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.
79 lines
3.5 KiB
79 lines
3.5 KiB
#!/usr/bin/env python3
|
|
from opendbc.car import get_safety_config, structs
|
|
from opendbc.car.chrysler.carcontroller import CarController
|
|
from opendbc.car.chrysler.carstate import CarState
|
|
from opendbc.car.chrysler.radar_interface import RadarInterface
|
|
from opendbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
|
|
from opendbc.car.interfaces import CarInterfaceBase
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
CarState = CarState
|
|
CarController = CarController
|
|
RadarInterface = RadarInterface
|
|
|
|
@staticmethod
|
|
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
|
ret.brand = "chrysler"
|
|
ret.dashcamOnly = candidate in RAM_HD
|
|
|
|
# radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
|
|
ret.radarUnavailable = True # Bus.radar not in DBC[candidate][Bus.radar]
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.steerLimitTimer = 0.4
|
|
|
|
# safety config
|
|
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
|
|
if candidate in RAM_HD:
|
|
ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_HD.value
|
|
elif candidate in RAM_DT:
|
|
ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_DT.value
|
|
|
|
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
|
if candidate not in RAM_CARS:
|
|
# Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
|
|
new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
|
|
new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
|
|
if new_eps_platform or new_eps_firmware:
|
|
ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
|
|
|
|
# Chrysler
|
|
if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
|
|
CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
|
|
ret.lateralTuning.init('pid')
|
|
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
|
|
# Jeep
|
|
elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
|
|
ret.steerActuatorDelay = 0.2
|
|
|
|
ret.lateralTuning.init('pid')
|
|
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
|
|
# Ram
|
|
elif candidate == CAR.RAM_1500_5TH_GEN:
|
|
ret.steerActuatorDelay = 0.2
|
|
ret.wheelbase = 3.88
|
|
# Older EPS FW allow steer to zero
|
|
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
|
|
ret.minSteerSpeed = 0.
|
|
|
|
elif candidate == CAR.RAM_HD_5TH_GEN:
|
|
ret.steerActuatorDelay = 0.2
|
|
|
|
else:
|
|
raise ValueError(f"Unsupported car: {candidate}")
|
|
|
|
if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
|
|
# TODO: allow these cars to steer down to 13 m/s if already engaged.
|
|
# TODO: Durango 2020 may be able to steer to zero once above 38 kph
|
|
ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
|
|
|
|
ret.centerToFront = ret.wheelbase * 0.44
|
|
ret.enableBsm = 720 in fingerprint[0]
|
|
|
|
return ret
|
|
|