Tuning update

TUNING.md

@@ -0,0 +1,29 @@
+Welcome to openpilot - Tuning mod
+======
+
+This openpilot mod allows you to dynamically modify variables used by openpilot.
+The purpose of this mod is to make it easier to tweak certain variables instead of
+having to modify code, recompile, reboot after every change.
+
+To use this mod you need to do 2 things:
+
+1. Create a file called **/sdcard/tuning/params.txt** on your EON.
+
+You will need to specify which variables you want the Tuning mod to manage by adding them to that file.  See the file called **selfdrive/ui/params.example.txt** for an example.
+
+2. Modify OpenPilot code that uses the variable so that it is read from this file instead of hard coded.  This is left for the user to figure out and implement.
+
+This mod can manage up to 10 different variables with each variable having a maximum of 3 element values in it.
+
+For questions or info about this mod, visit the comma slack channel #mod-tuning
+
+To change the "scale" of the steps tap the "Steps" box.  It will cycle through different scales.  The step scales are: \[0.001, 0.01, 0.1, 1, 5\]
+
+![screenshot](https://i.imgur.com/G7j2vQY.jpg)
+
+CHANGE LOG:
+
+v0.0.1 - Initial version
+
+To Do:
+- [ ] Ability to handle hex values

cereal/Makefile

@@ -1,18 +1,18 @@
 PWD := $(shell pwd)
 
-SRCS := log.capnp car.capnp
+SRCS := log.capnp car.capnp ui.capnp
 
-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
-JS := gen/js/car.capnp.js gen/js/log.capnp.js
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ gen/cpp/ui.capnp.c++
+JS := gen/js/car.capnp.js gen/js/log.capnp.js gen/js/ui.capnp.js
 
 UNAME_M ?= $(shell uname -m)
 
 # only generate C++ for docker tests
 ifneq ($(OPTEST),1)
-	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/ui.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h 
 
 	ifeq ($(UNAME_M),x86_64)
-		GENS += gen/java/Car.java gen/java/Log.java
+		GENS += gen/java/Car.java gen/java/Log.java gen/java/Ui.java
 	endif
 
 endif

cereal/__init__.py

@@ -6,3 +6,4 @@
 
 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+ui = capnp.load(os.path.join(CEREAL_PATH, "ui.capnp"))

cereal/ui.capnp

@@ -0,0 +1,64 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Ui");
+
+using Car = import "car.capnp";
+
+@0xce6ca45dddcd5317;
+
+struct UIButtonInfo {
+    # button ID 0..5
+    btnId @0 :Int8;
+    # internal button name
+    btnName @1 :Text;
+    # display label for button (3 chars)
+    btnLabel @2 :Text;
+    # buttons status: 0 = DISABLED, 1 = AVAILABLE, 2 = ENABLED, 3 = WARNING, 9 = NOT AVAILABLE
+    btnStatus @3 :Int16;
+    # small font label shows below the main label, max 7 chars
+    btnLabel2 @4 :Text;
+}
+
+struct UIButtonStatus {
+    # button ID 0..5
+    btnId @0 :Int8;
+    # buttons status: 0 = DISABLED, 1 = AVAILABLE, 2 = ENABLED, 3 = WARNING, 9 = NOT AVAILABLE
+    btnStatus @1 :Int16;
+}
+
+struct UICustomAlert {
+    caStatus @0 :Int8;
+    caText @1 :Text;
+}
+
+struct UISetCar {
+    icCarFolder @0 :Text;
+    icCarName @1 :Text;
+}
+
+struct UIPlaySound {
+    sndSound @0 :Int8;
+}
+
+struct UIUpdate {
+    uiDoUpdate @0 :Int8;
+    uiStatus @1 :Int8;
+    uiCanDisplayMessage @2 :Int8;
+}
+
+#struct UIEvent {
+#    # in nanoseconds?
+#    logMonoTime @0 :UInt64;
+#
+#    union {
+#        uiButtonInfo @1 :UIButtonInfo;
+#        uiCustomAlert @2 :UICustomAlert;
+#        uiSetCar @3 :UISetCar;
+#        uiButtonStatus @4 :UIButtonStatus;
+#        uiUpdate @5 :UIUpdate;
+#        uiPlaySound @6 :UIPlaySound;
+#    }
+#}

common/fingerprints.py

@@ -61,4 +61,4 @@ def eliminate_incompatible_cars(msg, candidate_cars):
 
 def all_known_cars():
   """Returns a list of all known car strings."""
-  return _FINGERPRINTS.keys()
+  return _FINGERPRINTS.keys()

common/params.py

@@ -355,4 +355,4 @@ def put(self, key, dat):
 
   # Test multiprocess:
   # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
-  # while python common/params.py DongleId; do sleep 0.05; done
+  # while python common/params.py DongleId; do sleep 0.05; done

common/transformations/model.py

@@ -75,8 +75,10 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
       [0, 0, 1],
   ]))
 
-  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
-  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
+  ground_from_camera_frame = np.linalg.inv(camera_frame_from_road_ground)
+
+  low_camera_from_high_camera = np.dot(camera_frame_from_road_high, ground_from_camera_frame)
+  high_camera_from_low_camera = np.linalg.inv(low_camera_from_high_camera)
 
   return high_camera_from_low_camera
 

opendbc/gm_global_a_object.dbc

@@ -67,8 +67,37 @@ BO_ 776 ASCMAccSpeedStatus: 7 NEO
  SG_ VehicleSpeed : 15|12@0+ (1,0) [0|0] ""  B233B_LRR
  SG_ AlwaysOne : 3|1@0+ (1,0) [0|0] ""  B233B_LRR
 
-BO_ 1120 LRRNumObjects: 8 B233B_LRR
- SG_ LRRNumObjects : 20|5@0+ (1,0) [0|0] ""  NEO
+BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO
+ SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] ""  EOCM_F_FO
+ SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] ""  EOCM_F_FO
+ SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms"  EOCM_F_FO
+ SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] ""  EOCM_F_FO
+ SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] ""  EOCM_F_FO
+ SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] ""  EOCM_F_FO
+ SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] ""  EOCM_F_FO
 
 BO_ 1134 LRRObject14: 8 B233B_LRR
  SG_ TrkRange : 5|11@0+ (0.125,0) [0|255.875] "m"  NEO

opendbc/tesla_can.dbc

@@ -98,7 +98,8 @@ BO_ 3 STW_ANGL_STAT: 8 STW
  SG_ MC_STW_ANGL_STAT : 55|4@0+ (1,0) [0|15] ""  NEO
  SG_ CRC_STW_ANGL_STAT : 63|8@0+ (1,0) [0|255] ""  NEO
 
-BO_ 14 STW_ANGLHP_STAT: 8 STW 
+BO_ 14 STW_ANGLHP_STAT: 8 STW
+
  SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg"  NEO
  SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s"  NEO
  SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] ""  NEO
@@ -147,19 +148,21 @@ BO_ 309 ESP_135h: 5 ESP
  SG_ ESP_espOffLamp : 31|1@0+ (1,0) [-1|2] ""  NEO
  SG_ ESP_stabilityControlSts : 14|3@0+ (1,0) [6|7] ""  NEO
  SG_ ESP_tcLampFlash : 5|1@0+ (1,0) [-1|2] ""  NEO
- SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] ""  NEOBO_ 341 ESP_B: 8 ESP 
- SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] ""  NEO,EPAS 
- SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] ""  NEO,EPAS 
- SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph"  NEO,EPAS 
- SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] ""  NEO,EPAS 
- SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] ""  NEO,EPAS 
- SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] ""  NEO,EPAS 
- SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] ""  NEO,EPAS 
+ SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] ""  NEO
+
+BO_ 341 ESP_B: 8 ESP
+ SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] ""  NEO,EPAS
+ SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] ""  NEO,EPAS
+ SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph"  NEO,EPAS
+ SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] ""  NEO,EPAS 
+ SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] ""  NEO,EPAS 
  SG_ ESP_wheelPulseCountReR : 31|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
-BO_ 532 EPB_epasControl: 3 EPB 
- SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS 
- SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS 
+BO_ 532 EPB_epasControl: 3 EPB
+ SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS 
+ SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS
  SG_ EPB_epasEACAllow : 2|3@0+ (1,0) [4|7] ""  NEO,EPAS
 
 BO_ 792 GTW_carState: 8 GTW
@@ -307,6 +310,21 @@ BO_ 840 GTW_status: 8 GTW
  SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
  SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] ""  NEO
 
+BO_ 1361 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.0507968128,-22.85856576) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.1015936256,-22.85856576) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ IDX : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 1362 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0507968128,-22.85856576) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.1015936256,-22.85856576) [0|1] "" EON
+ SG_ STATE : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ IDX : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+
 VAL_ 3 StW_Angl 16383 "SNA" ;
 VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
 VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ;
@@ -417,5 +435,6 @@ VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
+VAL_ 1362 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";

panda/board/main.c

@@ -4,7 +4,6 @@
 // ********************* includes *********************
 
 #include "libc.h"
-#include "safety.h"
 #include "provision.h"
 
 #include "drivers/drivers.h"
@@ -19,6 +18,7 @@
 #include "drivers/can.h"
 #include "drivers/spi.h"
 #include "drivers/timer.h"
+#include "safety.h"
 
 
 // ***************************** fan *****************************
@@ -291,6 +291,15 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, int hardwired) {
             can_silent = ALL_CAN_BUT_MAIN_SILENT;
             can_autobaud_enabled[0] = false;
             break;
+          case SAFETY_TESLA:
+            can_silent = ALL_CAN_LIVE;
+            can_autobaud_enabled[0] = false;
+            can_autobaud_enabled[1] = false;
+            #ifdef PANDA
+              can_autobaud_enabled[2] = false;
+            #endif
+            // MISSING: setup GMLAN pin as output and high level to switch EPAS CAN on Tesla Giraffe
+            break;
           default:
             can_silent = ALL_CAN_LIVE;
             can_autobaud_enabled[0] = false;

panda/board/pedal.honda/.gitignore

@@ -0,0 +1 @@
+obj/*

panda/board/pedal.honda/Makefile

@@ -0,0 +1,59 @@
+# :set noet
+PROJ_NAME = comma
+
+CFLAGS  = -O2 -Wall -std=gnu11 -DPEDAL
+CFLAGS += -mlittle-endian -mthumb -mcpu=cortex-m3
+CFLAGS += -msoft-float -DSTM32F2 -DSTM32F205xx
+CFLAGS += -I ../inc -I ../ -I ../../ -nostdlib
+CFLAGS += -T../stm32_flash.ld
+
+STARTUP_FILE = startup_stm32f205xx
+
+CC = arm-none-eabi-gcc
+OBJCOPY = arm-none-eabi-objcopy
+OBJDUMP = arm-none-eabi-objdump
+DFU_UTIL = "dfu-util"
+
+# pedal only uses the debug cert
+CERT = ../../certs/debug
+CFLAGS += "-DALLOW_DEBUG"
+
+canflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py $<
+
+usbflash: obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py; sleep 0.5
+	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
+
+recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
+	../../tests/pedal/enter_canloader.py --recover; sleep 0.5
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
+	$(DFU_UTIL) -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.bin
+
+obj/main.o: main.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/bootstub.o: ../bootstub.c ../*.h
+	mkdir -p obj
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/%.o: ../../crypto/%.c
+	$(CC) $(CFLAGS) -o $@ -c $<
+
+obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.o
+  # hack
+	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
+	SETLEN=1 ../../crypto/sign.py obj/code.bin $@ $(CERT)
+
+obj/bootstub.bin: obj/$(STARTUP_FILE).o obj/bootstub.o obj/sha.o obj/rsa.o
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
+
+clean:
+	rm -f obj/*
+

panda/board/pedal.honda/README

@@ -0,0 +1,28 @@
+This is the firmware for the comma pedal. It borrows a lot from panda.
+
+The comma pedal is a gas pedal interceptor for Honda/Acura. It allows you to "virtually" press the pedal.
+
+This is the open source software. Note that it is not ready to use yet.
+
+== Test Plan ==
+
+* Startup
+** Confirm STATE_FAULT_STARTUP
+* Timeout
+** Send value
+** Confirm value is output
+** Stop sending messages
+** Confirm value is passthru after 100ms
+** Confirm STATE_FAULT_TIMEOUT
+* Random values
+** Send random 6 byte messages
+** Confirm random values cause passthru
+** Confirm STATE_FAULT_BAD_CHECKSUM
+* Same message lockout
+** Send same message repeated
+** Confirm timeout behavior
+* Don't set enable
+** Confirm no output
+* Set enable and values
+** Confirm output
+