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100 lines
3.5 KiB
100 lines
3.5 KiB
from cereal import car
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car import apply_toyota_steer_torque_limits
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from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
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create_wheel_buttons, \
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create_chimes
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from selfdrive.car.chrysler.values import ECU, CAR
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from selfdrive.can.packer import CANPacker
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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LOUD_ALERTS = [AudibleAlert.chimeWarning1, AudibleAlert.chimeWarning2, AudibleAlert.chimeWarningRepeat]
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class SteerLimitParams:
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STEER_MAX = 261 # 262 faults
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STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems
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STEER_DELTA_DOWN = 3 # no faults on the way down it seems
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STEER_ERROR_MAX = 80
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class CarController(object):
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def __init__(self, dbc_name, car_fingerprint, enable_camera):
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self.braking = False
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# redundant safety check with the board
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self.controls_allowed = True
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self.apply_steer_last = 0
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self.ccframe = 0
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self.prev_frame = -1
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self.hud_count = 0
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self.car_fingerprint = car_fingerprint
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self.alert_active = False
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self.send_chime = False
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self.gone_fast_yet = False
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self.fake_ecus = set()
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if enable_camera:
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self.fake_ecus.add(ECU.CAM)
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self.packer = CANPacker(dbc_name)
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def update(self, sendcan, enabled, CS, frame, actuators,
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pcm_cancel_cmd, hud_alert, audible_alert):
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# this seems needed to avoid steering faults and to force the sync with the EPS counter
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frame = CS.lkas_counter
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if self.prev_frame == frame:
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return
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# *** compute control surfaces ***
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# steer torque
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apply_steer = actuators.steer * SteerLimitParams.STEER_MAX
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apply_steer = apply_toyota_steer_torque_limits(apply_steer, self.apply_steer_last,
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CS.steer_torque_motor, SteerLimitParams)
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moving_fast = CS.v_ego > CS.CP.minSteerSpeed # for status message
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if CS.v_ego > (CS.CP.minSteerSpeed - 0.5): # for command high bit
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self.gone_fast_yet = True
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elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
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if CS.v_ego < (CS.CP.minSteerSpeed - 3.0):
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self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5
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lkas_active = moving_fast and enabled
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if not lkas_active:
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apply_steer = 0
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self.apply_steer_last = apply_steer
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if audible_alert in LOUD_ALERTS:
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self.send_chime = True
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can_sends = []
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#*** control msgs ***
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if self.send_chime:
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new_msg = create_chimes(AudibleAlert)
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can_sends.append(new_msg)
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if audible_alert not in LOUD_ALERTS:
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self.send_chime = False
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if pcm_cancel_cmd:
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# TODO: would be better to start from frame_2b3
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new_msg = create_wheel_buttons(self.ccframe)
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can_sends.append(new_msg)
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# LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
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# frame is 100Hz (0.01s period)
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if (self.ccframe % 25 == 0): # 0.25s period
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if (CS.lkas_car_model != -1):
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new_msg = create_lkas_hud(
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self.packer, CS.gear_shifter, lkas_active, hud_alert,
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self.hud_count, CS.lkas_car_model)
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can_sends.append(new_msg)
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self.hud_count += 1
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new_msg = create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, frame)
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can_sends.append(new_msg)
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self.ccframe += 1
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self.prev_frame = frame
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sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan'))
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