MK7" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
"PASSAT_MK8" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
"TIGUAN_MK2" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]

118
selfdrive/car/torque_data/substitute.toml
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@ -1,85 +1,85 @@
legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"MAZDA3" = "CX9_2021" "MAZDA_3" = "MAZDA_CX9_2021"
"MAZDA6" = "CX9_2021" "MAZDA_6" = "MAZDA_CX9_2021"
"CX5" = "CX9_2021" "MAZDA_CX5" = "MAZDA_CX9_2021"
"CX5_2022" = "CX9_2021" "MAZDA_CX5_2022" = "MAZDA_CX9_2021"
"CX9" = "CX9_2021" "MAZDA_CX9" = "MAZDA_CX9_2021"
"DODGE_DURANGO" = "PACIFICA_2020" "DODGE_DURANGO" = "CHRYSLER_PACIFICA_2020"
"ALPHARD_TSS2" = "SIENNA" "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
"PRIUS_V" = "PRIUS" "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
"LEXUS_IS" = "LEXUS_NX" "LEXUS_IS" = "LEXUS_NX"
"LEXUS_CTH" = "LEXUS_NX" "LEXUS_CTH" = "LEXUS_NX"
"LEXUS_ES" = "CAMRY" "LEXUS_ES" = "TOYOTA_CAMRY"
"LEXUS_RC" = "LEXUS_NX_TSS2" "LEXUS_RC" = "LEXUS_NX_TSS2"
"LEXUS_LC_TSS2" = "LEXUS_NX_TSS2" "LEXUS_LC_TSS2" = "LEXUS_NX_TSS2"
"KIA_OPTIMA_G4" = "SONATA" "KIA_OPTIMA_G4" = "HYUNDAI_SONATA"
"KIA_OPTIMA_G4_FL" = "SONATA" "KIA_OPTIMA_G4_FL" = "HYUNDAI_SONATA"
"KIA_OPTIMA_H" = "SONATA" "KIA_OPTIMA_H" = "HYUNDAI_SONATA"
"KIA_OPTIMA_H_G4_FL" = "SONATA" "KIA_OPTIMA_H_G4_FL" = "HYUNDAI_SONATA"
"KIA_FORTE" = "SONATA" "KIA_FORTE" = "HYUNDAI_SONATA"
"KIA_CEED" = "SONATA" "KIA_CEED" = "HYUNDAI_SONATA"
"KIA_SELTOS" = "SONATA" "KIA_SELTOS" = "HYUNDAI_SONATA"
"KIA_NIRO_PHEV" = "KIA_NIRO_EV" "KIA_NIRO_PHEV" = "KIA_NIRO_EV"
"KIA_NIRO_PHEV_2022" = "KIA_NIRO_EV" "KIA_NIRO_PHEV_2022" = "KIA_NIRO_EV"
"KIA_NIRO_HEV_2021" = "KIA_NIRO_EV" "KIA_NIRO_HEV_2021" = "KIA_NIRO_EV"
"VELOSTER" = "SONATA_LF" "HYUNDAI_VELOSTER" = "HYUNDAI_SONATA_LF"
"KONA" = "KONA_EV" "HYUNDAI_KONA" = "HYUNDAI_KONA_EV"
"KONA_HEV" = "KONA_EV" "HYUNDAI_KONA_HEV" = "HYUNDAI_KONA_EV"
"KONA_EV_2022" = "KONA_EV" "HYUNDAI_KONA_EV_2022" = "HYUNDAI_KONA_EV"
"IONIQ" = "IONIQ_PHEV_2019" "HYUNDAI_IONIQ" = "HYUNDAI_IONIQ_PHEV_2019"
"IONIQ_HEV_2022" = "IONIQ_PHEV_2019" "HYUNDAI_IONIQ_HEV_2022" = "HYUNDAI_IONIQ_PHEV_2019"
"IONIQ_EV_2020" = "IONIQ_PHEV_2019" "HYUNDAI_IONIQ_EV_2020" = "HYUNDAI_IONIQ_PHEV_2019"
"ELANTRA" = "SONATA_LF" "HYUNDAI_ELANTRA" = "HYUNDAI_SONATA_LF"
"ELANTRA_GT_I30" = "SONATA_LF" "HYUNDAI_ELANTRA_GT_I30" = "HYUNDAI_SONATA_LF"
"ELANTRA_HEV_2021" = "SONATA" "HYUNDAI_ELANTRA_HEV_2021" = "HYUNDAI_SONATA"
"TUCSON" = "SANTA_FE" "HYUNDAI_TUCSON" = "HYUNDAI_SANTA_FE"
"SANTA_FE_2022" = "SANTA_FE_HEV_2022" "HYUNDAI_SANTA_FE_2022" = "HYUNDAI_SANTA_FE_HEV_2022"
"KIA_K5_HEV_2020" = "KIA_K5_2021" "KIA_K5_HEV_2020" = "KIA_K5_2021"
"KIA_STINGER_2022" = "KIA_STINGER" "KIA_STINGER_2022" = "KIA_STINGER"
"GENESIS_G90" = "GENESIS_G70" "GENESIS_G90" = "GENESIS_G70"
"GENESIS_G80" = "GENESIS_G70" "GENESIS_G80" = "GENESIS_G70"
"GENESIS_G70_2020" = "SONATA" "GENESIS_G70_2020" = "HYUNDAI_SONATA"
"FREED" = "ODYSSEY" "HONDA_FREED" = "HONDA_ODYSSEY"
"CRV_EU" = "CRV" "HONDA_CRV_EU" = "HONDA_CRV"
"CIVIC_BOSCH_DIESEL" = "CIVIC_BOSCH" "HONDA_CIVIC_BOSCH_DIESEL" = "HONDA_CIVIC_BOSCH"
"HONDA_E" = "CIVIC_BOSCH" "HONDA_E" = "HONDA_CIVIC_BOSCH"
"ODYSSEY_CHN" = "ODYSSEY" "HONDA_ODYSSEY_CHN" = "HONDA_ODYSSEY"
"BUICK_LACROSSE" = "VOLT" "BUICK_LACROSSE" = "CHEVROLET_VOLT"
"BUICK_REGAL" = "VOLT" "BUICK_REGAL" = "CHEVROLET_VOLT"
"ESCALADE_ESV" = "VOLT" "CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
"CADILLAC_ATS" = "VOLT" "CADILLAC_ATS" = "CHEVROLET_VOLT"
"MALIBU" = "VOLT" "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
"HOLDEN_ASTRA" = "VOLT" "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
"SKODA_FABIA_MK4" = "GOLF_MK7" "SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7"
"SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3" "SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3"
"SKODA_SCALA_MK1" = "SKODA_SUPERB_MK3" "SKODA_SCALA_MK1" = "SKODA_SUPERB_MK3"
"SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3" "SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3"
"SKODA_KAROQ_MK1" = "SKODA_SUPERB_MK3" "SKODA_KAROQ_MK1" = "SKODA_SUPERB_MK3"
"SKODA_KAMIQ_MK1" = "SKODA_SUPERB_MK3" "SKODA_KAMIQ_MK1" = "SKODA_SUPERB_MK3"
"CRAFTER_MK2" = "TIGUAN_MK2" "VOLKSWAGEN_CRAFTER_MK2" = "VOLKSWAGEN_TIGUAN_MK2"
"TROC_MK1" = "TIGUAN_MK2" "VOLKSWAGEN_TROC_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
"TCROSS_MK1" = "TIGUAN_MK2" "VOLKSWAGEN_TCROSS_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
"TOURAN_MK2" = "TIGUAN_MK2" "VOLKSWAGEN_TOURAN_MK2" = "VOLKSWAGEN_TIGUAN_MK2"
"TRANSPORTER_T61" = "TIGUAN_MK2" "VOLKSWAGEN_TRANSPORTER_T61" = "VOLKSWAGEN_TIGUAN_MK2"
"AUDI_Q2_MK1" = "TIGUAN_MK2" "AUDI_Q2_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
"TAOS_MK1" = "TIGUAN_MK2" "VOLKSWAGEN_TAOS_MK1" = "VOLKSWAGEN_TIGUAN_MK2"
"POLO_MK6" = "GOLF_MK7" "VOLKSWAGEN_POLO_MK6" = "VOLKSWAGEN_GOLF_MK7"
"SEAT_LEON_MK3" = "GOLF_MK7" "SEAT_LEON_MK3" = "VOLKSWAGEN_GOLF_MK7"
"SEAT_ATECA_MK1" = "GOLF_MK7" "SEAT_ATECA_MK1" = "VOLKSWAGEN_GOLF_MK7"
"CROSSTREK_HYBRID" = "IMPREZA_2020" "SUBARU_CROSSTREK_HYBRID" = "SUBARU_IMPREZA_2020"
"FORESTER_HYBRID" = "IMPREZA_2020" "SUBARU_FORESTER_HYBRID" = "SUBARU_IMPREZA_2020"
"LEGACY" = "OUTBACK" "SUBARU_LEGACY" = "SUBARU_OUTBACK"
# Old subarus don't have much data guessing it's like low torque impreza" # Old subarus don't have much data guessing it's like low torque impreza"
"OUTBACK_PREGLOBAL_2018" = "IMPREZA" "SUBARU_OUTBACK_PREGLOBAL_2018" = "SUBARU_IMPREZA"
"OUTBACK_PREGLOBAL" = "IMPREZA" "SUBARU_OUTBACK_PREGLOBAL" = "SUBARU_IMPREZA"
"FORESTER_PREGLOBAL" = "IMPREZA" "SUBARU_FORESTER_PREGLOBAL" = "SUBARU_IMPREZA"
"LEGACY_PREGLOBAL" = "IMPREZA" "SUBARU_LEGACY_PREGLOBAL" = "SUBARU_IMPREZA"
"ASCENT" = "FORESTER" "SUBARU_ASCENT" = "SUBARU_FORESTER"

2
selfdrive/car/toyota/carcontroller.py
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@ -143,7 +143,7 @@ class CarController(CarControllerBase):
can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button)) can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
# *** hud ui *** # *** hud ui ***
if self.CP.carFingerprint != CAR.PRIUS_V: if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
# ui mesg is at 1Hz but we send asap if: # ui mesg is at 1Hz but we send asap if:
# - there is something to display # - there is something to display
# - there is something to stop displaying # - there is something to stop displaying

8
selfdrive/car/toyota/carstate.py
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@ -96,7 +96,7 @@ class CarState(CarStateBase):
ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1 ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2 ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
if self.CP.carFingerprint != CAR.MIRAI: if self.CP.carFingerprint != CAR.TOYOTA_MIRAI:
ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"] ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"] ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
@ -161,7 +161,7 @@ class CarState(CarStateBase):
ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1) ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1) ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
if self.CP.carFingerprint != CAR.PRIUS_V: if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"]) self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR: if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
@ -195,7 +195,7 @@ class CarState(CarStateBase):
("STEER_TORQUE_SENSOR", 50), ("STEER_TORQUE_SENSOR", 50),
] ]
if CP.carFingerprint != CAR.MIRAI: if CP.carFingerprint != CAR.TOYOTA_MIRAI:
messages.append(("ENGINE_RPM", 42)) messages.append(("ENGINE_RPM", 42))
if CP.carFingerprint in UNSUPPORTED_DSU_CAR: if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
@ -232,7 +232,7 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP): def get_cam_can_parser(CP):
messages = [] messages = []
if CP.carFingerprint != CAR.PRIUS_V: if CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
messages += [ messages += [
("LKAS_HUD", 1), ("LKAS_HUD", 1),
] ]

44
selfdrive/car/toyota/fingerprints.py
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@ -4,7 +4,7 @@ from openpilot.selfdrive.car.toyota.values import CAR
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
FW_VERSIONS = { FW_VERSIONS = {
CAR.AVALON: { CAR.TOYOTA_AVALON: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'F152607060\x00\x00\x00\x00\x00\x00', b'F152607060\x00\x00\x00\x00\x00\x00',
], ],
@ -30,7 +30,7 @@ FW_VERSIONS = {
b'8646F0703000\x00\x00\x00\x00', b'8646F0703000\x00\x00\x00\x00',
], ],
}, },
CAR.AVALON_2019: { CAR.TOYOTA_AVALON_2019: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'F152607110\x00\x00\x00\x00\x00\x00', b'F152607110\x00\x00\x00\x00\x00\x00',
b'F152607140\x00\x00\x00\x00\x00\x00', b'F152607140\x00\x00\x00\x00\x00\x00',
@ -71,7 +71,7 @@ FW_VERSIONS = {
b'8646F0702100\x00\x00\x00\x00', b'8646F0702100\x00\x00\x00\x00',
], ],
}, },
CAR.AVALON_TSS2: { CAR.TOYOTA_AVALON_TSS2: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\x01F152607240\x00\x00\x00\x00\x00\x00', b'\x01F152607240\x00\x00\x00\x00\x00\x00',
b'\x01F152607250\x00\x00\x00\x00\x00\x00', b'\x01F152607250\x00\x00\x00\x00\x00\x00',
@ -95,7 +95,7 @@ FW_VERSIONS = {
b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
], ],
}, },
CAR.CAMRY: { CAR.TOYOTA_CAMRY: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x018966306L3100\x00\x00\x00\x00', b'\x018966306L3100\x00\x00\x00\x00',
b'\x018966306L4200\x00\x00\x00\x00', b'\x018966306L4200\x00\x00\x00\x00',
@ -222,7 +222,7 @@ FW_VERSIONS = {
b'8646F0607100 ', b'8646F0607100 ',
], ],
}, },
CAR.CAMRY_TSS2: { CAR.TOYOTA_CAMRY_TSS2: {
(Ecu.eps, 0x7a1, None): [ (Ecu.eps, 0x7a1, None): [
b'8965B33630\x00\x00\x00\x00\x00\x00', b'8965B33630\x00\x00\x00\x00\x00\x00',
b'8965B33640\x00\x00\x00\x00\x00\x00', b'8965B33640\x00\x00\x00\x00\x00\x00',
@ -268,7 +268,7 @@ FW_VERSIONS = {
b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
], ],
}, },
CAR.CHR: { CAR.TOYOTA_CHR: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x01896631017100\x00\x00\x00\x00', b'\x01896631017100\x00\x00\x00\x00',
b'\x01896631017200\x00\x00\x00\x00', b'\x01896631017200\x00\x00\x00\x00',
@ -353,7 +353,7 @@ FW_VERSIONS = {
b'8646FF407100 ', b'8646FF407100 ',
], ],
}, },
CAR.CHR_TSS2: { CAR.TOYOTA_CHR_TSS2: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'F152610041\x00\x00\x00\x00\x00\x00', b'F152610041\x00\x00\x00\x00\x00\x00',
b'F152610260\x00\x00\x00\x00\x00\x00', b'F152610260\x00\x00\x00\x00\x00\x00',
@ -385,7 +385,7 @@ FW_VERSIONS = {
b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
], ],
}, },
CAR.COROLLA: { CAR.TOYOTA_COROLLA: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0230ZC2100\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
@ -419,7 +419,7 @@ FW_VERSIONS = {
b'8646F0201200\x00\x00\x00\x00', b'8646F0201200\x00\x00\x00\x00',
], ],
}, },
CAR.COROLLA_TSS2: { CAR.TOYOTA_COROLLA_TSS2: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x01896630A22000\x00\x00\x00\x00', b'\x01896630A22000\x00\x00\x00\x00',
b'\x01896630ZG2000\x00\x00\x00\x00', b'\x01896630ZG2000\x00\x00\x00\x00',
@ -594,7 +594,7 @@ FW_VERSIONS = {
b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
], ],
}, },
CAR.HIGHLANDER: { CAR.TOYOTA_HIGHLANDER: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x01896630E09000\x00\x00\x00\x00', b'\x01896630E09000\x00\x00\x00\x00',
b'\x01896630E43000\x00\x00\x00\x00', b'\x01896630E43000\x00\x00\x00\x00',
@ -650,7 +650,7 @@ FW_VERSIONS = {
b'8646F0E01300\x00\x00\x00\x00', b'8646F0E01300\x00\x00\x00\x00',
], ],
}, },
CAR.HIGHLANDER_TSS2: { CAR.TOYOTA_HIGHLANDER_TSS2: {
(Ecu.eps, 0x7a1, None): [ (Ecu.eps, 0x7a1, None): [
b'8965B48241\x00\x00\x00\x00\x00\x00', b'8965B48241\x00\x00\x00\x00\x00\x00',
b'8965B48310\x00\x00\x00\x00\x00\x00', b'8965B48310\x00\x00\x00\x00\x00\x00',
@ -796,7 +796,7 @@ FW_VERSIONS = {
b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
], ],
}, },
CAR.PRIUS: { CAR.TOYOTA_PRIUS: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896634761100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@ -894,7 +894,7 @@ FW_VERSIONS = {
b'8646F4705200\x00\x00\x00\x00', b'8646F4705200\x00\x00\x00\x00',
], ],
}, },
CAR.PRIUS_V: { CAR.TOYOTA_PRIUS_V: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'F152647280\x00\x00\x00\x00\x00\x00', b'F152647280\x00\x00\x00\x00\x00\x00',
], ],
@ -911,7 +911,7 @@ FW_VERSIONS = {
b'8646F4703300\x00\x00\x00\x00', b'8646F4703300\x00\x00\x00\x00',
], ],
}, },
CAR.RAV4: { CAR.TOYOTA_RAV4: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02342Q1000\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02342Q1100\x00\x00\x00\x00\x00\x00\x00\x0054212000\x00\x00\x00\x00\x00\x00\x00\x00',
@ -952,7 +952,7 @@ FW_VERSIONS = {
b'8646F4204000\x00\x00\x00\x00', b'8646F4204000\x00\x00\x00\x00',
], ],
}, },
CAR.RAV4H: { CAR.TOYOTA_RAV4H: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02342N9000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02342N9100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@ -989,7 +989,7 @@ FW_VERSIONS = {
b'8646F4204000\x00\x00\x00\x00', b'8646F4204000\x00\x00\x00\x00',
], ],
}, },
CAR.RAV4_TSS2: { CAR.TOYOTA_RAV4_TSS2: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x01896630R58000\x00\x00\x00\x00', b'\x01896630R58000\x00\x00\x00\x00',
b'\x01896630R58100\x00\x00\x00\x00', b'\x01896630R58100\x00\x00\x00\x00',
@ -1099,7 +1099,7 @@ FW_VERSIONS = {
b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', b'\x028646F4203800\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
], ],
}, },
CAR.RAV4_TSS2_2022: { CAR.TOYOTA_RAV4_TSS2_2022: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\x01F15260R350\x00\x00\x00\x00\x00\x00', b'\x01F15260R350\x00\x00\x00\x00\x00\x00',
b'\x01F15260R361\x00\x00\x00\x00\x00\x00', b'\x01F15260R361\x00\x00\x00\x00\x00\x00',
@ -1135,7 +1135,7 @@ FW_VERSIONS = {
b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
], ],
}, },
CAR.RAV4_TSS2_2023: { CAR.TOYOTA_RAV4_TSS2_2023: {
(Ecu.abs, 0x7b0, None): [ (Ecu.abs, 0x7b0, None): [
b'\x01F15260R450\x00\x00\x00\x00\x00\x00', b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
b'\x01F15260R51000\x00\x00\x00\x00', b'\x01F15260R51000\x00\x00\x00\x00',
@ -1167,7 +1167,7 @@ FW_VERSIONS = {
b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00', b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00',
], ],
}, },
CAR.SIENNA: { CAR.TOYOTA_SIENNA: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x01896630832100\x00\x00\x00\x00', b'\x01896630832100\x00\x00\x00\x00',
b'\x01896630832200\x00\x00\x00\x00', b'\x01896630832200\x00\x00\x00\x00',
@ -1591,7 +1591,7 @@ FW_VERSIONS = {
b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F4810400\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
], ],
}, },
CAR.PRIUS_TSS2: { CAR.TOYOTA_PRIUS_TSS2: {
(Ecu.engine, 0x700, None): [ (Ecu.engine, 0x700, None): [
b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@ -1622,7 +1622,7 @@ FW_VERSIONS = {
b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
], ],
}, },
CAR.MIRAI: { CAR.TOYOTA_MIRAI: {
(Ecu.abs, 0x7d1, None): [ (Ecu.abs, 0x7d1, None): [
b'\x01898A36203000\x00\x00\x00\x00', b'\x01898A36203000\x00\x00\x00\x00',
], ],
@ -1640,7 +1640,7 @@ FW_VERSIONS = {
b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
], ],
}, },
CAR.ALPHARD_TSS2: { CAR.TOYOTA_ALPHARD_TSS2: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',

10
selfdrive/car/toyota/interface.py
Unescape View File

@ -57,7 +57,7 @@ class CarInterface(CarInterfaceBase):
ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
and not (ret.flags & ToyotaFlags.SMART_DSU) and not (ret.flags & ToyotaFlags.SMART_DSU)
if candidate == CAR.PRIUS: if candidate == CAR.TOYOTA_PRIUS:
stop_and_go = True stop_and_go = True
# Only give steer angle deadzone to for bad angle sensor prius # Only give steer angle deadzone to for bad angle sensor prius
for fw in car_fw: for fw in car_fw:
@ -69,12 +69,12 @@ class CarInterface(CarInterfaceBase):
stop_and_go = True stop_and_go = True
ret.wheelSpeedFactor = 1.035 ret.wheelSpeedFactor = 1.035
elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): elif candidate in (CAR.TOYOTA_AVALON, CAR.TOYOTA_AVALON_2019, CAR.TOYOTA_AVALON_TSS2):
# starting from 2019, all Avalon variants have stop and go # starting from 2019, all Avalon variants have stop and go
# https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
stop_and_go = candidate != CAR.AVALON stop_and_go = candidate != CAR.TOYOTA_AVALON
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023): elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023):
ret.lateralTuning.init('pid') ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kiBP = [0.0]
ret.lateralTuning.pid.kpBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0]
@ -91,7 +91,7 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 0.00004 ret.lateralTuning.pid.kf = 0.00004
break break
elif candidate in (CAR.RAV4H, CAR.CHR, CAR.CAMRY, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX): elif candidate in (CAR.TOYOTA_RAV4H, CAR.TOYOTA_CHR, CAR.TOYOTA_CAMRY, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
# TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars? # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars?
stop_and_go = True stop_and_go = True

12
selfdrive/car/toyota/tests/test_toyota.py
Unescape View File

@ -24,7 +24,7 @@ class TestToyotaInterfaces(unittest.TestCase):
def test_lta_platforms(self): def test_lta_platforms(self):
# At this time, only RAV4 2023 is expected to use LTA/angle control # At this time, only RAV4 2023 is expected to use LTA/angle control
self.assertEqual(ANGLE_CONTROL_CAR, {CAR.RAV4_TSS2_2023}) self.assertEqual(ANGLE_CONTROL_CAR, {CAR.TOYOTA_RAV4_TSS2_2023})
def test_tss2_dbc(self): def test_tss2_dbc(self):
# We make some assumptions about TSS2 platforms, # We make some assumptions about TSS2 platforms,
@ -43,13 +43,13 @@ class TestToyotaInterfaces(unittest.TestCase):
self.assertEqual(len(missing_ecus), 0) self.assertEqual(len(missing_ecus), 0)
# Some exceptions for other common ECUs # Some exceptions for other common ECUs
if car_model not in (CAR.ALPHARD_TSS2,): if car_model not in (CAR.TOYOTA_ALPHARD_TSS2,):
self.assertIn(Ecu.abs, present_ecus) self.assertIn(Ecu.abs, present_ecus)
if car_model not in (CAR.MIRAI,): if car_model not in (CAR.TOYOTA_MIRAI,):
self.assertIn(Ecu.engine, present_ecus) self.assertIn(Ecu.engine, present_ecus)
if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH): if car_model not in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH):
self.assertIn(Ecu.eps, present_ecus) self.assertIn(Ecu.eps, present_ecus)
@ -85,9 +85,9 @@ class TestToyotaFingerprint(unittest.TestCase):
for car_model, ecus in FW_VERSIONS.items(): for car_model, ecus in FW_VERSIONS.items():
with self.subTest(car_model=car_model.value): with self.subTest(car_model=car_model.value):
for platform_code_ecu in PLATFORM_CODE_ECUS: for platform_code_ecu in PLATFORM_CODE_ECUS:
if platform_code_ecu == Ecu.eps and car_model in (CAR.PRIUS_V, CAR.LEXUS_CTH,): if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,):
continue continue
if platform_code_ecu == Ecu.abs and car_model in (CAR.ALPHARD_TSS2,): if platform_code_ecu == Ecu.abs and car_model in (CAR.TOYOTA_ALPHARD_TSS2,):
continue continue
self.assertIn(platform_code_ecu, [e[0] for e in ecus]) self.assertIn(platform_code_ecu, [e[0] for e in ecus])

116
selfdrive/car/toyota/values.py
Unescape View File

@ -85,14 +85,14 @@ class ToyotaTSS2PlatformConfig(PlatformConfig):
class CAR(Platforms): class CAR(Platforms):
# Toyota # Toyota
ALPHARD_TSS2 = ToyotaTSS2PlatformConfig( TOYOTA_ALPHARD_TSS2 = ToyotaTSS2PlatformConfig(
[ [
ToyotaCarDocs("Toyota Alphard 2019-20"), ToyotaCarDocs("Toyota Alphard 2019-20"),
ToyotaCarDocs("Toyota Alphard Hybrid 2021"), ToyotaCarDocs("Toyota Alphard Hybrid 2021"),
], ],
CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444), CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444),
) )
AVALON = PlatformConfig( TOYOTA_AVALON = PlatformConfig(
[ [
ToyotaCarDocs("Toyota Avalon 2016", "Toyota Safety Sense P"), ToyotaCarDocs("Toyota Avalon 2016", "Toyota Safety Sense P"),
ToyotaCarDocs("Toyota Avalon 2017-18"), ToyotaCarDocs("Toyota Avalon 2017-18"),
@ -100,22 +100,22 @@ class CAR(Platforms):
CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983), CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
) )
AVALON_2019 = PlatformConfig( TOYOTA_AVALON_2019 = PlatformConfig(
[ [
ToyotaCarDocs("Toyota Avalon 2019-21"), ToyotaCarDocs("Toyota Avalon 2019-21"),
ToyotaCarDocs("Toyota Avalon Hybrid 2019-21"), ToyotaCarDocs("Toyota Avalon Hybrid 2019-21"),
], ],
AVALON.specs, TOYOTA_AVALON.specs,
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
) )
AVALON_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5 TOYOTA_AVALON_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
[ [
ToyotaCarDocs("Toyota Avalon 2022"), ToyotaCarDocs("Toyota Avalon 2022"),
ToyotaCarDocs("Toyota Avalon Hybrid 2022"), ToyotaCarDocs("Toyota Avalon Hybrid 2022"),
], ],
AVALON.specs, TOYOTA_AVALON.specs,
) )
CAMRY = PlatformConfig( TOYOTA_CAMRY = PlatformConfig(
[ [
ToyotaCarDocs("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), ToyotaCarDocs("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
ToyotaCarDocs("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), ToyotaCarDocs("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
@ -124,14 +124,14 @@ class CAR(Platforms):
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_DSU, flags=ToyotaFlags.NO_DSU,
) )
CAMRY_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5 TOYOTA_CAMRY_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
[ [
ToyotaCarDocs("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), ToyotaCarDocs("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
ToyotaCarDocs("Toyota Camry Hybrid 2021-24"), ToyotaCarDocs("Toyota Camry Hybrid 2021-24"),
], ],
CAMRY.specs, TOYOTA_CAMRY.specs,
) )
CHR = PlatformConfig( TOYOTA_CHR = PlatformConfig(
[ [
ToyotaCarDocs("Toyota C-HR 2017-20"), ToyotaCarDocs("Toyota C-HR 2017-20"),
ToyotaCarDocs("Toyota C-HR Hybrid 2017-20"), ToyotaCarDocs("Toyota C-HR Hybrid 2017-20"),
@ -140,21 +140,21 @@ class CAR(Platforms):
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_DSU, flags=ToyotaFlags.NO_DSU,
) )
CHR_TSS2 = ToyotaTSS2PlatformConfig( TOYOTA_CHR_TSS2 = ToyotaTSS2PlatformConfig(
[ [
ToyotaCarDocs("Toyota C-HR 2021"), ToyotaCarDocs("Toyota C-HR 2021"),
ToyotaCarDocs("Toyota C-HR Hybrid 2021-22"), ToyotaCarDocs("Toyota C-HR Hybrid 2021-22"),
], ],
CHR.specs, TOYOTA_CHR.specs,
flags=ToyotaFlags.RADAR_ACC, flags=ToyotaFlags.RADAR_ACC,
) )
COROLLA = PlatformConfig( TOYOTA_COROLLA = PlatformConfig(
[ToyotaCarDocs("Toyota Corolla 2017-19")], [ToyotaCarDocs("Toyota Corolla 2017-19")],
CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444), CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
) )
# LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
COROLLA_TSS2 = ToyotaTSS2PlatformConfig( TOYOTA_COROLLA_TSS2 = ToyotaTSS2PlatformConfig(
[ [
ToyotaCarDocs("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), ToyotaCarDocs("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
ToyotaCarDocs("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5), ToyotaCarDocs("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5),
@ -167,7 +167,7 @@ class CAR(Platforms):
], ],
CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444), CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444),
) )
HIGHLANDER = PlatformConfig( TOYOTA_HIGHLANDER = PlatformConfig(
[ [
ToyotaCarDocs("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), ToyotaCarDocs("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
ToyotaCarDocs("Toyota Highlander Hybrid 2017-19"), ToyotaCarDocs("Toyota Highlander Hybrid 2017-19"),
@ -176,14 +176,14 @@ class CAR(Platforms):
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
) )
HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig( TOYOTA_HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig(
[ [
ToyotaCarDocs("Toyota Highlander 2020-23"), ToyotaCarDocs("Toyota Highlander 2020-23"),
ToyotaCarDocs("Toyota Highlander Hybrid 2020-23"), ToyotaCarDocs("Toyota Highlander Hybrid 2020-23"),
], ],
HIGHLANDER.specs, TOYOTA_HIGHLANDER.specs,
) )
PRIUS = PlatformConfig( TOYOTA_PRIUS = PlatformConfig(
[ [
ToyotaCarDocs("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarDocs("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
ToyotaCarDocs("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarDocs("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
@ -192,20 +192,20 @@ class CAR(Platforms):
CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371), CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
) )
PRIUS_V = PlatformConfig( TOYOTA_PRIUS_V = PlatformConfig(
[ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)], [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533), CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU,
) )
PRIUS_TSS2 = ToyotaTSS2PlatformConfig( TOYOTA_PRIUS_TSS2 = ToyotaTSS2PlatformConfig(
[ [
ToyotaCarDocs("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ToyotaCarDocs("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarDocs("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ToyotaCarDocs("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
], ],
CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371), CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371),
) )
RAV4 = PlatformConfig( TOYOTA_RAV4 = PlatformConfig(
[ [
ToyotaCarDocs("Toyota RAV4 2016", "Toyota Safety Sense P"), ToyotaCarDocs("Toyota RAV4 2016", "Toyota Safety Sense P"),
ToyotaCarDocs("Toyota RAV4 2017-18") ToyotaCarDocs("Toyota RAV4 2017-18")
@ -213,43 +213,43 @@ class CAR(Platforms):
CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533), CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
) )
RAV4H = PlatformConfig( TOYOTA_RAV4H = PlatformConfig(
[ [
ToyotaCarDocs("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), ToyotaCarDocs("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
ToyotaCarDocs("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") ToyotaCarDocs("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
], ],
RAV4.specs, TOYOTA_RAV4.specs,
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
flags=ToyotaFlags.NO_STOP_TIMER, flags=ToyotaFlags.NO_STOP_TIMER,
) )
RAV4_TSS2 = ToyotaTSS2PlatformConfig( TOYOTA_RAV4_TSS2 = ToyotaTSS2PlatformConfig(
[ [
ToyotaCarDocs("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), ToyotaCarDocs("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
ToyotaCarDocs("Toyota RAV4 Hybrid 2019-21"), ToyotaCarDocs("Toyota RAV4 Hybrid 2019-21"),
], ],
CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933), CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933),
) )
RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig( TOYOTA_RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig(
[ [
ToyotaCarDocs("Toyota RAV4 2022"), ToyotaCarDocs("Toyota RAV4 2022"),
ToyotaCarDocs("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), ToyotaCarDocs("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
], ],
RAV4_TSS2.specs, TOYOTA_RAV4_TSS2.specs,
flags=ToyotaFlags.RADAR_ACC, flags=ToyotaFlags.RADAR_ACC,
) )
RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig( TOYOTA_RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig(
[ [
ToyotaCarDocs("Toyota RAV4 2023-24"), ToyotaCarDocs("Toyota RAV4 2023-24"),
ToyotaCarDocs("Toyota RAV4 Hybrid 2023-24"), ToyotaCarDocs("Toyota RAV4 Hybrid 2023-24"),
], ],
RAV4_TSS2.specs, TOYOTA_RAV4_TSS2.specs,
flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL, flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
) )
MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5 TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
[ToyotaCarDocs("Toyota Mirai 2021")], [ToyotaCarDocs("Toyota Mirai 2021")],
CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8), CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
) )
SIENNA = PlatformConfig( TOYOTA_SIENNA = PlatformConfig(
[ToyotaCarDocs("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)], [ToyotaCarDocs("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED)],
CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444), CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444),
dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
@ -340,32 +340,33 @@ class CAR(Platforms):
# (addr, cars, bus, 1/freq*100, vl) # (addr, cars, bus, 1/freq*100, vl)
STATIC_DSU_MSGS = [ STATIC_DSU_MSGS = [
(0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), (0x128, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON), \
(0x128, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 3, b'\x03\x00\x20\x00\x00\x52'), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
(0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, (0x128, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), (0x141, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
(0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1, 2, b'\x00\x00\x00\x46'),
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), (0x160, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
(0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.PRIUS_V), CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_PRIUS_V),
1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
(0X161, (CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), (0X161, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
(0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, (0x283, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), (0x2E6, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), (0x2E7, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
(0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), (0x33E, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
(0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, (0x344, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
(0x365, (CAR.PRIUS, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), (0x365, (CAR.TOYOTA_PRIUS, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
(0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX, (0x365, (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_RX,
CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), CAR.TOYOTA_PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
(0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.HIGHLANDER), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), (0x366, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_HIGHLANDER), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, (CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), (0x366, (CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V),
0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
(0x470, (CAR.PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'), (0x470, (CAR.TOYOTA_PRIUS, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
(0x470, (CAR.HIGHLANDER, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), (0x470, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_RAV4H, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 1, 100, b'\x00\x00\x01\x79'),
(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, (0x4CB, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,
CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.TOYOTA_PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
] ]
@ -513,9 +514,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
], ],
non_essential_ecus={ non_essential_ecus={
# FIXME: On some models, abs can sometimes be missing # FIXME: On some models, abs can sometimes be missing
Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2], Ecu.abs: [CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_IS, CAR.TOYOTA_ALPHARD_TSS2],
# On some models, the engine can show on two different addresses # On some models, the engine can show on two different addresses
Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, Ecu.engine: [CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_CAMRY, CAR.TOYOTA_COROLLA_TSS2, CAR.TOYOTA_CHR, CAR.TOYOTA_CHR_TSS2, CAR.LEXUS_IS,
CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2], CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2],
}, },
extra_ecus=[ extra_ecus=[
@ -557,7 +558,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
STEER_THRESHOLD = 100 STEER_THRESHOLD = 100
# These cars have non-standard EPS torque scale factors. All others are 73 # These cars have non-standard EPS torque scale factors. All others are 73
EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) EPS_SCALE = defaultdict(lambda: 73,
{CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100})
# Toyota/Lexus Safety Sense 2.0 and 2.5 # Toyota/Lexus Safety Sense 2.0 and 2.5
TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2) TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)

32
selfdrive/car/volkswagen/fingerprints.py
Unescape View File

@ -7,7 +7,7 @@ Ecu = car.CarParams.Ecu
FW_VERSIONS = { FW_VERSIONS = {
CAR.ARTEON_MK1: { CAR.VOLKSWAGEN_ARTEON_MK1: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x873G0906259AH\xf1\x890001', b'\xf1\x873G0906259AH\xf1\x890001',
b'\xf1\x873G0906259F \xf1\x890004', b'\xf1\x873G0906259F \xf1\x890004',
@ -49,7 +49,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572R \xf1\x890771', b'\xf1\x875Q0907572R \xf1\x890771',
], ],
}, },
CAR.ATLAS_MK1: { CAR.VOLKSWAGEN_ATLAS_MK1: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8703H906026AA\xf1\x899970', b'\xf1\x8703H906026AA\xf1\x899970',
b'\xf1\x8703H906026AG\xf1\x899973', b'\xf1\x8703H906026AG\xf1\x899973',
@ -101,7 +101,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572P \xf1\x890682', b'\xf1\x875Q0907572P \xf1\x890682',
], ],
}, },
CAR.CADDY_MK3: { CAR.VOLKSWAGEN_CADDY_MK3: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027T \xf1\x892363', b'\xf1\x8704E906027T \xf1\x892363',
], ],
@ -112,7 +112,7 @@ FW_VERSIONS = {
b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0155', b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0155',
], ],
}, },
CAR.CRAFTER_MK2: { CAR.VOLKSWAGEN_CRAFTER_MK2: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906056BP\xf1\x894729', b'\xf1\x8704L906056BP\xf1\x894729',
b'\xf1\x8704L906056EK\xf1\x896391', b'\xf1\x8704L906056EK\xf1\x896391',
@ -134,7 +134,7 @@ FW_VERSIONS = {
b'\xf1\x872Q0907572M \xf1\x890233', b'\xf1\x872Q0907572M \xf1\x890233',
], ],
}, },
CAR.GOLF_MK7: { CAR.VOLKSWAGEN_GOLF_MK7: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906016A \xf1\x897697', b'\xf1\x8704E906016A \xf1\x897697',
b'\xf1\x8704E906016AD\xf1\x895758', b'\xf1\x8704E906016AD\xf1\x895758',
@ -325,7 +325,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572S \xf1\x890780', b'\xf1\x875Q0907572S \xf1\x890780',
], ],
}, },
CAR.JETTA_MK7: { CAR.VOLKSWAGEN_JETTA_MK7: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906024AK\xf1\x899937', b'\xf1\x8704E906024AK\xf1\x899937',
b'\xf1\x8704E906024AS\xf1\x899912', b'\xf1\x8704E906024AS\xf1\x899912',
@ -377,7 +377,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572R \xf1\x890771', b'\xf1\x875Q0907572R \xf1\x890771',
], ],
}, },
CAR.PASSAT_MK8: { CAR.VOLKSWAGEN_PASSAT_MK8: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8703N906026E \xf1\x892114', b'\xf1\x8703N906026E \xf1\x892114',
b'\xf1\x8704E906023AH\xf1\x893379', b'\xf1\x8704E906023AH\xf1\x893379',
@ -450,7 +450,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572R \xf1\x890771', b'\xf1\x875Q0907572R \xf1\x890771',
], ],
}, },
CAR.PASSAT_NMS: { CAR.VOLKSWAGEN_PASSAT_NMS: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8706K906016C \xf1\x899609', b'\xf1\x8706K906016C \xf1\x899609',
b'\xf1\x8706K906016E \xf1\x899830', b'\xf1\x8706K906016E \xf1\x899830',
@ -472,7 +472,7 @@ FW_VERSIONS = {
b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0152', b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0152',
], ],
}, },
CAR.POLO_MK6: { CAR.VOLKSWAGEN_POLO_MK6: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704C906025H \xf1\x895177', b'\xf1\x8704C906025H \xf1\x895177',
b'\xf1\x8705C906032J \xf1\x891702', b'\xf1\x8705C906032J \xf1\x891702',
@ -496,7 +496,7 @@ FW_VERSIONS = {
b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572R \xf1\x890372',
], ],
}, },
CAR.SHARAN_MK2: { CAR.VOLKSWAGEN_SHARAN_MK2: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906016HE\xf1\x894635', b'\xf1\x8704L906016HE\xf1\x894635',
], ],
@ -507,7 +507,7 @@ FW_VERSIONS = {
b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153', b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153',
], ],
}, },
CAR.TAOS_MK1: { CAR.VOLKSWAGEN_TAOS_MK1: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906025CK\xf1\x892228', b'\xf1\x8704E906025CK\xf1\x892228',
b'\xf1\x8704E906027NJ\xf1\x891445', b'\xf1\x8704E906027NJ\xf1\x891445',
@ -537,7 +537,7 @@ FW_VERSIONS = {
b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x872Q0907572T \xf1\x890383',
], ],
}, },
CAR.TCROSS_MK1: { CAR.VOLKSWAGEN_TCROSS_MK1: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704C906025AK\xf1\x897053', b'\xf1\x8704C906025AK\xf1\x897053',
], ],
@ -554,7 +554,7 @@ FW_VERSIONS = {
b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x872Q0907572T \xf1\x890383',
], ],
}, },
CAR.TIGUAN_MK2: { CAR.VOLKSWAGEN_TIGUAN_MK2: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8703N906026D \xf1\x893680', b'\xf1\x8703N906026D \xf1\x893680',
b'\xf1\x8704E906024AP\xf1\x891461', b'\xf1\x8704E906024AP\xf1\x891461',
@ -641,7 +641,7 @@ FW_VERSIONS = {
b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x872Q0907572T \xf1\x890383',
], ],
}, },
CAR.TOURAN_MK2: { CAR.VOLKSWAGEN_TOURAN_MK2: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906025BE\xf1\x890720', b'\xf1\x8704E906025BE\xf1\x890720',
b'\xf1\x8704E906027HQ\xf1\x893746', b'\xf1\x8704E906027HQ\xf1\x893746',
@ -671,7 +671,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572R \xf1\x890771', b'\xf1\x875Q0907572R \xf1\x890771',
], ],
}, },
CAR.TRANSPORTER_T61: { CAR.VOLKSWAGEN_TRANSPORTER_T61: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906056AG\xf1\x899970', b'\xf1\x8704L906056AG\xf1\x899970',
b'\xf1\x8704L906056AL\xf1\x899970', b'\xf1\x8704L906056AL\xf1\x899970',
@ -703,7 +703,7 @@ FW_VERSIONS = {
b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572R \xf1\x890372',
], ],
}, },
CAR.TROC_MK1: { CAR.VOLKSWAGEN_TROC_MK1: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8705E906018AT\xf1\x899640', b'\xf1\x8705E906018AT\xf1\x899640',
b'\xf1\x8705E906018CK\xf1\x890863', b'\xf1\x8705E906018CK\xf1\x890863',

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

@ -167,7 +167,7 @@ class VWCarDocs(CarDocs):
if "SKODA" in CP.carFingerprint: if "SKODA" in CP.carFingerprint:
self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD) self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61): if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533]) self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
@ -177,7 +177,7 @@ class VWCarDocs(CarDocs):
# Exception: SEAT Leon and SEAT Ateca share a chassis code # Exception: SEAT Leon and SEAT Ateca share a chassis code
class CAR(Platforms): class CAR(Platforms):
ARTEON_MK1 = VolkswagenMQBPlatformConfig( # Chassis AN VOLKSWAGEN_ARTEON_MK1 = VolkswagenMQBPlatformConfig( # Chassis AN
[ [
VWCarDocs("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"), 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 R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
@ -186,7 +186,7 @@ class CAR(Platforms):
], ],
VolkswagenCarSpecs(mass=1733, wheelbase=2.84), VolkswagenCarSpecs(mass=1733, wheelbase=2.84),
) )
ATLAS_MK1 = VolkswagenMQBPlatformConfig( # Chassis CA VOLKSWAGEN_ATLAS_MK1 = VolkswagenMQBPlatformConfig( # Chassis CA
[ [
VWCarDocs("Volkswagen Atlas 2018-23"), VWCarDocs("Volkswagen Atlas 2018-23"),
VWCarDocs("Volkswagen Atlas Cross Sport 2020-22"), VWCarDocs("Volkswagen Atlas Cross Sport 2020-22"),
@ -196,14 +196,14 @@ class CAR(Platforms):
], ],
VolkswagenCarSpecs(mass=2011, wheelbase=2.98), VolkswagenCarSpecs(mass=2011, wheelbase=2.98),
) )
CADDY_MK3 = VolkswagenPQPlatformConfig( # Chassis 2K VOLKSWAGEN_CADDY_MK3 = VolkswagenPQPlatformConfig( # Chassis 2K
[ [
VWCarDocs("Volkswagen Caddy 2019"), VWCarDocs("Volkswagen Caddy 2019"),
VWCarDocs("Volkswagen Caddy Maxi 2019"), VWCarDocs("Volkswagen Caddy Maxi 2019"),
], ],
VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS), VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS),
) )
CRAFTER_MK2 = VolkswagenMQBPlatformConfig( # Chassis SY/SZ VOLKSWAGEN_CRAFTER_MK2 = VolkswagenMQBPlatformConfig( # Chassis SY/SZ
[ [
VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"), VWCarDocs("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"), VWCarDocs("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
@ -213,7 +213,7 @@ class CAR(Platforms):
], ],
VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS),
) )
GOLF_MK7 = VolkswagenMQBPlatformConfig( # Chassis 5G/AU/BA/BE VOLKSWAGEN_GOLF_MK7 = VolkswagenMQBPlatformConfig( # Chassis 5G/AU/BA/BE
[ [
VWCarDocs("Volkswagen e-Golf 2014-20"), VWCarDocs("Volkswagen e-Golf 2014-20"),
VWCarDocs("Volkswagen Golf 2015-20", auto_resume=False), VWCarDocs("Volkswagen Golf 2015-20", auto_resume=False),
@ -226,14 +226,14 @@ class CAR(Platforms):
], ],
VolkswagenCarSpecs(mass=1397, wheelbase=2.62), VolkswagenCarSpecs(mass=1397, wheelbase=2.62),
) )
JETTA_MK7 = VolkswagenMQBPlatformConfig( # Chassis BU VOLKSWAGEN_JETTA_MK7 = VolkswagenMQBPlatformConfig( # Chassis BU
[ [
VWCarDocs("Volkswagen Jetta 2018-24"), VWCarDocs("Volkswagen Jetta 2018-24"),
VWCarDocs("Volkswagen Jetta GLI 2021-24"), VWCarDocs("Volkswagen Jetta GLI 2021-24"),
], ],
VolkswagenCarSpecs(mass=1328, wheelbase=2.71), VolkswagenCarSpecs(mass=1328, wheelbase=2.71),
) )
PASSAT_MK8 = VolkswagenMQBPlatformConfig( # Chassis 3G VOLKSWAGEN_PASSAT_MK8 = VolkswagenMQBPlatformConfig( # Chassis 3G
[ [
VWCarDocs("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]), VWCarDocs("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
VWCarDocs("Volkswagen Passat Alltrack 2015-22"), VWCarDocs("Volkswagen Passat Alltrack 2015-22"),
@ -241,51 +241,51 @@ class CAR(Platforms):
], ],
VolkswagenCarSpecs(mass=1551, wheelbase=2.79), VolkswagenCarSpecs(mass=1551, wheelbase=2.79),
) )
PASSAT_NMS = VolkswagenPQPlatformConfig( # Chassis A3 VOLKSWAGEN_PASSAT_NMS = VolkswagenPQPlatformConfig( # Chassis A3
[VWCarDocs("Volkswagen Passat NMS 2017-22")], [VWCarDocs("Volkswagen Passat NMS 2017-22")],
VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS), VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS),
) )
POLO_MK6 = VolkswagenMQBPlatformConfig( # Chassis AW VOLKSWAGEN_POLO_MK6 = VolkswagenMQBPlatformConfig( # Chassis AW
[ [
VWCarDocs("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]), VWCarDocs("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
VWCarDocs("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]), VWCarDocs("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
], ],
VolkswagenCarSpecs(mass=1230, wheelbase=2.55), VolkswagenCarSpecs(mass=1230, wheelbase=2.55),
) )
SHARAN_MK2 = VolkswagenPQPlatformConfig( # Chassis 7N VOLKSWAGEN_SHARAN_MK2 = VolkswagenPQPlatformConfig( # Chassis 7N
[ [
VWCarDocs("Volkswagen Sharan 2018-22"), VWCarDocs("Volkswagen Sharan 2018-22"),
VWCarDocs("SEAT Alhambra 2018-20"), VWCarDocs("SEAT Alhambra 2018-20"),
], ],
VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS), VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS),
) )
TAOS_MK1 = VolkswagenMQBPlatformConfig( # Chassis B2 VOLKSWAGEN_TAOS_MK1 = VolkswagenMQBPlatformConfig( # Chassis B2
[VWCarDocs("Volkswagen Taos 2022-23")], [VWCarDocs("Volkswagen Taos 2022-23")],
VolkswagenCarSpecs(mass=1498, wheelbase=2.69), VolkswagenCarSpecs(mass=1498, wheelbase=2.69),
) )
TCROSS_MK1 = VolkswagenMQBPlatformConfig( # Chassis C1 VOLKSWAGEN_TCROSS_MK1 = VolkswagenMQBPlatformConfig( # Chassis C1
[VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])], [VWCarDocs("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1150, wheelbase=2.60), VolkswagenCarSpecs(mass=1150, wheelbase=2.60),
) )
TIGUAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis AD/BW VOLKSWAGEN_TIGUAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis AD/BW
[ [
VWCarDocs("Volkswagen Tiguan 2018-24"), VWCarDocs("Volkswagen Tiguan 2018-24"),
VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"), VWCarDocs("Volkswagen Tiguan eHybrid 2021-23"),
], ],
VolkswagenCarSpecs(mass=1715, wheelbase=2.74), VolkswagenCarSpecs(mass=1715, wheelbase=2.74),
) )
TOURAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis 1T VOLKSWAGEN_TOURAN_MK2 = VolkswagenMQBPlatformConfig( # Chassis 1T
[VWCarDocs("Volkswagen Touran 2016-23")], [VWCarDocs("Volkswagen Touran 2016-23")],
VolkswagenCarSpecs(mass=1516, wheelbase=2.79), VolkswagenCarSpecs(mass=1516, wheelbase=2.79),
) )
TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( # Chassis 7H/7L VOLKSWAGEN_TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( # Chassis 7H/7L
[ [
VWCarDocs("Volkswagen Caravelle 2020"), VWCarDocs("Volkswagen Caravelle 2020"),
VWCarDocs("Volkswagen California 2021-23"), VWCarDocs("Volkswagen California 2021-23"),
], ],
VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0), VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0),
) )
TROC_MK1 = VolkswagenMQBPlatformConfig( # Chassis A1 VOLKSWAGEN_TROC_MK1 = VolkswagenMQBPlatformConfig( # Chassis A1
[VWCarDocs("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0])], [VWCarDocs("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0])],
VolkswagenCarSpecs(mass=1413, wheelbase=2.63), VolkswagenCarSpecs(mass=1413, wheelbase=2.63),
) )

2
selfdrive/controls/lib/tests/test_latcontrol.py
Unescape View File

@ -17,7 +17,7 @@ from openpilot.common.mock.generators import generate_liveLocationKalman
class TestLatControl(unittest.TestCase): class TestLatControl(unittest.TestCase):
@parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (NISSAN.LEAF, LatControlAngle)]) @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)])
def test_saturation(self, car_name, controller): def test_saturation(self, car_name, controller):
CarInterface, CarController, CarState = interfaces[car_name] CarInterface, CarController, CarState = interfaces[car_name]
CP = CarInterface.get_non_essential_params(car_name) CP = CarInterface.get_non_essential_params(car_name)

2
selfdrive/controls/lib/tests/test_vehicle_model.py
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@ -12,7 +12,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_
class TestVehicleModel(unittest.TestCase): class TestVehicleModel(unittest.TestCase):
def setUp(self): def setUp(self):
CP = CarInterface.get_non_essential_params(CAR.CIVIC) CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
self.VM = VehicleModel(CP) self.VM = VehicleModel(CP)
def test_round_trip_yaw_rate(self): def test_round_trip_yaw_rate(self):

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

@ -25,7 +25,7 @@ class TestLeads(unittest.TestCase):
return msgs return msgs
msgs = [m for _ in range(3) for m in single_iter_pkg()] msgs = [m for _ in range(3) for m in single_iter_pkg()]
out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.COROLLA_TSS2) out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
states = [m for m in out if m.which() == "radarState"] states = [m for m in out if m.which() == "radarState"]
failures = [not state.valid and len(state.radarState.radarErrors) for state in states] failures = [not state.valid and len(state.radarState.radarErrors) for state in states]

12
selfdrive/controls/tests/test_startup.py
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@ -39,12 +39,12 @@ CX5_FW_VERSIONS = [
# TODO: test EventName.startup for release branches # TODO: test EventName.startup for release branches
# officially supported car # officially supported car
(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"),
(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"), (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"),
# dashcamOnly car # dashcamOnly car
(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"),
(EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"), (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"),
# unrecognized car with no fw # unrecognized car with no fw
(EventName.startupNoFw, None, None, ""), (EventName.startupNoFw, None, None, ""),
@ -55,8 +55,8 @@ CX5_FW_VERSIONS = [
(EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
# fuzzy match # fuzzy match
(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
(EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
]) ])
def test_startup_alert(expected_event, car_model, fw_versions, brand): def test_startup_alert(expected_event, car_model, fw_versions, brand):
controls_sock = messaging.sub_sock("controlsState") controls_sock = messaging.sub_sock("controlsState")

2
selfdrive/test/helpers.py
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@ -14,7 +14,7 @@ from openpilot.system.version import training_version, terms_version
def set_params_enabled(): def set_params_enabled():
os.environ['FINGERPRINT'] = "COROLLA_TSS2" os.environ['FINGERPRINT'] = "TOYOTA_COROLLA_TSS2"
os.environ['LOGPRINT'] = "debug" os.environ['LOGPRINT'] = "debug"
params = Params() params = Params()

2
selfdrive/test/longitudinal_maneuvers/plant.py
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@ -50,7 +50,7 @@ class Plant:
from openpilot.selfdrive.car.honda.values import CAR from openpilot.selfdrive.car.honda.values import CAR
from openpilot.selfdrive.car.honda.interface import CarInterface from openpilot.selfdrive.car.honda.interface import CarInterface
self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed) self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed)
@property @property
def current_time(self): def current_time(self):

4
selfdrive/test/process_replay/migration.py
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@ -73,8 +73,8 @@ def migrate_pandaStates(lr):
all_msgs = [] all_msgs = []
# TODO: safety param migration should be handled automatically # TODO: safety param migration should be handled automatically
safety_param_migration = { safety_param_migration = {
"PRIUS": EPS_SCALE["PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
"RAV4": EPS_SCALE["RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE, "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
"KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
} }

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
9338c27947c1d8c1aa8e74ccc2a646e541f1ca8c 4e5e37be9d70450154f8b100ed88151bb3612331

2
selfdrive/test/process_replay/test_fuzzy.py
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@ -27,7 +27,7 @@ class TestFuzzProcesses(unittest.TestCase):
msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True) msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
lr = [log.Event.new_message(**m).as_reader() for m in msgs] lr = [log.Event.new_message(**m).as_reader() for m in msgs]
cfg.timeout = 5 cfg.timeout = 5
pr.replay_process(cfg, lr, fingerprint=TOYOTA.COROLLA_TSS2, disable_progress=True) pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True)
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()

36
selfdrive/test/process_replay/test_processes.py
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@ -17,27 +17,27 @@ from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.helpers import save_log from openpilot.tools.lib.helpers import save_log
source_segments = [ source_segments = [
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.COMMA_BODY
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.HYUNDAI_SONATA
("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS) ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.TOYOTA_RAV4
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.TOYOTA_COROLLA_TSS2
("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.HONDA_CIVIC (NIDEC)
("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.HONDA_ACCORD (BOSCH)
("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500_5TH_GEN ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500_5TH_GEN
("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.SUBARU_OUTBACK
("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.CHEVROLET_VOLT
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV
("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.NISSAN_XTRAIL
("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF
("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1
# Enable when port is tested and dashcamOnly is no longer set # Enable when port is tested and dashcamOnly is no longer set
#("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.TESLA_AP2_MODELS
#("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
] ]
segments = [ segments = [

2
selfdrive/test/process_replay/test_regen.py
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@ -11,7 +11,7 @@ from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.framereader import FrameReader from openpilot.tools.lib.framereader import FrameReader
TESTED_SEGMENTS = [ TESTED_SEGMENTS = [
("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS: NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS: NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED
# Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation
# ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021: TICI, incomplete managerState # ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021: TICI, incomplete managerState
# ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1: TICI # ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1: TICI

4
selfdrive/test/profiling/profiler.py
Unescape View File

@ -16,8 +16,8 @@ from openpilot.selfdrive.car.volkswagen.values import CAR as VW
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
CARS = { CARS = {
'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.RAV4), 'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.TOYOTA_RAV4),
'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.CIVIC), 'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.HONDA_CIVIC),
"vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3), "vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3),
} }

14
tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
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@ -2,7 +2,7 @@
"cells": [ "cells": [
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 1, "execution_count": null,
"metadata": {}, "metadata": {},
"outputs": [ "outputs": [
{ {
@ -27,18 +27,18 @@
}, },
{ {
"cell_type": "code", "cell_type": "code",
"execution_count": 2, "execution_count": null,
"metadata": {}, "metadata": {},
"outputs": [], "outputs": [],
"source": [ "source": [
"PLATFORM_CODES = {\n", "PLATFORM_CODES = {\n",
" Ecu.abs: {\n", " Ecu.abs: {\n",
" 0: {\n", " 0: {\n",
" b'\\xa5': [CAR.ASCENT, CAR.ASCENT_2023],\n", " b'\\xa5': [CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023],\n",
" b'\\xa2': [CAR.IMPREZA, CAR.IMPREZA_2020, CAR.CROSSTREK_HYBRID],\n", " b'\\xa2': [CAR.SUBARU_IMPREZA, CAR.SUBARU_IMPREZA_2020, CAR.SUBARU_CROSSTREK_HYBRID],\n",
" b'\\xa1': [CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023],\n", " b'\\xa1': [CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023],\n",
" b'\\xa3': [CAR.FORESTER, CAR.FORESTER_HYBRID, CAR.FORESTER_2022],\n", " b'\\xa3': [CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_HYBRID, CAR.SUBARU_FORESTER_2022],\n",
" b'z': [CAR.IMPREZA],\n", " b'z': [CAR.SUBARU_IMPREZA],\n",
" }\n", " }\n",
" }\n", " }\n",
"}\n", "}\n",

4
tools/car_porting/examples/subaru_long_accel.ipynb
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@ -9,7 +9,7 @@
"segments = [\n", "segments = [\n",
" \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n", " \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n",
"]\n", "]\n",
"platform = \"SUBARU OUTBACK 6TH GEN\"\n" "platform = \"SUBARU_OUTBACK\"\n"
] ]
}, },
{ {
@ -56,7 +56,7 @@
" es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n", " es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n",
"\n", "\n",
" acceleration_history.append(last_acc)\n", " acceleration_history.append(last_acc)\n",
" \n", "\n",
" if msg.which() == \"carState\":\n", " if msg.which() == \"carState\":\n",
" last_acc = msg.carState.aEgo" " last_acc = msg.carState.aEgo"
] ]

4
tools/car_porting/examples/subaru_steer_temp_fault.ipynb
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@ -11,7 +11,7 @@
"segments = [\n", "segments = [\n",
" \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n", " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n",
"]\n", "]\n",
"platform = \"SUBARU OUTBACK 6TH GEN\"" "platform = \"SUBARU_OUTBACK\""
] ]
}, },
{ {
@ -52,7 +52,7 @@
" for msg in can_msgs:\n", " for msg in can_msgs:\n",
" cp.update_strings([msg.as_builder().to_bytes()])\n", " cp.update_strings([msg.as_builder().to_bytes()])\n",
" steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n", " steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n",
" \n", "\n",
" steer_warning_last = False\n", " steer_warning_last = False\n",
" for i, steering_torque_msg in enumerate(steering_torque_history):\n", " for i, steering_torque_msg in enumerate(steering_torque_history):\n",
" steer_warning = steering_torque_msg[\"Steer_Warning\"]\n", " steer_warning = steering_torque_msg[\"Steer_Warning\"]\n",

11
tools/lib/comma_car_segments.py
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@ -1,13 +1,22 @@
import os import os
import requests import requests
# Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves # Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves
COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments") COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main") COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO) COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
def get_comma_car_segments_database(): def get_comma_car_segments_database():
return requests.get(get_repo_raw_url("database.json")).json() from openpilot.selfdrive.car.fingerprints import MIGRATION
database = requests.get(get_repo_raw_url("database.json")).json()
ret = {}
for platform in database:
ret[MIGRATION.get(platform, platform)] = database[platform]
return ret
# Helpers related to interfacing with the commaCarSegments repository, which contains a collection of public segments for users to perform validation on. # Helpers related to interfacing with the commaCarSegments repository, which contains a collection of public segments for users to perform validation on.

8
tools/lib/tests/test_comma_car_segments.py
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@ -1,7 +1,7 @@
import pytest import pytest
import unittest import unittest
import requests import requests
from openpilot.selfdrive.car.fingerprints import MIGRATION
from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url
from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.route import SegmentRange
@ -19,7 +19,7 @@ class TestCommaCarSegments(unittest.TestCase):
def test_download_segment(self): def test_download_segment(self):
database = get_comma_car_segments_database() database = get_comma_car_segments_database()
fp = "FORESTER" fp = "SUBARU_FORESTER"
segment = database[fp][0] segment = database[fp][0]
@ -31,10 +31,8 @@ class TestCommaCarSegments(unittest.TestCase):
self.assertEqual(resp.status_code, 200) self.assertEqual(resp.status_code, 200)
lr = LogReader(url) lr = LogReader(url)
CP = lr.first("carParams") CP = lr.first("carParams")
self.assertEqual(MIGRATION.get(CP.carFingerprint, CP.carFingerprint), fp)
self.assertEqual(CP.carFingerprint, fp)
if __name__ == "__main__": if __name__ == "__main__":

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