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53 lines
1.1 KiB
53 lines
1.1 KiB
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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from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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SPEED_FROM_RPM = 0.008587
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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"),
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}
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
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bus=0,
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),
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],
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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'0.0.01',
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b'02/27/2022'
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],
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(Ecu.debug, 0x721, None): [
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b'166bd860' # git hash of the firmware used
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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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