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Merge remote-tracking branch 'commaai/master' into ford-platform-codes

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pull/31124/head
Cameron Clough 2 years ago
parent 5699ff101f 3978e7e98c
commit be72ef3219
11 changed files with 71 additions and 29 deletions
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  1. 4
      selfdrive/car/__init__.py
  2. 1
      selfdrive/car/ford/tests/test_ford.py
  3. 50
      selfdrive/car/ford/values.py
  4. 2
      selfdrive/car/gm/values.py
  5. 19
      selfdrive/car/interfaces.py
  6. 2
      selfdrive/car/subaru/values.py
  7. 6
      selfdrive/car/tests/test_fw_fingerprint.py
  8. 3
      selfdrive/car/toyota/fingerprints.py
  9. 6
      selfdrive/car/volkswagen/values.py
  10. 1
      system/hardware/tici/amplifier.py
  11. 6
      system/hardware/tici/hardware.h

4
selfdrive/car/__init__.py
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@ -246,7 +246,7 @@ class CanSignalRateCalculator:
CarInfos = CarInfo | list[CarInfo]
@dataclass(kw_only=True)
@dataclass(frozen=True, kw_only=True)
class CarSpecs:
mass: float
wheelbase: float
@ -256,7 +256,7 @@ class CarSpecs:
minEnableSpeed: float = field(default=-1.)
@dataclass(order=True)
@dataclass(frozen=True, order=True)
class PlatformConfig:
platform_str: str
car_info: CarInfos

1
selfdrive/car/ford/tests/test_ford.py
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@ -20,6 +20,7 @@ ECU_ADDRESSES = {
Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA)
Ecu.engine: 0x7E0, # Powertrain Control Module (PCM)
Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM)
Ecu.debug: 0x7D0, # Accessory Protocol Interface Module (APIM)
}

50
selfdrive/car/ford/values.py
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@ -3,11 +3,12 @@ from collections import defaultdict
from dataclasses import dataclass, field
from enum import Enum
import panda.python.uds as uds
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
Device
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
Ecu = car.CarParams.Ecu
@ -65,7 +66,7 @@ class FordCarInfo(CarInfo):
self.car_parts = CarParts([Device.threex, harness])
@dataclass
@dataclass(frozen=True)
class FordPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))
@ -142,7 +143,6 @@ class CAR(Platforms):
CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1}
# FW response contains a combined software and part number
# A-Z except no I, O or W
# e.g. NZ6A-14C204-AAA
@ -234,9 +234,37 @@ def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, offline_fw_versions:
return candidates
# All of these ECUs must be present and are expected to have platform codes we can match
PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
DATA_IDENTIFIER_FORD_ASBUILT = 0xDE
ASBUILT_BLOCKS: list[tuple[int, list]] = [
(1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
(2, [Ecu.abs, Ecu.debug, Ecu.eps]),
(3, [Ecu.abs, Ecu.debug, Ecu.eps]),
(4, [Ecu.debug, Ecu.fwdCamera]),
(5, [Ecu.debug]),
(6, [Ecu.debug]),
(7, [Ecu.debug]),
(8, [Ecu.debug]),
(9, [Ecu.debug]),
(16, [Ecu.debug, Ecu.fwdCamera]),
(18, [Ecu.fwdCamera]),
(20, [Ecu.fwdCamera]),
(21, [Ecu.fwdCamera]),
]
def ford_asbuilt_block_request(block_id: int):
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
def ford_asbuilt_block_response(block_id: int):
return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# CAN and CAN FD queries are combined.
@ -244,19 +272,29 @@ FW_QUERY_CONFIG = FwQueryConfig(
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
logging=True,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
bus=0,
auxiliary=True,
),
*[Request(
[StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
[StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
whitelist_ecus=ecus,
bus=0,
logging=True,
) for block_id, ecus in ASBUILT_BLOCKS],
],
extra_ecus=[
# We are unlikely to get a response from the PCM from behind the gateway
(Ecu.engine, 0x7e0, None),
(Ecu.shiftByWire, 0x732, None),
(Ecu.engine, 0x7e0, None), # Powertrain Control Module
# Note: We are unlikely to get a response from behind the gateway
(Ecu.shiftByWire, 0x732, None), # Gear Shift Module
(Ecu.debug, 0x7d0, None), # Accessory Protocol Interface Module
],
# Custom fuzzy fingerprinting function using platform codes, part numbers and software versions
match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,

2
selfdrive/car/gm/values.py
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@ -79,7 +79,7 @@ class GMCarInfo(CarInfo):
self.footnotes.append(Footnote.OBD_II)
@dataclass
@dataclass(frozen=True)
class GMPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))

19
selfdrive/car/interfaces.py
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@ -4,7 +4,7 @@ import numpy as np
import tomllib
from abc import abstractmethod, ABC
from enum import StrEnum
from typing import Any, NamedTuple, cast
from typing import Any, NamedTuple
from collections.abc import Callable
from cereal import car
@ -13,7 +13,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.simple_kalman import KF1D, get_kalman_gain
from openpilot.common.numpy_fast import clip
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import PlatformConfig, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
from openpilot.selfdrive.car.values import Platform
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
from openpilot.selfdrive.controls.lib.events import Events
@ -113,14 +113,13 @@ class CarInterfaceBase(ABC):
ret = CarInterfaceBase.get_std_params(candidate)
if hasattr(candidate, "config"):
platform_config = cast(PlatformConfig, candidate.config)
if platform_config.specs is not None:
ret.mass = platform_config.specs.mass
ret.wheelbase = platform_config.specs.wheelbase
ret.steerRatio = platform_config.specs.steerRatio
ret.centerToFront = ret.wheelbase * platform_config.specs.centerToFrontRatio
ret.minEnableSpeed = platform_config.specs.minEnableSpeed
ret.minSteerSpeed = platform_config.specs.minSteerSpeed
if candidate.config.specs is not None:
ret.mass = candidate.config.specs.mass
ret.wheelbase = candidate.config.specs.wheelbase
ret.steerRatio = candidate.config.specs.steerRatio
ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio
ret.minEnableSpeed = candidate.config.specs.minEnableSpeed
ret.minSteerSpeed = candidate.config.specs.minSteerSpeed
ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)

2
selfdrive/car/subaru/values.py
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@ -89,7 +89,7 @@ class SubaruCarInfo(CarInfo):
self.footnotes.append(Footnote.EXP_LONG)
@dataclass
@dataclass(frozen=True)
class SubaruPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('subaru_global_2017_generated', None))

6
selfdrive/car/tests/test_fw_fingerprint.py
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@ -263,13 +263,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
def test_fw_query_timing(self):
total_ref_time = {1: 6.5, 2: 7.4}
total_ref_time = {1: 7.8, 2: 8.7}
brand_ref_times = {
1: {
'gm': 0.5,
'body': 0.1,
'chrysler': 0.3,
'ford': 0.2,
'ford': 1.5,
'honda': 0.55,
'hyundai': 1.05,
'mazda': 0.1,
@ -280,7 +280,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
'volkswagen': 0.65,
},
2: {
'ford': 0.3,
'ford': 1.6,
'hyundai': 1.85,
}
}

3
selfdrive/car/toyota/fingerprints.py
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@ -573,6 +573,7 @@ FW_VERSIONS = {
b'\x018821F6201400\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F12010C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F1201100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F1201200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@ -843,6 +844,7 @@ FW_VERSIONS = {
b'8965B47023\x00\x00\x00\x00\x00\x00',
b'8965B47050\x00\x00\x00\x00\x00\x00',
b'8965B47060\x00\x00\x00\x00\x00\x00',
b'8965B47070\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152647290\x00\x00\x00\x00\x00\x00',
@ -1024,6 +1026,7 @@ FW_VERSIONS = {
b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A13101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A13201\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',

6
selfdrive/car/volkswagen/values.py
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@ -112,15 +112,15 @@ class CANBUS:
class VolkswagenFlags(IntFlag):
STOCK_HCA_PRESENT = 1
@dataclass
@dataclass(frozen=True)
class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))
@dataclass
@dataclass(frozen=True)
class VolkswagenPQPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None))
@dataclass(kw_only=True)
@dataclass(frozen=True, kw_only=True)
class VolkswagenCarSpecs(CarSpecs):
steerRatio: float = field(default=15.6)

1
system/hardware/tici/amplifier.py
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@ -97,6 +97,7 @@ CONFIGS = {
AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
],
"mici": [],
}
class Amplifier:

6
system/hardware/tici/hardware.h
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@ -20,12 +20,12 @@ public:
}
static std::string get_name() {
std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model");
return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici";
std::string model = util::read_file("/sys/firmware/devicetree/base/model");
return model.substr(std::string("comma ").size());
}
static cereal::InitData::DeviceType get_device_type() {
return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI;
return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : (get_name() == "mici" ? cereal::InitData::DeviceType::MICI : cereal::InitData::DeviceType::TICI);
}
static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }

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