You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
47 lines
1.0 KiB
47 lines
1.0 KiB
from enum import StrEnum
|
|
from typing import Dict
|
|
|
|
from cereal import car
|
|
from openpilot.selfdrive.car import dbc_dict
|
|
from openpilot.selfdrive.car.docs_definitions import CarInfo
|
|
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
|
|
|
Ecu = car.CarParams.Ecu
|
|
|
|
SPEED_FROM_RPM = 0.008587
|
|
|
|
|
|
class CarControllerParams:
|
|
ANGLE_DELTA_BP = [0., 5., 15.]
|
|
ANGLE_DELTA_V = [5., .8, .15] # windup limit
|
|
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
|
|
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
|
|
STEER_THRESHOLD = 1.0
|
|
|
|
def __init__(self, CP):
|
|
pass
|
|
|
|
|
|
class CAR(StrEnum):
|
|
BODY = "COMMA BODY"
|
|
|
|
|
|
CAR_INFO: Dict[str, CarInfo] = {
|
|
CAR.BODY: CarInfo("comma body", package="All"),
|
|
}
|
|
|
|
|
|
FW_QUERY_CONFIG = FwQueryConfig(
|
|
requests=[
|
|
Request(
|
|
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
|
|
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
|
|
bus=0,
|
|
),
|
|
],
|
|
)
|
|
|
|
|
|
DBC = {
|
|
CAR.BODY: dbc_dict('comma_body', None),
|
|
}
|
|
|