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123 lines
4.7 KiB
123 lines
4.7 KiB
# functions common among cars
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from common.numpy_fast import clip
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# kg of standard extra cargo to count for drive, gas, etc...
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STD_CARGO_KG = 136.
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def gen_empty_fingerprint():
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return {i: {} for i in range(0, 4)}
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# FIXME: hardcoding honda civic 2016 touring params so they can be used to
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# scale unknown params for other cars
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class CivicParams:
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MASS = 1326. + STD_CARGO_KG
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WHEELBASE = 2.70
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CENTER_TO_FRONT = WHEELBASE * 0.4
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CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
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ROTATIONAL_INERTIA = 2500
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TIRE_STIFFNESS_FRONT = 192150
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TIRE_STIFFNESS_REAR = 202500
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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def scale_rot_inertia(mass, wheelbase):
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return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0):
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center_to_rear = wheelbase - center_to_front
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tire_stiffness_front = (CivicParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / CivicParams.MASS * \
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(center_to_rear / wheelbase) / (CivicParams.CENTER_TO_REAR / CivicParams.WHEELBASE)
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tire_stiffness_rear = (CivicParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / CivicParams.MASS * \
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(center_to_front / wheelbase) / (CivicParams.CENTER_TO_FRONT / CivicParams.WHEELBASE)
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return tire_stiffness_front, tire_stiffness_rear
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def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None):
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return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
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def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
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# limits due to driver torque
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driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
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driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
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max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
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min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
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apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)
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# slow rate if steer torque increases in magnitude
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if apply_torque_last > 0:
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apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
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apply_torque_last + LIMITS.STEER_DELTA_UP)
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else:
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apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
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min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
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return int(round(float(apply_torque)))
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def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
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# limits due to comparison of commanded torque VS motor reported torque
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max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX)
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min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX)
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apply_torque = clip(apply_torque, min_lim, max_lim)
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# slow rate if steer torque increases in magnitude
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if apply_torque_last > 0:
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apply_torque = clip(apply_torque,
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max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
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apply_torque_last + LIMITS.STEER_DELTA_UP)
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else:
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apply_torque = clip(apply_torque,
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apply_torque_last - LIMITS.STEER_DELTA_UP,
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min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
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return int(round(float(apply_torque)))
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def crc8_pedal(data):
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crc = 0xFF # standard init value
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poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1
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size = len(data)
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for i in range(size - 1, -1, -1):
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crc ^= data[i]
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for _ in range(8):
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if ((crc & 0x80) != 0):
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crc = ((crc << 1) ^ poly) & 0xFF
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else:
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crc <<= 1
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return crc
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def create_gas_command(packer, gas_amount, idx):
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# Common gas pedal msg generator
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enable = gas_amount > 0.001
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values = {
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"ENABLE": enable,
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"COUNTER_PEDAL": idx & 0xF,
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}
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if enable:
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values["GAS_COMMAND"] = gas_amount * 255.
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values["GAS_COMMAND2"] = gas_amount * 255.
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dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
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checksum = crc8_pedal(dat[:-1])
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values["CHECKSUM_PEDAL"] = checksum
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return packer.make_can_msg("GAS_COMMAND", 0, values)
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def make_can_msg(addr, dat, bus):
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return [addr, 0, dat, bus]
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