car port: comma body (#24019)
* body FPv2
* ..
* ..
* ..
* Temp, REVERT!
* more cleanup
* typo
* ..
* del eyes
* should work?
* fix
* new dbc
* ..
* fixes
* static analysis
* cln balancing code
* no test route
* excluded_interfaces
* THE DOCS!
* comments on steer/speed mixin
* switch to bus 0
* less UDS
* FAKE bus 0 vin and fingerprint
* FAKE locationd
* Keep steady and remove handcoded offset
* Improve startup sequence, get closer to stock openpilot
* Forgot to define angle
* lowercase
* revert that
* little cleanup
* change safety model
* update refs
* body is gold
* handle no llk
* oops
* litte more
Co-authored-by: Comma Device <device@comma.ai>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 031f79ba88
taco
Igor Biletskyy
3 years ago
committed by
GitHub
parent
4b6cb2e9f3
commit
df806cdbeb
15 changed files with 270 additions and 2 deletions
@ -1 +1 @@ |
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Subproject commit 93863197dd3228649e286074f79a0174821a8a81 |
Subproject commit 560bcc4063f573e4d5d221235469334a4af14d50 |
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@ -0,0 +1,8 @@ |
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def create_control(packer, torque_l, torque_r): |
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can_bus = 0 |
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values = { |
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"TORQUE_L": torque_l, |
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"TORQUE_R": torque_r, |
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} |
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return packer.make_can_msg("TORQUE_CMD", can_bus, values) |
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import numpy as np |
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from selfdrive.car.body import bodycan |
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from opendbc.can.packer import CANPacker |
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MAX_TORQUE = 500 |
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MAX_TORQUE_RATE = 50 |
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MAX_ANGLE_ERROR = 7 |
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class CarController(): |
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def __init__(self, dbc_name, CP, VM): |
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self.packer = CANPacker(dbc_name) |
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self.i_speed = 0 |
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self.i_balance = 0 |
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self.d_balance = 0 |
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self.i_torque = 0 |
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self.speed_measured = 0. |
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self.speed_desired = 0. |
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self.torque_r_filtered = 0. |
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self.torque_l_filtered = 0. |
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@staticmethod |
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def deadband_filter(torque, deadband): |
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if torque > 0: |
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torque += deadband |
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else: |
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torque -= deadband |
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return torque |
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def update(self, CC, CS): |
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if len(CC.orientationNED) == 0 or len(CC.angularVelocity) == 0: |
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return [], CC.actuators.copy() |
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# /////////////////////////////////////// |
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# Steer and accel mixin. Speed should be used as a target? (speed should be in m/s! now it is in RPM) |
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# Mix steer into torque_diff |
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# self.steerRatio = 0.5 |
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# torque_r = int(np.clip((CC.actuators.accel*1000) - (CC.actuators.steer*1000) * self.steerRatio, -1000, 1000)) |
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# torque_l = int(np.clip((CC.actuators.accel*1000) + (CC.actuators.steer*1000) * self.steerRatio, -1000, 1000)) |
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# //// |
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# Setpoint speed PID |
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kp_speed = 0.001 |
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ki_speed = 0.00001 |
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alpha_speed = 1.0 |
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self.speed_measured = (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2. |
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self.speed_desired = (1. - alpha_speed)*self.speed_desired |
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p_speed = (self.speed_desired - self.speed_measured) |
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self.i_speed += ki_speed * p_speed |
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self.i_speed = np.clip(self.i_speed, -0.1, 0.1) |
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set_point = p_speed * kp_speed + self.i_speed |
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# Balancing PID |
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kp_balance = 1300 |
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ki_balance = 0 |
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kd_balance = 280 |
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alpha_d_balance = 1.0 |
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# Clip angle error, this is enough to get up from stands |
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p_balance = np.clip((-CC.orientationNED[1]) - set_point, np.radians(-MAX_ANGLE_ERROR), np.radians(MAX_ANGLE_ERROR)) |
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self.i_balance += CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr |
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self.d_balance = np.clip(((1. - alpha_d_balance) * self.d_balance + alpha_d_balance * -CC.angularVelocity[1]), -1., 1.) |
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torque = int(np.clip((p_balance*kp_balance + self.i_balance*ki_balance + self.d_balance*kd_balance), -1000, 1000)) |
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# Positional recovery PID |
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kp_torque = 0.95 |
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ki_torque = 0.1 |
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p_torque = (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr) |
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self.i_torque += (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr) |
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torque_diff = int(np.clip(p_torque*kp_torque + self.i_torque*ki_torque, -100, 100)) |
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# Combine 2 PIDs outputs |
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torque_r = torque + torque_diff |
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torque_l = torque - torque_diff |
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# Torque rate limits |
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self.torque_r_filtered = np.clip(self.deadband_filter(torque_r, 10) , |
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self.torque_r_filtered - MAX_TORQUE_RATE, |
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self.torque_r_filtered + MAX_TORQUE_RATE) |
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self.torque_l_filtered = np.clip(self.deadband_filter(torque_l, 10), |
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self.torque_l_filtered - MAX_TORQUE_RATE, |
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self.torque_l_filtered + MAX_TORQUE_RATE) |
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torque_r = int(np.clip(self.torque_r_filtered, -MAX_TORQUE, MAX_TORQUE)) |
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torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE)) |
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# /////////////////////////////////////// |
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can_sends = [] |
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can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r)) |
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new_actuators = CC.actuators.copy() |
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new_actuators.accel = torque_l |
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new_actuators.steer = torque_r |
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return new_actuators, can_sends |
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@ -0,0 +1,54 @@ |
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from cereal import car |
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from opendbc.can.parser import CANParser |
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from selfdrive.car.interfaces import CarStateBase |
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from selfdrive.car.body.values import DBC |
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class CarState(CarStateBase): |
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def update(self, cp): |
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ret = car.CarState.new_message() |
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ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L'] |
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ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R'] |
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ret.vEgoRaw = ((ret.wheelSpeeds.fl + ret.wheelSpeeds.fr) / 2.) * self.CP.wheelSpeedFactor |
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) |
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ret.standstill = abs(ret.vEgo) < 1 |
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# irrelevant for non-car |
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ret.doorOpen = False |
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ret.seatbeltUnlatched = False |
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ret.gearShifter = car.CarState.GearShifter.drive |
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ret.steeringTorque = 0 |
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ret.steeringAngleDeg = 0 |
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ret.steeringPressed = False |
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ret.cruiseState.enabled = True |
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ret.cruiseState.available = True |
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ret.cruiseState.speed = 0 |
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return ret |
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@staticmethod |
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def get_can_parser(CP): |
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signals = [ |
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# sig_name, sig_address |
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("SPEED_L", "MOTORS_DATA"), |
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("SPEED_R", "MOTORS_DATA"), |
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("ELEC_ANGLE_L", "MOTORS_DATA"), |
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("ELEC_ANGLE_R", "MOTORS_DATA"), |
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("MOTOR_ERR_L", "MOTORS_DATA"), |
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("MOTOR_ERR_R", "MOTORS_DATA"), |
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("IGNITION", "VAR_VALUES"), |
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("ENABLE_MOTORS", "VAR_VALUES"), |
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("MCU_TEMP", "BODY_DATA"), |
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("BATT_VOLTAGE", "BODY_DATA"), |
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] |
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checks = [ |
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("MOTORS_DATA", 100), |
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("VAR_VALUES", 10), |
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("BODY_DATA", 1), |
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] |
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0) |
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@ -0,0 +1,46 @@ |
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#!/usr/bin/env python3 |
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from cereal import car |
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from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config |
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from selfdrive.car.interfaces import CarInterfaceBase |
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class CarInterface(CarInterfaceBase): |
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@staticmethod |
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def get_params(candidate, fingerprint=None, car_fw=None, disable_radar=False): |
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint) |
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ret.carName = "body" |
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)] |
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ret.steerRatio = 0.5 |
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ret.steerRateCost = 0.5 |
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ret.steerLimitTimer = 1.0 |
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ret.steerActuatorDelay = 0. |
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ret.mass = 9 |
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ret.wheelbase = 0.406 |
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ret.wheelSpeedFactor = 0.008587 |
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ret.centerToFront = ret.wheelbase * 0.44 |
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ret.radarOffCan = True |
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ret.openpilotLongitudinalControl = True |
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ret.steerControlType = car.CarParams.SteerControlType.angle |
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) |
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) |
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return ret |
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def update(self, c, can_strings): |
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self.cp.update_strings(can_strings) |
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ret = self.CS.update(self.cp) |
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ret.canValid = self.cp.can_valid |
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self.CS.out = ret.as_reader() |
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return self.CS.out |
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def apply(self, c): |
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return self.CC.update(c, self.CS) |
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@ -0,0 +1,5 @@ |
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#!/usr/bin/env python3 |
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from selfdrive.car.interfaces import RadarInterfaceBase |
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class RadarInterface(RadarInterfaceBase): |
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pass |
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@ -0,0 +1,33 @@ |
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from typing import Dict |
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from cereal import car |
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from selfdrive.car import dbc_dict |
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from selfdrive.car.docs_definitions import CarInfo |
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Ecu = car.CarParams.Ecu |
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class CarControllerParams: |
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ANGLE_DELTA_BP = [0., 5., 15.] |
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ANGLE_DELTA_V = [5., .8, .15] # windup limit |
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ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit |
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LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower |
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STEER_THRESHOLD = 1.0 |
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class CAR: |
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BODY = "COMMA BODY" |
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CAR_INFO: Dict[str, CarInfo] = { |
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CAR.BODY: CarInfo("comma body", package="All", good_torque=True), |
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} |
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FW_VERSIONS = { |
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CAR.BODY: { |
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(Ecu.engine, 0x720, None): [ |
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b'02/27/2022' |
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], |
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}, |
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} |
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DBC = { |
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CAR.BODY: dbc_dict('comma_body', None), |
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} |
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@ -1 +1 @@ |
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98d82b2da600755b12e9ecb2744bf4a8b0942ca1 |
6c72ebf4ef60b895bde5f0700babf150fd97d523 |
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