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90 lines
2.9 KiB
90 lines
2.9 KiB
from collections import namedtuple
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from enum import StrEnum
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from cereal import car
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from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarInfo
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from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = car.CarParams.Ecu
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Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
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class CAR(StrEnum):
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AP1_MODELS = 'TESLA AP1 MODEL S'
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AP2_MODELS = 'TESLA AP2 MODEL S'
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CAR_INFO: dict[str, CarInfo | list[CarInfo]] = {
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CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
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CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
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}
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DBC = {
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CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
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CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'),
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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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whitelist_ecus=[Ecu.eps],
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rx_offset=0x08,
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bus=0,
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),
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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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whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar],
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rx_offset=0x10,
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bus=0,
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),
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]
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)
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class CANBUS:
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# Lateral harness
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chassis = 0
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radar = 1
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autopilot_chassis = 2
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# Longitudinal harness
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powertrain = 4
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private = 5
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autopilot_powertrain = 6
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GEAR_MAP = {
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"DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
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"DI_GEAR_P": car.CarState.GearShifter.park,
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"DI_GEAR_R": car.CarState.GearShifter.reverse,
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"DI_GEAR_N": car.CarState.GearShifter.neutral,
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"DI_GEAR_D": car.CarState.GearShifter.drive,
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"DI_GEAR_SNA": car.CarState.GearShifter.unknown,
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}
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DOORS = ["DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE"]
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# Make sure the message and addr is also in the CAN parser!
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BUTTONS = [
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Button(car.CarState.ButtonEvent.Type.leftBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [1]),
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Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]),
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Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]),
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Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]),
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Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
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Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
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]
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class CarControllerParams:
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ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
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ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
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JERK_LIMIT_MAX = 8
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JERK_LIMIT_MIN = -8
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ACCEL_TO_SPEED_MULTIPLIER = 3
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def __init__(self, CP):
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pass
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