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268 lines
13 KiB
268 lines
13 KiB
from cereal import car
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from common.conversions import Conversions as CV
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from opendbc.can.can_define import CANDefine
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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.ford.values import CANBUS, DBC, CarControllerParams
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GearShifter = car.CarState.GearShifter
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TransmissionType = car.CarParams.TransmissionType
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
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if CP.transmissionType == TransmissionType.automatic:
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self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
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self.vehicle_sensors_valid = False
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self.hybrid_platform = False
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def update(self, cp, cp_cam):
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ret = car.CarState.new_message()
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# Hybrid variants experience a bug where a message from the PCM sends invalid checksums,
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# we do not support these cars at this time.
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# TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
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self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0
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# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
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# The vehicle usually recovers out of this state within a minute of normal driving
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self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
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# car speed
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ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"]
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ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1
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# gas pedal
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ret.gas = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100.
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ret.gasPressed = ret.gas > 1e-6
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# brake pedal
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ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756. # torque in Nm
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ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2
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ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2)
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# steering wheel
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ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
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ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
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ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
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ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
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ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
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# ret.espDisabled = False # TODO: find traction control signal
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# cruise state
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ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
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ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
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ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
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ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
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ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
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ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
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# gear
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if self.CP.transmissionType == TransmissionType.automatic:
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gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
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ret.gearShifter = self.parse_gear_shifter(gear)
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elif self.CP.transmissionType == TransmissionType.manual:
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ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
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if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
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ret.gearShifter = GearShifter.reverse
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else:
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ret.gearShifter = GearShifter.drive
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# safety
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ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
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ret.stockAeb = ret.stockFcw and ret.cruiseState.enabled
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# button presses
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ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1
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ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2
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# TODO: block this going to the camera otherwise it will enable stock TJA
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ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
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# lock info
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ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
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cp.vl["BodyInfo_3_FD1"]["DrStatRl_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatRr_B_Actl"]])
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ret.seatbeltUnlatched = cp.vl["RCMStatusMessage2_FD1"]["FirstRowBuckleDriver"] == 2
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# blindspot sensors
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if self.CP.enableBsm:
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ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
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ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
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# Stock steering buttons so that we can passthru blinkers etc.
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self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
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# Stock values from IPMA so that we can retain some stock functionality
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self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"]
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self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"]
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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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("TrnAinTq_D_Qf", "VehicleOperatingModes"), # Used to detect hybrid or ICE platform variant
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("Veh_V_ActlBrk", "BrakeSysFeatures"), # ABS vehicle speed (kph)
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("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s)
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("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped
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("PrkBrkStatus", "DesiredTorqBrk"), # ABS park brake status
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("ApedPos_Pc_ActlArb", "EngVehicleSpThrottle"), # PCM throttle (pct)
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("BrkTot_Tq_Actl", "BrakeSnData_4"), # ABS brake torque (Nm)
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("BpedDrvAppl_D_Actl", "EngBrakeData"), # PCM driver brake pedal pressed
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("Veh_V_DsplyCcSet", "EngBrakeData"), # PCM ACC set speed (mph)
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# The units might change with IPC settings?
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("CcStat_D_Actl", "EngBrakeData"), # PCM ACC status
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("AccStopMde_D_Rq", "EngBrakeData"), # PCM ACC standstill
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("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"), # PCM ACC enable
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("StePinComp_An_Est", "SteeringPinion_Data"), # PSCM estimated steering angle (deg)
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("StePinCompAnEst_D_Qf", "SteeringPinion_Data"), # PSCM estimated steering angle (quality flag)
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# Calculates steering angle (and offset) from pinion
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# angle and driving measurements.
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# StePinRelInit_An_Sns is the pinion angle, initialised
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# to zero at the beginning of the drive.
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("SteeringColumnTorque", "EPAS_INFO"), # PSCM steering column torque (Nm)
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("EPAS_Failure", "EPAS_INFO"), # PSCM EPAS status
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("TurnLghtSwtch_D_Stat", "Steering_Data_FD1"), # SCCM Turn signal switch
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("TjaButtnOnOffPress", "Steering_Data_FD1"), # SCCM ACC button, lane-centering/traffic jam assist toggle
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("DrStatDrv_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, driver
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("DrStatPsngr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, passenger
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("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left
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("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right
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("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver
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("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthrough the remaining buttons
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("WiprFront_D_Stat", "Steering_Data_FD1"),
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("LghtAmb_D_Sns", "Steering_Data_FD1"),
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("AccButtnGapDecPress", "Steering_Data_FD1"),
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("AccButtnGapIncPress", "Steering_Data_FD1"),
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("AslButtnOnOffCnclPress", "Steering_Data_FD1"),
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("AslButtnOnOffPress", "Steering_Data_FD1"),
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("LaSwtchPos_D_Stat", "Steering_Data_FD1"),
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("CcAslButtnCnclResPress", "Steering_Data_FD1"),
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("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"),
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("CcAslButtnIndxDecPress", "Steering_Data_FD1"),
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("CcAslButtnIndxIncPress", "Steering_Data_FD1"),
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("CcAslButtnOffCnclPress", "Steering_Data_FD1"),
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("CcAslButtnOnOffCncl", "Steering_Data_FD1"),
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("CcAslButtnOnPress", "Steering_Data_FD1"),
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("CcAslButtnResDecPress", "Steering_Data_FD1"),
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("CcAslButtnResIncPress", "Steering_Data_FD1"),
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("CcAslButtnSetDecPress", "Steering_Data_FD1"),
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("CcAslButtnSetIncPress", "Steering_Data_FD1"),
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("CcAslButtnSetPress", "Steering_Data_FD1"),
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("CcButtnOffPress", "Steering_Data_FD1"),
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("CcButtnOnOffCnclPress", "Steering_Data_FD1"),
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("CcButtnOnOffPress", "Steering_Data_FD1"),
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("CcButtnOnPress", "Steering_Data_FD1"),
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("HeadLghtHiFlash_D_Actl", "Steering_Data_FD1"),
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("HeadLghtHiOn_B_StatAhb", "Steering_Data_FD1"),
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("AhbStat_B_Dsply", "Steering_Data_FD1"),
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("AccButtnGapTogglePress", "Steering_Data_FD1"),
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("WiprFrontSwtch_D_Stat", "Steering_Data_FD1"),
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("HeadLghtHiCtrl_D_RqAhb", "Steering_Data_FD1"),
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]
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checks = [
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# sig_address, frequency
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("VehicleOperatingModes", 100),
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("BrakeSysFeatures", 50),
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("Yaw_Data_FD1", 100),
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("DesiredTorqBrk", 50),
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("EngVehicleSpThrottle", 100),
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("BrakeSnData_4", 50),
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("EngBrakeData", 10),
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("Cluster_Info1_FD1", 10),
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("SteeringPinion_Data", 100),
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("EPAS_INFO", 50),
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("Lane_Assist_Data3_FD1", 33),
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("Steering_Data_FD1", 10),
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("BodyInfo_3_FD1", 2),
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("RCMStatusMessage2_FD1", 10),
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]
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if CP.transmissionType == TransmissionType.automatic:
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signals += [
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("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"), # GWM transmission gear position
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]
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checks += [
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("Gear_Shift_by_Wire_FD1", 10),
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]
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elif CP.transmissionType == TransmissionType.manual:
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signals += [
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("CluPdlPos_Pc_Meas", "Engine_Clutch_Data"), # PCM clutch (pct)
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("RvrseLghtOn_B_Stat", "BCM_Lamp_Stat_FD1"), # BCM reverse light
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]
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checks += [
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("Engine_Clutch_Data", 33),
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("BCM_Lamp_Stat_FD1", 1),
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]
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if CP.enableBsm:
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signals += [
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("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"), # Blindspot sensor, left
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("SodDetctRight_D_Stat", "Side_Detect_R_Stat"), # Blindspot sensor, right
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]
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checks += [
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("Side_Detect_L_Stat", 5),
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("Side_Detect_R_Stat", 5),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main)
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@staticmethod
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def get_cam_can_parser(CP):
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signals = [
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# sig_name, sig_address
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("HaDsply_No_Cs", "ACCDATA_3"),
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("HaDsply_No_Cnt", "ACCDATA_3"),
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("AccStopStat_D_Dsply", "ACCDATA_3"), # ACC stopped status message
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("AccTrgDist2_D_Dsply", "ACCDATA_3"), # ACC target distance
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("AccStopRes_B_Dsply", "ACCDATA_3"),
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("TjaWarn_D_Rq", "ACCDATA_3"), # TJA warning
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("Tja_D_Stat", "ACCDATA_3"), # TJA status
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("TjaMsgTxt_D_Dsply", "ACCDATA_3"), # TJA text
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("IaccLamp_D_Rq", "ACCDATA_3"), # iACC status icon
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("AccMsgTxt_D2_Rq", "ACCDATA_3"), # ACC text
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("FcwDeny_B_Dsply", "ACCDATA_3"), # FCW disabled
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("FcwMemStat_B_Actl", "ACCDATA_3"), # FCW enabled setting
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("AccTGap_B_Dsply", "ACCDATA_3"), # ACC time gap display setting
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("CadsAlignIncplt_B_Actl", "ACCDATA_3"),
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("AccFllwMde_B_Dsply", "ACCDATA_3"), # ACC follow mode display setting
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("CadsRadrBlck_B_Actl", "ACCDATA_3"),
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("CmbbPostEvnt_B_Dsply", "ACCDATA_3"), # AEB event status
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("AccStopMde_B_Dsply", "ACCDATA_3"), # ACC stop mode display setting
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("FcwMemSens_D_Actl", "ACCDATA_3"), # FCW sensitivity setting
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("FcwMsgTxt_D_Rq", "ACCDATA_3"), # FCW text
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("AccWarn_D_Dsply", "ACCDATA_3"), # ACC warning
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("FcwVisblWarn_B_Rq", "ACCDATA_3"), # FCW visible alert
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("FcwAudioWarn_B_Rq", "ACCDATA_3"), # FCW audio alert
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("AccTGap_D_Dsply", "ACCDATA_3"), # ACC time gap
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("AccMemEnbl_B_RqDrv", "ACCDATA_3"), # ACC adaptive/normal setting
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("FdaMem_B_Stat", "ACCDATA_3"), # FDA enabled setting
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("FeatConfigIpmaActl", "IPMA_Data"),
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("FeatNoIpmaActl", "IPMA_Data"),
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("PersIndexIpma_D_Actl", "IPMA_Data"),
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("AhbcRampingV_D_Rq", "IPMA_Data"), # AHB ramping
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("LaDenyStats_B_Dsply", "IPMA_Data"), # LKAS error
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("CamraDefog_B_Req", "IPMA_Data"), # Windshield heater?
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("CamraStats_D_Dsply", "IPMA_Data"), # Camera status
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("DasAlrtLvl_D_Dsply", "IPMA_Data"), # DAS alert level
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("DasStats_D_Dsply", "IPMA_Data"), # DAS status
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("DasWarn_D_Dsply", "IPMA_Data"), # DAS warning
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("AhbHiBeam_D_Rq", "IPMA_Data"), # AHB status
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("Passthru_63", "IPMA_Data"),
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("Passthru_48", "IPMA_Data"),
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]
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checks = [
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# sig_address, frequency
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("ACCDATA_3", 5),
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("IPMA_Data", 1),
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]
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera)
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