from collections import namedtuple
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarDocs
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
[docs]
class CAR(Platforms):
TESLA_AP1_MODELS = PlatformConfig(
[CarDocs("Tesla AP1 Model S", "All")],
CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
)
TESLA_AP2_MODELS = PlatformConfig(
[CarDocs("Tesla AP2 Model S", "All")],
TESLA_AP1_MODELS.specs,
TESLA_AP1_MODELS.dbc_dict
)
TESLA_MODELS_RAVEN = PlatformConfig(
[CarDocs("Tesla Model S Raven", "All")],
TESLA_AP1_MODELS.specs,
dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
)
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
whitelist_ecus=[Ecu.eps],
rx_offset=0x08,
bus=0,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
whitelist_ecus=[Ecu.eps],
rx_offset=0x08,
bus=0,
),
Request(
[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar],
rx_offset=0x10,
bus=0,
),
]
)
[docs]
class CANBUS:
# Lateral harness
chassis = 0
radar = 1
autopilot_chassis = 2
# Longitudinal harness
powertrain = 4
private = 5
autopilot_powertrain = 6
GEAR_MAP = {
"DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
"DI_GEAR_P": car.CarState.GearShifter.park,
"DI_GEAR_R": car.CarState.GearShifter.reverse,
"DI_GEAR_N": car.CarState.GearShifter.neutral,
"DI_GEAR_D": car.CarState.GearShifter.drive,
"DI_GEAR_SNA": car.CarState.GearShifter.unknown,
}
DOORS = ["DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE"]
# Make sure the message and addr is also in the CAN parser!
BUTTONS = [
Button(car.CarState.ButtonEvent.Type.leftBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [1]),
Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]),
Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]),
Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
]
[docs]
class CarControllerParams:
ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
JERK_LIMIT_MAX = 8
JERK_LIMIT_MIN = -8
ACCEL_TO_SPEED_MULTIPLIER = 3
def __init__(self, CP):
pass
DBC = CAR.create_dbc_map()