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remove rest

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pull/23642/head
Shane Smiskol 3 years ago
parent 46609c80fb
commit cb88e72daa
9 changed files with 465 additions and 467 deletions
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  1. 66
      selfdrive/car/chrysler/carstate.py
  2. 28
      selfdrive/car/ford/carstate.py
  3. 57
      selfdrive/car/gm/carstate.py
  4. 6
      selfdrive/car/hyundai/carstate.py
  5. 104
      selfdrive/car/mazda/carstate.py
  6. 265
      selfdrive/car/nissan/carstate.py
  7. 170
      selfdrive/car/subaru/carstate.py
  8. 116
      selfdrive/car/tesla/carstate.py
  9. 120
      selfdrive/car/volkswagen/carstate.py

66
selfdrive/car/chrysler/carstate.py
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@ -75,33 +75,33 @@ class CarState(CarStateBase):
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("PRNDL", "GEAR", 0),
("DOOR_OPEN_FL", "DOORS", 0),
("DOOR_OPEN_FR", "DOORS", 0),
("DOOR_OPEN_RL", "DOORS", 0),
("DOOR_OPEN_RR", "DOORS", 0),
("BRAKE_PRESSED_2", "BRAKE_2", 0),
("ACCEL_134", "ACCEL_GAS_134", 0),
("SPEED_LEFT", "SPEED_1", 0),
("SPEED_RIGHT", "SPEED_1", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("STEER_ANGLE", "STEERING", 0),
("STEERING_RATE", "STEERING", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 0),
("ACC_STATUS_2", "ACC_2", 0),
("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
("CRUISE_STATE", "DASHBOARD", 0),
("TORQUE_DRIVER", "EPS_STATUS", 0),
("TORQUE_MOTOR", "EPS_STATUS", 0),
("LKAS_STATE", "EPS_STATUS", 1),
("COUNTER", "EPS_STATUS", -1),
("TRACTION_OFF", "TRACTION_BUTTON", 0),
("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
# sig_name, sig_address
("PRNDL", "GEAR"),
("DOOR_OPEN_FL", "DOORS"),
("DOOR_OPEN_FR", "DOORS"),
("DOOR_OPEN_RL", "DOORS"),
("DOOR_OPEN_RR", "DOORS"),
("BRAKE_PRESSED_2", "BRAKE_2"),
("ACCEL_134", "ACCEL_GAS_134"),
("SPEED_LEFT", "SPEED_1"),
("SPEED_RIGHT", "SPEED_1"),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
("STEER_ANGLE", "STEERING"),
("STEERING_RATE", "STEERING"),
("TURN_SIGNALS", "STEERING_LEVERS"),
("ACC_STATUS_2", "ACC_2"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
("CRUISE_STATE", "DASHBOARD"),
("TORQUE_DRIVER", "EPS_STATUS"),
("TORQUE_MOTOR", "EPS_STATUS"),
("LKAS_STATE", "EPS_STATUS"),
("COUNTER", "EPS_STATUS",),
("TRACTION_OFF", "TRACTION_BUTTON"),
("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
]
checks = [
@ -123,8 +123,8 @@ class CarState(CarStateBase):
if CP.enableBsm:
signals += [
("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS", 0),
("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS", 0),
("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"),
("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"),
]
checks += [("BLIND_SPOT_WARNINGS", 2)]
@ -133,10 +133,10 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("COUNTER", "LKAS_COMMAND", -1),
("CAR_MODEL", "LKAS_HUD", -1),
("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
# sig_name, sig_address
("COUNTER", "LKAS_COMMAND"),
("CAR_MODEL", "LKAS_HUD"),
("LKAS_STATUS_OK", "LKAS_HEARTBIT")
]
checks = [
("LKAS_COMMAND", 100),

28
selfdrive/car/ford/carstate.py
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@ -39,20 +39,20 @@ class CarState(CarStateBase):
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("WhlRr_W_Meas", "WheelSpeed_CG1", 0.),
("WhlRl_W_Meas", "WheelSpeed_CG1", 0.),
("WhlFr_W_Meas", "WheelSpeed_CG1", 0.),
("WhlFl_W_Meas", "WheelSpeed_CG1", 0.),
("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1", 0.),
("Cruise_State", "Cruise_Status", 0.),
("Set_Speed", "Cruise_Status", 0.),
("LaActAvail_D_Actl", "Lane_Keep_Assist_Status", 0),
("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status", 0),
("LaActDeny_B_Actl", "Lane_Keep_Assist_Status", 0),
("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
("Dist_Incr", "Steering_Buttons", 0.),
("Brake_Drv_Appl", "Cruise_Status", 0.),
# sig_name, sig_address
("WhlRr_W_Meas", "WheelSpeed_CG1"),
("WhlRl_W_Meas", "WheelSpeed_CG1"),
("WhlFr_W_Meas", "WheelSpeed_CG1"),
("WhlFl_W_Meas", "WheelSpeed_CG1"),
("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1"),
("Cruise_State", "Cruise_Status"),
("Set_Speed", "Cruise_Status"),
("LaActAvail_D_Actl", "Lane_Keep_Assist_Status"),
("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status"),
("LaActDeny_B_Actl", "Lane_Keep_Assist_Status"),
("ApedPosScal_Pc_Actl", "EngineData_14"),
("Dist_Incr", "Steering_Buttons"),
("Brake_Drv_Appl", "Cruise_Status"),
]
checks = []
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0, enforce_checks=False)

57
selfdrive/car/gm/carstate.py
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@ -3,8 +3,7 @@ from common.numpy_fast import mean
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
CruiseButtons, STEER_THRESHOLD
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, STEER_THRESHOLD
class CarState(CarStateBase):
@ -81,31 +80,31 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("BrakePedalPosition", "EBCMBrakePedalPosition", 0),
("FrontLeftDoor", "BCMDoorBeltStatus", 0),
("FrontRightDoor", "BCMDoorBeltStatus", 0),
("RearLeftDoor", "BCMDoorBeltStatus", 0),
("RearRightDoor", "BCMDoorBeltStatus", 0),
("LeftSeatBelt", "BCMDoorBeltStatus", 0),
("RightSeatBelt", "BCMDoorBeltStatus", 0),
("TurnSignals", "BCMTurnSignals", 0),
("AcceleratorPedal2", "AcceleratorPedal2", 0),
("CruiseState", "AcceleratorPedal2", 0),
("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
("SteeringWheelAngle", "PSCMSteeringAngle", 0),
("SteeringWheelRate", "PSCMSteeringAngle", 0),
("FLWheelSpd", "EBCMWheelSpdFront", 0),
("FRWheelSpd", "EBCMWheelSpdFront", 0),
("RLWheelSpd", "EBCMWheelSpdRear", 0),
("RRWheelSpd", "EBCMWheelSpdRear", 0),
("PRNDL", "ECMPRDNL", 0),
("LKADriverAppldTrq", "PSCMStatus", 0),
("LKATorqueDelivered", "PSCMStatus", 0),
("LKATorqueDeliveredStatus", "PSCMStatus", 0),
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
# sig_name, sig_address
("BrakePedalPosition", "EBCMBrakePedalPosition"),
("FrontLeftDoor", "BCMDoorBeltStatus"),
("FrontRightDoor", "BCMDoorBeltStatus"),
("RearLeftDoor", "BCMDoorBeltStatus"),
("RearRightDoor", "BCMDoorBeltStatus"),
("LeftSeatBelt", "BCMDoorBeltStatus"),
("RightSeatBelt", "BCMDoorBeltStatus"),
("TurnSignals", "BCMTurnSignals"),
("AcceleratorPedal2", "AcceleratorPedal2"),
("CruiseState", "AcceleratorPedal2"),
("ACCButtons", "ASCMSteeringButton"),
("SteeringWheelAngle", "PSCMSteeringAngle"),
("SteeringWheelRate", "PSCMSteeringAngle"),
("FLWheelSpd", "EBCMWheelSpdFront"),
("FRWheelSpd", "EBCMWheelSpdFront"),
("RLWheelSpd", "EBCMWheelSpdRear"),
("RRWheelSpd", "EBCMWheelSpdRear"),
("PRNDL", "ECMPRDNL"),
("LKADriverAppldTrq", "PSCMStatus"),
("LKATorqueDelivered", "PSCMStatus"),
("LKATorqueDeliveredStatus", "PSCMStatus"),
("TractionControlOn", "ESPStatus"),
("EPBClosed", "EPBStatus"),
("CruiseMainOn", "ECMEngineStatus"),
]
checks = [
@ -126,7 +125,7 @@ class CarState(CarStateBase):
if CP.carFingerprint == CAR.VOLT:
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
("RegenPaddle", "EBCMRegenPaddle"),
]
checks += [
("EBCMRegenPaddle", 50),
@ -137,7 +136,7 @@ class CarState(CarStateBase):
@staticmethod
def get_loopback_can_parser(CP):
signals = [
("RollingCounter", "ASCMLKASteeringCmd", 0),
("RollingCounter", "ASCMLKASteeringCmd"),
]
checks = [

6
selfdrive/car/hyundai/carstate.py
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@ -128,7 +128,7 @@ class CarState(CarStateBase):
("YAW_RATE", "ESP12"),
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
("CF_Gway_DrvSeatBeltInd", "CGW4"),
("CF_Gway_DrvSeatBeltSw", "CGW1"),
("CF_Gway_DrvDrSw", "CGW1"), # Driver Door
@ -193,7 +193,7 @@ class CarState(CarStateBase):
("VSetDis", "SCC11"),
("SCCInfoDisplay", "SCC11"),
("ACC_ObjDist", "SCC11"),
("ACCMode", "SCC12", 1),
("ACCMode", "SCC12"),
]
checks += [
@ -273,7 +273,7 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
# sig_name, sig_address
("CF_Lkas_LdwsActivemode", "LKAS11"),
("CF_Lkas_LdwsSysState", "LKAS11"),
("CF_Lkas_SysWarning", "LKAS11"),

104
selfdrive/car/mazda/carstate.py
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@ -102,18 +102,18 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("LEFT_BLINK", "BLINK_INFO", 0),
("RIGHT_BLINK", "BLINK_INFO", 0),
("HIGH_BEAMS", "BLINK_INFO", 0),
("STEER_ANGLE", "STEER", 0),
("STEER_ANGLE_RATE", "STEER_RATE", 0),
("STEER_TORQUE_SENSOR", "STEER_TORQUE", 0),
("STEER_TORQUE_MOTOR", "STEER_TORQUE", 0),
("FL", "WHEEL_SPEEDS", 0),
("FR", "WHEEL_SPEEDS", 0),
("RL", "WHEEL_SPEEDS", 0),
("RR", "WHEEL_SPEEDS", 0),
# sig_name, sig_address
("LEFT_BLINK", "BLINK_INFO"),
("RIGHT_BLINK", "BLINK_INFO"),
("HIGH_BEAMS", "BLINK_INFO"),
("STEER_ANGLE", "STEER"),
("STEER_ANGLE_RATE", "STEER_RATE"),
("STEER_TORQUE_SENSOR", "STEER_TORQUE"),
("STEER_TORQUE_MOTOR", "STEER_TORQUE"),
("FL", "WHEEL_SPEEDS"),
("FR", "WHEEL_SPEEDS"),
("RL", "WHEEL_SPEEDS"),
("RR", "WHEEL_SPEEDS"),
]
checks = [
@ -127,26 +127,26 @@ class CarState(CarStateBase):
if CP.carFingerprint in GEN1:
signals += [
("LKAS_BLOCK", "STEER_RATE", 0),
("LKAS_TRACK_STATE", "STEER_RATE", 0),
("HANDS_OFF_5_SECONDS", "STEER_RATE", 0),
("CRZ_ACTIVE", "CRZ_CTRL", 0),
("CRZ_AVAILABLE", "CRZ_CTRL", 0),
("CRZ_SPEED", "CRZ_EVENTS", 0),
("STANDSTILL", "PEDALS", 0),
("BRAKE_ON", "PEDALS", 0),
("BRAKE_PRESSURE", "BRAKE", 0),
("GEAR", "GEAR", 0),
("DRIVER_SEATBELT", "SEATBELT", 0),
("FL", "DOORS", 0),
("FR", "DOORS", 0),
("BL", "DOORS", 0),
("BR", "DOORS", 0),
("PEDAL_GAS", "ENGINE_DATA", 0),
("SPEED", "ENGINE_DATA", 0),
("CTR", "CRZ_BTNS", 0),
("LEFT_BS1", "BSM", 0),
("RIGHT_BS1", "BSM", 0),
("LKAS_BLOCK", "STEER_RATE"),
("LKAS_TRACK_STATE", "STEER_RATE"),
("HANDS_OFF_5_SECONDS", "STEER_RATE"),
("CRZ_ACTIVE", "CRZ_CTRL"),
("CRZ_AVAILABLE", "CRZ_CTRL"),
("CRZ_SPEED", "CRZ_EVENTS"),
("STANDSTILL", "PEDALS"),
("BRAKE_ON", "PEDALS"),
("BRAKE_PRESSURE", "BRAKE"),
("GEAR", "GEAR"),
("DRIVER_SEATBELT", "SEATBELT"),
("FL", "DOORS"),
("FR", "DOORS"),
("BL", "DOORS"),
("BR", "DOORS"),
("PEDAL_GAS", "ENGINE_DATA"),
("SPEED", "ENGINE_DATA"),
("CTR", "CRZ_BTNS"),
("LEFT_BS1", "BSM"),
("RIGHT_BS1", "BSM"),
]
checks += [
@ -171,26 +171,26 @@ class CarState(CarStateBase):
if CP.carFingerprint in GEN1:
signals += [
# sig_name, sig_address, default
("LKAS_REQUEST", "CAM_LKAS", 0),
("CTR", "CAM_LKAS", 0),
("ERR_BIT_1", "CAM_LKAS", 0),
("LINE_NOT_VISIBLE", "CAM_LKAS", 0),
("BIT_1", "CAM_LKAS", 1),
("ERR_BIT_2", "CAM_LKAS", 0),
("STEERING_ANGLE", "CAM_LKAS", 0),
("ANGLE_ENABLED", "CAM_LKAS", 0),
("CHKSUM", "CAM_LKAS", 0),
("LINE_VISIBLE", "CAM_LANEINFO", 0),
("LINE_NOT_VISIBLE", "CAM_LANEINFO", 1),
("LANE_LINES", "CAM_LANEINFO", 0),
("BIT1", "CAM_LANEINFO", 0),
("BIT2", "CAM_LANEINFO", 0),
("BIT3", "CAM_LANEINFO", 0),
("NO_ERR_BIT", "CAM_LANEINFO", 1),
("S1", "CAM_LANEINFO", 0),
("S1_HBEAM", "CAM_LANEINFO", 0),
# sig_name, sig_address
("LKAS_REQUEST", "CAM_LKAS"),
("CTR", "CAM_LKAS"),
("ERR_BIT_1", "CAM_LKAS"),
("LINE_NOT_VISIBLE", "CAM_LKAS"),
("BIT_1", "CAM_LKAS"),
("ERR_BIT_2", "CAM_LKAS"),
("STEERING_ANGLE", "CAM_LKAS"),
("ANGLE_ENABLED", "CAM_LKAS"),
("CHKSUM", "CAM_LKAS"),
("LINE_VISIBLE", "CAM_LANEINFO"),
("LINE_NOT_VISIBLE", "CAM_LANEINFO"),
("LANE_LINES", "CAM_LANEINFO"),
("BIT1", "CAM_LANEINFO"),
("BIT2", "CAM_LANEINFO"),
("BIT3", "CAM_LANEINFO"),
("NO_ERR_BIT", "CAM_LANEINFO"),
("S1", "CAM_LANEINFO"),
("S1_HBEAM", "CAM_LANEINFO"),
]
checks += [

265
selfdrive/car/nissan/carstate.py
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@ -121,25 +121,25 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR", 0),
# sig_name, sig_address
("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT"),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT"),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR"),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR"),
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("STEER_ANGLE", "STEER_ANGLE_SENSOR"),
("DOOR_OPEN_FR", "DOORS_LIGHTS", 1),
("DOOR_OPEN_FL", "DOORS_LIGHTS", 1),
("DOOR_OPEN_RR", "DOORS_LIGHTS", 1),
("DOOR_OPEN_RL", "DOORS_LIGHTS", 1),
("DOOR_OPEN_FR", "DOORS_LIGHTS"),
("DOOR_OPEN_FL", "DOORS_LIGHTS"),
("DOOR_OPEN_RR", "DOORS_LIGHTS"),
("DOOR_OPEN_RL", "DOORS_LIGHTS"),
("RIGHT_BLINKER", "LIGHTS", 0),
("LEFT_BLINKER", "LIGHTS", 0),
("RIGHT_BLINKER", "LIGHTS"),
("LEFT_BLINKER", "LIGHTS"),
("ESP_DISABLED", "ESP", 0),
("ESP_DISABLED", "ESP"),
("GEAR_SHIFTER", "GEARBOX", 0),
("GEAR_SHIFTER", "GEARBOX"),
]
checks = [
@ -155,26 +155,26 @@ class CarState(CarStateBase):
if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
signals += [
("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
("GAS_PEDAL", "GAS_PEDAL", 0),
("SEATBELT_DRIVER_LATCHED", "HUD", 0),
("SPEED_MPH", "HUD", 0),
("PROPILOT_BUTTON", "CRUISE_THROTTLE", 0),
("CANCEL_BUTTON", "CRUISE_THROTTLE", 0),
("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE", 0),
("SET_BUTTON", "CRUISE_THROTTLE", 0),
("RES_BUTTON", "CRUISE_THROTTLE", 0),
("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE", 0),
("NO_BUTTON_PRESSED", "CRUISE_THROTTLE", 0),
("GAS_PEDAL", "CRUISE_THROTTLE", 0),
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 0),
("NEW_SIGNAL_2", "CRUISE_THROTTLE", 0),
("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE", 0),
("unsure1", "CRUISE_THROTTLE", 0),
("unsure2", "CRUISE_THROTTLE", 0),
("unsure3", "CRUISE_THROTTLE", 0),
("USER_BRAKE_PRESSED", "DOORS_LIGHTS"),
("GAS_PEDAL", "GAS_PEDAL"),
("SEATBELT_DRIVER_LATCHED", "HUD"),
("SPEED_MPH", "HUD"),
("PROPILOT_BUTTON", "CRUISE_THROTTLE"),
("CANCEL_BUTTON", "CRUISE_THROTTLE"),
("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE"),
("SET_BUTTON", "CRUISE_THROTTLE"),
("RES_BUTTON", "CRUISE_THROTTLE"),
("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE"),
("NO_BUTTON_PRESSED", "CRUISE_THROTTLE"),
("GAS_PEDAL", "CRUISE_THROTTLE"),
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
("NEW_SIGNAL_2", "CRUISE_THROTTLE"),
("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"),
("unsure1", "CRUISE_THROTTLE"),
("unsure2", "CRUISE_THROTTLE"),
("unsure3", "CRUISE_THROTTLE"),
]
checks += [
@ -185,17 +185,17 @@ class CarState(CarStateBase):
elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
signals += [
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1),
("GAS_PEDAL", "CRUISE_THROTTLE", 0),
("CRUISE_AVAILABLE", "CRUISE_THROTTLE", 0),
("SPEED_MPH", "HUD_SETTINGS", 0),
("SEATBELT_DRIVER_LATCHED", "SEATBELT", 0),
("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
("GAS_PEDAL", "CRUISE_THROTTLE"),
("CRUISE_AVAILABLE", "CRUISE_THROTTLE"),
("SPEED_MPH", "HUD_SETTINGS"),
("SEATBELT_DRIVER_LATCHED", "SEATBELT"),
# Copy other values, we use this to cancel
("CANCEL_SEATBELT", "CANCEL_MSG", 0),
("NEW_SIGNAL_1", "CANCEL_MSG", 0),
("NEW_SIGNAL_2", "CANCEL_MSG", 0),
("NEW_SIGNAL_3", "CANCEL_MSG", 0),
("CANCEL_SEATBELT", "CANCEL_MSG"),
("NEW_SIGNAL_1", "CANCEL_MSG"),
("NEW_SIGNAL_2", "CANCEL_MSG"),
("NEW_SIGNAL_3", "CANCEL_MSG"),
]
checks += [
("BRAKE_PEDAL", 100),
@ -207,9 +207,9 @@ class CarState(CarStateBase):
if CP.carFingerprint == CAR.ALTIMA:
signals += [
("LKAS_ENABLED", "LKAS_SETTINGS", 0),
("CRUISE_ENABLED", "CRUISE_STATE", 0),
("SET_SPEED", "PROPILOT_HUD", 0),
("LKAS_ENABLED", "LKAS_SETTINGS"),
("CRUISE_ENABLED", "CRUISE_STATE"),
("SET_SPEED", "PROPILOT_HUD"),
]
checks += [
("CRUISE_STATE", 10),
@ -219,7 +219,7 @@ class CarState(CarStateBase):
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
]
checks += [
("STEER_TORQUE_SENSOR", 100),
@ -233,14 +233,14 @@ class CarState(CarStateBase):
if CP.carFingerprint == CAR.ALTIMA:
signals = [
("DESIRED_ANGLE", "LKAS", 0),
("SET_0x80_2", "LKAS", 0),
("MAX_TORQUE", "LKAS", 0),
("SET_0x80", "LKAS", 0),
("COUNTER", "LKAS", 0),
("LKA_ACTIVE", "LKAS", 0),
("CRUISE_ON", "PRO_PILOT", 0),
("DESIRED_ANGLE", "LKAS"),
("SET_0x80_2", "LKAS"),
("MAX_TORQUE", "LKAS"),
("SET_0x80", "LKAS"),
("COUNTER", "LKAS"),
("LKA_ACTIVE", "LKAS"),
("CRUISE_ON", "PRO_PILOT"),
]
checks = [
("LKAS", 100),
@ -248,85 +248,85 @@ class CarState(CarStateBase):
]
else:
signals = [
# sig_name, sig_address, default
("LKAS_ENABLED", "LKAS_SETTINGS", 0),
# sig_name, sig_address
("LKAS_ENABLED", "LKAS_SETTINGS"),
("CRUISE_ENABLED", "CRUISE_STATE", 0),
("CRUISE_ENABLED", "CRUISE_STATE"),
("DESIRED_ANGLE", "LKAS", 0),
("SET_0x80_2", "LKAS", 0),
("MAX_TORQUE", "LKAS", 0),
("SET_0x80", "LKAS", 0),
("COUNTER", "LKAS", 0),
("LKA_ACTIVE", "LKAS", 0),
("DESIRED_ANGLE", "LKAS"),
("SET_0x80_2", "LKAS"),
("MAX_TORQUE", "LKAS"),
("SET_0x80", "LKAS"),
("COUNTER", "LKAS"),
("LKA_ACTIVE", "LKAS"),
# Below are the HUD messages. We copy the stock message and modify
("LARGE_WARNING_FLASHING", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD", 0),
("LEAD_CAR", "PROPILOT_HUD", 0),
("LEAD_CAR_ERROR", "PROPILOT_HUD", 0),
("FRONT_RADAR_ERROR", "PROPILOT_HUD", 0),
("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD", 0),
("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD", 0),
("LKAS_ERROR_FLASHING", "PROPILOT_HUD", 0),
("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD", 0),
("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD", 0),
("FOLLOW_DISTANCE", "PROPILOT_HUD", 0),
("AUDIBLE_TONE", "PROPILOT_HUD", 0),
("SPEED_SET_ICON", "PROPILOT_HUD", 0),
("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD", 0),
("unknown59", "PROPILOT_HUD", 0),
("unknown55", "PROPILOT_HUD", 0),
("unknown26", "PROPILOT_HUD", 0),
("unknown28", "PROPILOT_HUD", 0),
("unknown31", "PROPILOT_HUD", 0),
("SET_SPEED", "PROPILOT_HUD", 0),
("unknown43", "PROPILOT_HUD", 0),
("unknown08", "PROPILOT_HUD", 0),
("unknown05", "PROPILOT_HUD", 0),
("unknown02", "PROPILOT_HUD", 0),
("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG", 0),
("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG", 0),
("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG", 0),
("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG", 0),
("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG", 0),
("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG", 0),
("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG", 0),
("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG", 0),
("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG", 0),
("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG", 0),
("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG", 0),
("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG", 0),
("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG", 0),
("unknown07", "PROPILOT_HUD_INFO_MSG", 0),
("unknown10", "PROPILOT_HUD_INFO_MSG", 0),
("unknown15", "PROPILOT_HUD_INFO_MSG", 0),
("unknown23", "PROPILOT_HUD_INFO_MSG", 0),
("unknown19", "PROPILOT_HUD_INFO_MSG", 0),
("unknown31", "PROPILOT_HUD_INFO_MSG", 0),
("unknown32", "PROPILOT_HUD_INFO_MSG", 0),
("unknown46", "PROPILOT_HUD_INFO_MSG", 0),
("unknown61", "PROPILOT_HUD_INFO_MSG", 0),
("unknown55", "PROPILOT_HUD_INFO_MSG", 0),
("unknown50", "PROPILOT_HUD_INFO_MSG", 0),
("LARGE_WARNING_FLASHING", "PROPILOT_HUD"),
("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD"),
("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD"),
("LEAD_CAR", "PROPILOT_HUD"),
("LEAD_CAR_ERROR", "PROPILOT_HUD"),
("FRONT_RADAR_ERROR", "PROPILOT_HUD"),
("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD"),
("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD"),
("LKAS_ERROR_FLASHING", "PROPILOT_HUD"),
("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD"),
("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD"),
("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD"),
("FOLLOW_DISTANCE", "PROPILOT_HUD"),
("AUDIBLE_TONE", "PROPILOT_HUD"),
("SPEED_SET_ICON", "PROPILOT_HUD"),
("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD"),
("unknown59", "PROPILOT_HUD"),
("unknown55", "PROPILOT_HUD"),
("unknown26", "PROPILOT_HUD"),
("unknown28", "PROPILOT_HUD"),
("unknown31", "PROPILOT_HUD"),
("SET_SPEED", "PROPILOT_HUD"),
("unknown43", "PROPILOT_HUD"),
("unknown08", "PROPILOT_HUD"),
("unknown05", "PROPILOT_HUD"),
("unknown02", "PROPILOT_HUD"),
("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG"),
("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG"),
("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG"),
("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG"),
("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG"),
("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"),
("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG"),
("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"),
("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG"),
("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG"),
("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG"),
("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG"),
("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG"),
("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG"),
("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG"),
("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG"),
("unknown07", "PROPILOT_HUD_INFO_MSG"),
("unknown10", "PROPILOT_HUD_INFO_MSG"),
("unknown15", "PROPILOT_HUD_INFO_MSG"),
("unknown23", "PROPILOT_HUD_INFO_MSG"),
("unknown19", "PROPILOT_HUD_INFO_MSG"),
("unknown31", "PROPILOT_HUD_INFO_MSG"),
("unknown32", "PROPILOT_HUD_INFO_MSG"),
("unknown46", "PROPILOT_HUD_INFO_MSG"),
("unknown61", "PROPILOT_HUD_INFO_MSG"),
("unknown55", "PROPILOT_HUD_INFO_MSG"),
("unknown50", "PROPILOT_HUD_INFO_MSG"),
]
checks = [
@ -346,19 +346,18 @@ class CarState(CarStateBase):
if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
signals += [
("CRUISE_ON", "PRO_PILOT", 0),
("CRUISE_ON", "PRO_PILOT"),
]
checks += [
("PRO_PILOT", 100),
]
elif CP.carFingerprint == CAR.ALTIMA:
signals += [
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
]
checks += [
("STEER_TORQUE_SENSOR", 100),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)

170
selfdrive/car/subaru/carstate.py
Unescape View File

@ -79,26 +79,26 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("Steer_Torque_Sensor", "Steering_Torque", 0),
("Steering_Angle", "Steering_Torque", 0),
("Steer_Error_1", "Steering_Torque", 0),
("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0),
("Brake_Pedal", "Brake_Pedal", 0),
("Throttle_Pedal", "Throttle", 0),
("LEFT_BLINKER", "Dashlights", 0),
("RIGHT_BLINKER", "Dashlights", 0),
("SEATBELT_FL", "Dashlights", 0),
("FL", "Wheel_Speeds", 0),
("FR", "Wheel_Speeds", 0),
("RL", "Wheel_Speeds", 0),
("RR", "Wheel_Speeds", 0),
("DOOR_OPEN_FR", "BodyInfo", 1),
("DOOR_OPEN_FL", "BodyInfo", 1),
("DOOR_OPEN_RR", "BodyInfo", 1),
("DOOR_OPEN_RL", "BodyInfo", 1),
("Gear", "Transmission", 0),
# sig_name, sig_address
("Steer_Torque_Sensor", "Steering_Torque"),
("Steering_Angle", "Steering_Torque"),
("Steer_Error_1", "Steering_Torque"),
("Cruise_On", "CruiseControl"),
("Cruise_Activated", "CruiseControl"),
("Brake_Pedal", "Brake_Pedal"),
("Throttle_Pedal", "Throttle"),
("LEFT_BLINKER", "Dashlights"),
("RIGHT_BLINKER", "Dashlights"),
("SEATBELT_FL", "Dashlights"),
("FL", "Wheel_Speeds"),
("FR", "Wheel_Speeds"),
("RL", "Wheel_Speeds"),
("RR", "Wheel_Speeds"),
("DOOR_OPEN_FR", "BodyInfo"),
("DOOR_OPEN_FL", "BodyInfo"),
("DOOR_OPEN_RR", "BodyInfo"),
("DOOR_OPEN_RL", "BodyInfo"),
("Gear", "Transmission"),
]
checks = [
@ -114,10 +114,10 @@ class CarState(CarStateBase):
if CP.enableBsm:
signals += [
("L_ADJACENT", "BSD_RCTA", 0),
("R_ADJACENT", "BSD_RCTA", 0),
("L_APPROACHING", "BSD_RCTA", 0),
("R_APPROACHING", "BSD_RCTA", 0),
("L_ADJACENT", "BSD_RCTA"),
("R_ADJACENT", "BSD_RCTA"),
("L_APPROACHING", "BSD_RCTA"),
("R_APPROACHING", "BSD_RCTA"),
]
checks += [
("BSD_RCTA", 17),
@ -125,9 +125,9 @@ class CarState(CarStateBase):
if CP.carFingerprint not in PREGLOBAL_CARS:
signals += [
("Steer_Warning", "Steering_Torque", 0),
("Brake", "Brake_Status", 0),
("UNITS", "Dashlights", 0),
("Steer_Warning", "Steering_Torque"),
("Brake", "Brake_Status"),
("UNITS", "Dashlights"),
]
checks += [
@ -138,11 +138,11 @@ class CarState(CarStateBase):
]
else:
signals += [
("UNITS", "Dash_State2", 0),
("UNITS", "Dash_State2"),
]
checks += [
("Dash_State2", 1),
("Dash_State2"),
]
if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
@ -164,26 +164,26 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP):
if CP.carFingerprint in PREGLOBAL_CARS:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Not_Ready_Startup", "ES_DashStatus", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Brake_On", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Standstill", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Standstill_2", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Counter", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
("Cruise_Button", "ES_Distance", 0),
("Signal7", "ES_Distance", 0),
("Cruise_Set_Speed", "ES_DashStatus"),
("Not_Ready_Startup", "ES_DashStatus"),
("Cruise_Throttle", "ES_Distance"),
("Signal1", "ES_Distance"),
("Car_Follow", "ES_Distance"),
("Signal2", "ES_Distance"),
("Brake_On", "ES_Distance"),
("Distance_Swap", "ES_Distance"),
("Standstill", "ES_Distance"),
("Signal3", "ES_Distance"),
("Close_Distance", "ES_Distance"),
("Signal4", "ES_Distance"),
("Standstill_2", "ES_Distance"),
("Cruise_Fault", "ES_Distance"),
("Signal5", "ES_Distance"),
("Counter", "ES_Distance"),
("Signal6", "ES_Distance"),
("Cruise_Button", "ES_Distance"),
("Signal7", "ES_Distance"),
]
checks = [
@ -192,42 +192,42 @@ class CarState(CarStateBase):
]
else:
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Conventional_Cruise", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Cruise_Fault", "ES_Distance", 0),
("Cruise_Throttle", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Car_Follow", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Cruise_Brake_Active", "ES_Distance", 0),
("Distance_Swap", "ES_Distance", 0),
("Cruise_EPB", "ES_Distance", 0),
("Signal4", "ES_Distance", 0),
("Close_Distance", "ES_Distance", 0),
("Signal5", "ES_Distance", 0),
("Cruise_Cancel", "ES_Distance", 0),
("Cruise_Set", "ES_Distance", 0),
("Cruise_Resume", "ES_Distance", 0),
("Signal6", "ES_Distance", 0),
("Counter", "ES_LKAS_State", 0),
("LKAS_Alert_Msg", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("LKAS_Dash_State", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_Left_Line_Enable", "ES_LKAS_State", 0),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Right_Line_Enable", "ES_LKAS_State", 0),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("LKAS_Alert", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
("Cruise_Set_Speed", "ES_DashStatus"),
("Conventional_Cruise", "ES_DashStatus"),
("Counter", "ES_Distance"),
("Signal1", "ES_Distance"),
("Cruise_Fault", "ES_Distance"),
("Cruise_Throttle", "ES_Distance"),
("Signal2", "ES_Distance"),
("Car_Follow", "ES_Distance"),
("Signal3", "ES_Distance"),
("Cruise_Brake_Active", "ES_Distance"),
("Distance_Swap", "ES_Distance"),
("Cruise_EPB", "ES_Distance"),
("Signal4", "ES_Distance"),
("Close_Distance", "ES_Distance"),
("Signal5", "ES_Distance"),
("Cruise_Cancel", "ES_Distance"),
("Cruise_Set", "ES_Distance"),
("Cruise_Resume", "ES_Distance"),
("Signal6", "ES_Distance"),
("Counter", "ES_LKAS_State"),
("LKAS_Alert_Msg", "ES_LKAS_State"),
("Signal1", "ES_LKAS_State"),
("LKAS_ACTIVE", "ES_LKAS_State"),
("LKAS_Dash_State", "ES_LKAS_State"),
("Signal2", "ES_LKAS_State"),
("Backward_Speed_Limit_Menu", "ES_LKAS_State"),
("LKAS_Left_Line_Enable", "ES_LKAS_State"),
("LKAS_Left_Line_Light_Blink", "ES_LKAS_State"),
("LKAS_Right_Line_Enable", "ES_LKAS_State"),
("LKAS_Right_Line_Light_Blink", "ES_LKAS_State"),
("LKAS_Left_Line_Visible", "ES_LKAS_State"),
("LKAS_Right_Line_Visible", "ES_LKAS_State"),
("LKAS_Alert", "ES_LKAS_State"),
("Signal3", "ES_LKAS_State"),
]
checks = [

116
selfdrive/car/tesla/carstate.py
Unescape View File

@ -96,64 +96,64 @@ class CarState(CarStateBase):
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("ESP_vehicleSpeed", "ESP_B", 0),
("DI_pedalPos", "DI_torque1", 0),
("DI_brakePedal", "DI_torque2", 0),
("StW_AnglHP", "STW_ANGLHP_STAT", 0),
("StW_AnglHP_Spd", "STW_ANGLHP_STAT", 0),
("EPAS_handsOnLevel", "EPAS_sysStatus", 0),
("EPAS_torsionBarTorque", "EPAS_sysStatus", 0),
("EPAS_internalSAS", "EPAS_sysStatus", 0),
("EPAS_eacStatus", "EPAS_sysStatus", 1),
("EPAS_eacErrorCode", "EPAS_sysStatus", 0),
("DI_cruiseState", "DI_state", 0),
("DI_digitalSpeed", "DI_state", 0),
("DI_speedUnits", "DI_state", 0),
("DI_gear", "DI_torque2", 0),
("DOOR_STATE_FL", "GTW_carState", 1),
("DOOR_STATE_FR", "GTW_carState", 1),
("DOOR_STATE_RL", "GTW_carState", 1),
("DOOR_STATE_RR", "GTW_carState", 1),
("DOOR_STATE_FrontTrunk", "GTW_carState", 1),
("BOOT_STATE", "GTW_carState", 1),
("BC_indicatorLStatus", "GTW_carState", 1),
("BC_indicatorRStatus", "GTW_carState", 1),
("SDM_bcklDrivStatus", "SDM1", 0),
("driverBrakeStatus", "BrakeMessage", 0),
# sig_name, sig_address
("ESP_vehicleSpeed", "ESP_B"),
("DI_pedalPos", "DI_torque1"),
("DI_brakePedal", "DI_torque2"),
("StW_AnglHP", "STW_ANGLHP_STAT"),
("StW_AnglHP_Spd", "STW_ANGLHP_STAT"),
("EPAS_handsOnLevel", "EPAS_sysStatus"),
("EPAS_torsionBarTorque", "EPAS_sysStatus"),
("EPAS_internalSAS", "EPAS_sysStatus"),
("EPAS_eacStatus", "EPAS_sysStatus"),
("EPAS_eacErrorCode", "EPAS_sysStatus"),
("DI_cruiseState", "DI_state"),
("DI_digitalSpeed", "DI_state"),
("DI_speedUnits", "DI_state"),
("DI_gear", "DI_torque2"),
("DOOR_STATE_FL", "GTW_carState"),
("DOOR_STATE_FR", "GTW_carState"),
("DOOR_STATE_RL", "GTW_carState"),
("DOOR_STATE_RR", "GTW_carState"),
("DOOR_STATE_FrontTrunk", "GTW_carState"),
("BOOT_STATE", "GTW_carState"),
("BC_indicatorLStatus", "GTW_carState"),
("BC_indicatorRStatus", "GTW_carState"),
("SDM_bcklDrivStatus", "SDM1"),
("driverBrakeStatus", "BrakeMessage"),
# We copy this whole message when spamming cancel
("SpdCtrlLvr_Stat", "STW_ACTN_RQ", 0),
("VSL_Enbl_Rq", "STW_ACTN_RQ", 0),
("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ", 0),
("DTR_Dist_Rq", "STW_ACTN_RQ", 0),
("TurnIndLvr_Stat", "STW_ACTN_RQ", 0),
("HiBmLvr_Stat", "STW_ACTN_RQ", 0),
("WprWashSw_Psd", "STW_ACTN_RQ", 0),
("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ", 0),
("StW_Lvr_Stat", "STW_ACTN_RQ", 0),
("StW_Cond_Flt", "STW_ACTN_RQ", 0),
("StW_Cond_Psd", "STW_ACTN_RQ", 0),
("HrnSw_Psd", "STW_ACTN_RQ", 0),
("StW_Sw00_Psd", "STW_ACTN_RQ", 0),
("StW_Sw01_Psd", "STW_ACTN_RQ", 0),
("StW_Sw02_Psd", "STW_ACTN_RQ", 0),
("StW_Sw03_Psd", "STW_ACTN_RQ", 0),
("StW_Sw04_Psd", "STW_ACTN_RQ", 0),
("StW_Sw05_Psd", "STW_ACTN_RQ", 0),
("StW_Sw06_Psd", "STW_ACTN_RQ", 0),
("StW_Sw07_Psd", "STW_ACTN_RQ", 0),
("StW_Sw08_Psd", "STW_ACTN_RQ", 0),
("StW_Sw09_Psd", "STW_ACTN_RQ", 0),
("StW_Sw10_Psd", "STW_ACTN_RQ", 0),
("StW_Sw11_Psd", "STW_ACTN_RQ", 0),
("StW_Sw12_Psd", "STW_ACTN_RQ", 0),
("StW_Sw13_Psd", "STW_ACTN_RQ", 0),
("StW_Sw14_Psd", "STW_ACTN_RQ", 0),
("StW_Sw15_Psd", "STW_ACTN_RQ", 0),
("WprSw6Posn", "STW_ACTN_RQ", 0),
("MC_STW_ACTN_RQ", "STW_ACTN_RQ", 0),
("CRC_STW_ACTN_RQ", "STW_ACTN_RQ", 0),
("SpdCtrlLvr_Stat", "STW_ACTN_RQ"),
("VSL_Enbl_Rq", "STW_ACTN_RQ"),
("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ"),
("DTR_Dist_Rq", "STW_ACTN_RQ"),
("TurnIndLvr_Stat", "STW_ACTN_RQ"),
("HiBmLvr_Stat", "STW_ACTN_RQ"),
("WprWashSw_Psd", "STW_ACTN_RQ"),
("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ"),
("StW_Lvr_Stat", "STW_ACTN_RQ"),
("StW_Cond_Flt", "STW_ACTN_RQ"),
("StW_Cond_Psd", "STW_ACTN_RQ"),
("HrnSw_Psd", "STW_ACTN_RQ"),
("StW_Sw00_Psd", "STW_ACTN_RQ"),
("StW_Sw01_Psd", "STW_ACTN_RQ"),
("StW_Sw02_Psd", "STW_ACTN_RQ"),
("StW_Sw03_Psd", "STW_ACTN_RQ"),
("StW_Sw04_Psd", "STW_ACTN_RQ"),
("StW_Sw05_Psd", "STW_ACTN_RQ"),
("StW_Sw06_Psd", "STW_ACTN_RQ"),
("StW_Sw07_Psd", "STW_ACTN_RQ"),
("StW_Sw08_Psd", "STW_ACTN_RQ"),
("StW_Sw09_Psd", "STW_ACTN_RQ"),
("StW_Sw10_Psd", "STW_ACTN_RQ"),
("StW_Sw11_Psd", "STW_ACTN_RQ"),
("StW_Sw12_Psd", "STW_ACTN_RQ"),
("StW_Sw13_Psd", "STW_ACTN_RQ"),
("StW_Sw14_Psd", "STW_ACTN_RQ"),
("StW_Sw15_Psd", "STW_ACTN_RQ"),
("WprSw6Posn", "STW_ACTN_RQ"),
("MC_STW_ACTN_RQ", "STW_ACTN_RQ"),
("CRC_STW_ACTN_RQ", "STW_ACTN_RQ"),
]
checks = [
@ -175,8 +175,8 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("DAS_accState", "DAS_control", 0),
# sig_name, sig_address
("DAS_accState", "DAS_control"),
]
checks = [
# sig_address, frequency

120
selfdrive/car/volkswagen/carstate.py
Unescape View File

@ -149,48 +149,48 @@ class CarState(CarStateBase):
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
("Comfort_Signal_Left", "Blinkmodi_02", 0), # Left turn signal including comfort blink interval
("Comfort_Signal_Right", "Blinkmodi_02", 0), # Right turn signal including comfort blink interval
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02", 0), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20", 0), # Accelerator pedal value
("EPS_Lenkmoment", "LH_EPS_03", 0), # Absolute driver torque input
("EPS_VZ_Lenkmoment", "LH_EPS_03", 0), # Driver torque input sign
("EPS_HCA_Status", "LH_EPS_03", 3), # EPS HCA control status
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
("ESP_Haltebestaetigung", "ESP_21", 0), # ESP hold confirmation
("KBI_MFA_v_Einheit_02", "Einheiten_01", 0), # MPH vs KMH speed display
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
("TSK_Status", "TSK_06", 0), # ACC engagement status from drivetrain coordinator
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01", 0), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01", 0), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01", 0), # unknown related to stalk type
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
# sig_name, sig_address
("LWI_Lenkradwinkel", "LWI_01"), # Absolute steering angle
("LWI_VZ_Lenkradwinkel", "LWI_01"), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01"), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01"), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19"), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19"), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19"), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02"), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02"), # Yaw rate sign
("ZV_FT_offen", "Gateway_72"), # Door open, driver
("ZV_BT_offen", "Gateway_72"), # Door open, passenger
("ZV_HFS_offen", "Gateway_72"), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72"), # Door open, rear right
("ZV_HD_offen", "Gateway_72"), # Trunk or hatch open
("Comfort_Signal_Left", "Blinkmodi_02"), # Left turn signal including comfort blink interval
("Comfort_Signal_Right", "Blinkmodi_02"), # Right turn signal including comfort blink interval
("AB_Gurtschloss_FA", "Airbag_02"), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02"), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05"), # Brake pedal pressed
("ESP_Bremsdruck", "ESP_05"), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20"), # Accelerator pedal value
("EPS_Lenkmoment", "LH_EPS_03"), # Absolute driver torque input
("EPS_VZ_Lenkmoment", "LH_EPS_03"), # Driver torque input sign
("EPS_HCA_Status", "LH_EPS_03"), # EPS HCA control status
("ESP_Tastung_passiv", "ESP_21"), # Stability control disabled
("ESP_Haltebestaetigung", "ESP_21"), # ESP hold confirmation
("KBI_MFA_v_Einheit_02", "Einheiten_01"), # MPH vs KMH speed display
("KBI_Handbremse", "Kombi_01"), # Manual handbrake applied
("TSK_Status", "TSK_06"), # ACC engagement status from drivetrain coordinator
("GRA_Hauptschalter", "GRA_ACC_01"), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01"), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01"), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01"), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01"), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01"), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01"), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01"), # unknown related to stalk type
("COUNTER", "GRA_ACC_01"), # GRA_ACC_01 CAN message counter
]
checks = [
@ -212,14 +212,14 @@ class CarState(CarStateBase):
]
if CP.transmissionType == TransmissionType.automatic:
signals += [("GE_Fahrstufe", "Getriebe_11", 0)] # Auto trans gear selector position
signals += [("GE_Fahrstufe", "Getriebe_11")] # Auto trans gear selector position
checks += [("Getriebe_11", 20)] # From J743 Auto transmission control module
elif CP.transmissionType == TransmissionType.direct:
signals += [("GearPosition", "EV_Gearshift", 0)] # EV gear selector position
signals += [("GearPosition", "EV_Gearshift")] # EV gear selector position
checks += [("EV_Gearshift", 10)] # From J??? unknown EV control module
elif CP.transmissionType == TransmissionType.manual:
signals += [("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72", 0)] # Reverse light from BCM
signals += [("MO_Kuppl_schalter", "Motor_14"), # Clutch switch
("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")] # Reverse light from BCM
checks += [("Motor_14", 10)] # From J623 Engine control module
if CP.networkLocation == NetworkLocation.fwdCamera:
@ -240,12 +240,12 @@ class CarState(CarStateBase):
if CP.networkLocation == NetworkLocation.fwdCamera:
signals += [
# sig_name, sig_address, default
("LDW_SW_Warnung_links", "LDW_02", 0), # Blind spot in warning mode on left side due to lane departure
("LDW_SW_Warnung_rechts", "LDW_02", 0), # Blind spot in warning mode on right side due to lane departure
("LDW_Seite_DLCTLC", "LDW_02", 0), # Direction of most likely lane departure (left or right)
("LDW_DLC", "LDW_02", 0), # Lane departure, distance to line crossing
("LDW_TLC", "LDW_02", 0), # Lane departure, time to line crossing
# sig_name, sig_address
("LDW_SW_Warnung_links", "LDW_02"), # Blind spot in warning mode on left side due to lane departure
("LDW_SW_Warnung_rechts", "LDW_02"), # Blind spot in warning mode on right side due to lane departure
("LDW_Seite_DLCTLC", "LDW_02"), # Direction of most likely lane departure (left or right)
("LDW_DLC", "LDW_02"), # Lane departure, distance to line crossing
("LDW_TLC", "LDW_02"), # Lane departure, time to line crossing
]
checks += [
# sig_address, frequency
@ -264,20 +264,20 @@ class CarState(CarStateBase):
class MqbExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [
("ACC_Wunschgeschw", "ACC_02", 0), # ACC set speed
("AWV2_Freigabe", "ACC_10", 0), # FCW brake jerk release
("ANB_Teilbremsung_Freigabe", "ACC_10", 0), # AEB partial braking release
("ANB_Zielbremsung_Freigabe", "ACC_10", 0), # AEB target braking release
("ACC_Wunschgeschw", "ACC_02"), # ACC set speed
("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release
("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release
("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release
]
fwd_radar_checks = [
("ACC_10", 50), # From J428 ACC radar control module
("ACC_02", 17), # From J428 ACC radar control module
]
bsm_radar_signals = [
("SWA_Infostufe_SWA_li", "SWA_01", 0), # Blind spot object info, left
("SWA_Warnung_SWA_li", "SWA_01", 0), # Blind spot object warning, left
("SWA_Infostufe_SWA_re", "SWA_01", 0), # Blind spot object info, right
("SWA_Warnung_SWA_re", "SWA_01", 0), # Blind spot object warning, right
("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left
("SWA_Warnung_SWA_li", "SWA_01"), # Blind spot object warning, left
("SWA_Infostufe_SWA_re", "SWA_01"), # Blind spot object info, right
("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right
]
bsm_radar_checks = [
("SWA_01", 20), # From J1086 Lane Change Assist

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