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109 lines
4.1 KiB
109 lines
4.1 KiB
#!/usr/bin/env python3
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from cereal import car
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from panda import Panda
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "chrysler"
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ret.dashcamOnly = candidate in RAM_HD
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ret.radarOffCan = DBC[candidate]['radar'] is None
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.4
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# safety config
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
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if candidate in RAM_HD:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
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elif candidate in RAM_DT:
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
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ret.minSteerSpeed = 3.8 # m/s
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if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
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# TODO: allow 2019 cars to steer down to 13 m/s if already engaged.
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ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
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# Chrysler
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if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
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ret.mass = 2242. + STD_CARGO_KG
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ret.wheelbase = 3.089
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ret.steerRatio = 16.2 # Pacifica Hybrid 2017
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ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
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ret.lateralTuning.pid.kf = 0.00006
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# Jeep
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elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
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ret.mass = 1778 + STD_CARGO_KG
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ret.wheelbase = 2.71
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ret.steerRatio = 16.7
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ret.steerActuatorDelay = 0.2
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ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
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ret.lateralTuning.pid.kf = 0.00006
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# Ram
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elif candidate == CAR.RAM_1500:
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ret.steerActuatorDelay = 0.2
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ret.wheelbase = 3.88
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ret.steerRatio = 16.3
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ret.mass = 2493. + STD_CARGO_KG
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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ret.minSteerSpeed = 14.5
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if car_fw is not None:
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for fw in car_fw:
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if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
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ret.minSteerSpeed = 0.
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elif candidate == CAR.RAM_HD:
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ret.steerActuatorDelay = 0.2
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ret.wheelbase = 3.785
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ret.steerRatio = 15.61
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ret.mass = 3405. + STD_CARGO_KG
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ret.minSteerSpeed = 16
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
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else:
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raise ValueError(f"Unsupported car: {candidate}")
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ret.centerToFront = ret.wheelbase * 0.44
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# starting with reasonable value for civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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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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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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ret.enableBsm = 720 in fingerprint[0]
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return ret
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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# events
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events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
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# Low speed steer alert hysteresis logic
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if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
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self.low_speed_alert = True
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elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
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self.low_speed_alert = False
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if self.low_speed_alert:
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events.add(car.CarEvent.EventName.belowSteerSpeed)
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ret.events = events.to_msg()
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return ret
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def apply(self, c):
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return self.CC.update(c, self.CS)
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