Merge pull request commaai#66 from BogGyver/tesla_alpha_0.5.12

Tesla alpha 0.5.12

panda/board/pedal_tesla/Makefile

@@ -19,23 +19,31 @@ CERT = ../../certs/debug
 CFLAGS += "-DALLOW_DEBUG"
 
 canflash: obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py $<
+	../../tests/pedal/enter_canloader_tesla.py $<
 
 usbflash: obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py; sleep 0.5
+	../../tests/pedal/enter_canloader_tesla.py; sleep 0.5
 	PYTHONPATH=../../ python -c "from python import Panda; p = [x for x in [Panda(x) for x in Panda.list()] if x.bootstub]; assert(len(p)==1); p[0].flash('obj/$(PROJ_NAME).bin', reconnect=False)"
 
 recover: obj/bootstub.bin obj/$(PROJ_NAME).bin
-	../../tests/pedal/enter_canloader.py --recover; sleep 0.5
+	../../tests/pedal/enter_canloader_tesla.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
 
+include ../../common/version.mk
+
+obj/cert.h: ../../crypto/getcertheader.py
+	../../crypto/getcertheader.py ../../certs/debug.pub ../../certs/release.pub > $@
+
 obj/main.o: main.c ../*.h
 	mkdir -p obj
 	$(CC) $(CFLAGS) -o $@ -c $<
 
-obj/bootstub.o: ../bootstub.c ../*.h
+obj/bootstub.o: ../bootstub.c ../*.h obj/gitversion.h obj/cert.h
 	mkdir -p obj
+	mkdir -p ../obj
+	cp obj/gitversion.h ../obj/gitversion.h
+	cp obj/cert.h  ../obj/cert.h
 	$(CC) $(CFLAGS) -o $@ -c $<
 
 obj/$(STARTUP_FILE).o: ../$(STARTUP_FILE).s

panda/board/pedal_tesla/main.c

@@ -20,14 +20,13 @@
 
 #define CAN CAN1
 
-//#define PEDAL
-
 //#define PEDAL_USB
 
 #ifdef PEDAL_USB
   #include "drivers/usb.h"
 #endif
 
+#define ENTER_BOOTLOADER_MAGIC 0xdeadbeef
 uint32_t enter_bootloader_mode;
 
 void __initialize_hardware_early() {
@@ -87,6 +86,8 @@ int can_cksum(uint8_t *dat, int len, int addr) {
 // addresses to be used on CAN
 #define CAN_GAS_INPUT  0x551
 #define CAN_GAS_OUTPUT 0x552
+#define CAN_GAS_SIZE 6
+#define COUNTER_CYCLE 0xF
 
 void CAN1_TX_IRQHandler() {
   // clear interrupt

panda/tests/pedal/enter_canloader_tesla.py

@@ -64,6 +64,7 @@ def bulkRead(self, endpoint, length, timeout=0):
     exit(0)
   else:
     p.can_send(0x551, "\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 2)
+
   if args.fn:
     time.sleep(0.1)
     print "flashing", args.fn

selfdrive/car/tesla/PCC_module.py

@@ -165,6 +165,7 @@ def __init__(self,carcontroller):
     self.a_acc_sol = 0.0
     self.v_cruise = 0.0
     self.a_cruise = 0.0
+    self.had_lead = False
     #Long Control
     self.LoC = None
     #when was radar data last updated?
@@ -497,7 +498,10 @@ def calc_follow_speed_ms(self, CS):
     else:
       lead_dist_m = _visual_radar_adjusted_dist_m(self.lead_1.dRel, CS)
     # Grab the relative speed.
-    rel_speed_kph = self.lead_1.vRel * CV.MS_TO_KPH
+    rel_speed_kph = 0.
+    if self.had_lead:
+      #avoid inital break when lead just detected
+      rel_speed_kph = self.lead_1.vRel * CV.MS_TO_KPH
     # v_ego is in m/s, so safe_distance is in meters.
     safe_dist_m = _safe_distance_m(CS.v_ego)
     # Current speed in kph
@@ -509,7 +513,9 @@ def calc_follow_speed_ms(self, CS):
       # If no lead is present, accel up to max speed
       if lead_dist_m == 0:
         new_speed_kph = self.pedal_speed_kph
+        self.had_lead = False
       elif lead_dist_m > 0:
+        self.had_lead = True
         lead_absolute_speed_kph = actual_speed_kph + rel_speed_kph
         if lead_dist_m < MIN_SAFE_DIST_M:
           new_speed_kph = MIN_PCC_V_KPH
@@ -543,7 +549,7 @@ def calc_follow_speed_ms(self, CS):
           # still an acceptable speed, accept it. This could happen if the
           # driver manually accelerates, or if we roll down a hill. In either
           # case, don't fight the extra velocity unless necessary.
-          if actual_speed_kph > new_speed_kph and min_kph < actual_speed_kph < max_kph:
+          if (actual_speed_kph > new_speed_kph) and (min_kph < actual_speed_kph < max_kph):
             new_speed_kph = actual_speed_kph
 
           new_speed_kph =  clip(new_speed_kph, min_kph, max_kph)
@@ -594,7 +600,7 @@ def _min_safe_vrel_kph(m):
     # (meters, safe relative velocity in kph)
     # Remember, a negative relative velocity means we are closing the distance.
     (MIN_SAFE_DIST_M, 1),    # If lead is close, it better be pulling away.
-    (200,             -15)]) # if lead is far, it's ok if we're closing.
+    (100,             -15)]) # if lead is far, it's ok if we're closing.
   return _interp_map(m, min_vrel_by_distance)
 
 def _is_present(lead):