Squashed commit of the following:

commit f200875 Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Thu Dec 29 17:53:12 2022 -0700 gnssMeasurement Renaming (commaai#398) * use laika instand fix * rename time * fix indent Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com> Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit 22b1431 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Dec 12 13:26:26 2022 -0800 carControl: add blinker controls (commaai#397) * carControl: add blinker controls * cleanup commit 439429c Author: Shane Smiskol <shane@smiskol.com> Date: Sat Dec 10 00:14:27 2022 -0800 Add CAN output torque actuator field (commaai#396) * log value sent to the car * rename commit eaf962b Author: Shane Smiskol <shane@smiskol.com> Date: Fri Dec 9 18:37:33 2022 -0800 Deprecate LQR state field (commaai#394) * first commit * log p and i * compile * remove these * revert * revert * revert commit 609491e Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Dec 9 13:15:18 2022 -0800 add frameId to mapRenderState commit a33e25e Author: Cameron Clough <cameronjclough@gmail.com> Date: Thu Dec 8 21:47:59 2022 -0800 add curvature steer control type (commaai#381) * add curvature steer control type * add new line Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * remove d gain Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 8825337 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Dec 8 20:37:39 2022 -0800 decimate navModel to 0.5Hz commit fd1ca09 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Dec 8 20:33:42 2022 -0800 add mapRenderState (commaai#393) * add mapRenderState * better name commit 7765176 Author: Shane Smiskol <shane@smiskol.com> Date: Thu Dec 1 23:31:27 2022 -0800 Micd: add A-weighted sound level fields (commaai#392) * new fields * add temp field * Revert "add temp field" This reverts commit 54b5974. * move Co-authored-by: Cameron Clough <cameronjclough@gmail.com> commit 22e7261 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Dec 1 16:29:11 2022 -0800 Nav model (commaai#380) * Added navModel field * Add navModel to services.py * Added position/desire fields * Bump navModel field index Co-authored-by: mitchellgoffpc <mitchellgoffpc@gmail.com> commit dbc9846 Author: Cameron Clough <cameronjclough@gmail.com> Date: Wed Nov 30 21:19:53 2022 -0800 Micd fields (commaai#391) * add new field * uncalib Co-authored-by: Shane Smiskol <shane@smiskol.com> commit 790d383 Author: Cameron Clough <cameronjclough@gmail.com> Date: Wed Nov 30 11:37:35 2022 -0800 fix CI badge commit 4ec689c Author: ntegan1 <ntegan1@gmail.com> Date: Wed Nov 30 14:36:17 2022 -0500 fix set but unused warning (commaai#390) * fix set but unused warning * re-run ci maybe commit 19a0c46 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Nov 30 00:06:23 2022 -0800 Deprecate noTarget event commit 7f55399 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Nov 29 14:38:56 2022 -0800 Rename event to preEnableStandstill (commaai#389) rename event commit 2b54c11 Author: Cameron Clough <cameronjclough@gmail.com> Date: Mon Nov 28 12:51:57 2022 -0800 add microphone (commaai#382) * add microphone socket * increase freq * add raw noise level * rename to ambient * switch commit 72fb965 Author: Willem Melching <willem.melching@gmail.com> Date: Tue Nov 22 01:10:55 2022 +0100 Add missing time.h include (commaai#385) add missing time.h include commit 3bae09c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Nov 15 16:50:27 2022 -0800 add experimenalMode to controlsState commit 25767df Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Nov 14 15:44:36 2022 -0800 panda spi and uart7 faults commit afafa0a Author: Shane Smiskol <shane@smiskol.com> Date: Thu Nov 10 17:16:58 2022 -0800 Add regen braking field (commaai#384) * regen braking field * fix duplicate ordinal * Update car.capnp commit cdba1aa Author: YassineYousfi <yyousfi1@binghamton.edu> Date: Mon Nov 7 17:07:38 2022 -0800 Add temporal pose to modelv2 (commaai#383) * add simpose to modelv2 * rename commit 9cc550d Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Nov 2 14:34:03 2022 -0700 add tres commit 1d25fc3 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Oct 24 17:53:32 2022 -0700 msgq: bump num readers up a bit (commaai#379) commit 79e6e4c Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri Oct 21 16:55:41 2022 -0700 wide calibration (commaai#378) commit 3813330 Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Fri Oct 21 00:41:30 2022 -0700 Add wide transform (commaai#377) commit 1e3dd70 Author: Shane Smiskol <shane@smiskol.com> Date: Wed Oct 19 01:29:49 2022 -0700 Rename gmAccFaultedTemp -> accFaultedTemp commit 315ddcb Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Oct 18 18:53:26 2022 -0700 add cornerRadar ECU commit 107048c Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Oct 17 15:53:57 2022 -0700 ui debug message (commaai#376) * ui debug message * put in the qlogs commit 5766e64 Author: Shane Smiskol <shane@smiskol.com> Date: Fri Oct 14 19:33:28 2022 -0700 Add temporarily ACC fault event (commaai#375) * add depress brake pedal * fixup alert name commit 3eca747 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Tue Oct 11 21:26:32 2022 -0700 deprecate unused carParams fields commit b1003dd Author: Shane Smiskol <shane@smiskol.com> Date: Tue Oct 11 15:50:52 2022 -0700 carControl->cruiseControl: add override bool (commaai#373) Add override bool commit b29717c Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Fri Oct 7 16:47:32 2022 -0700 add qcom ephemerisSourceType (commaai#372) Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit 446f316 Author: Greg Hogan <gregjhogan@gmail.com> Date: Wed Oct 5 21:18:05 2022 -0700 add CAN-FD non-ISO mode flag to panda can health (commaai#369) commit 33256c9 Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Wed Oct 5 20:30:40 2022 -0700 rename unknown6 to sbas (commaai#371) Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit 58b87bd Author: Cameron Clough <cameronjclough@gmail.com> Date: Tue Oct 4 10:48:50 2022 -0700 make shiftByWire non-Honda specific (commaai#370) commit c8542cf Author: Cameron Clough <cameronjclough@gmail.com> Date: Tue Oct 4 10:39:34 2022 -0700 fix duplicate ordinal commit 1db91ee Author: Shane Smiskol <shane@smiskol.com> Date: Tue Oct 4 01:30:57 2022 -0700 Ecu: add vcu (for Hyundai) (commaai#348) * Add VMCU ecu * update * rename to more generic name * Update car.capnp commit 5ba96b6 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Mon Oct 3 15:08:40 2022 -0700 make rx checks invalid a bool commit ea9d19f Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Sun Oct 2 17:25:53 2022 -0700 add safetyRxChecksInvalid panda fault commit d4cf872 Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Thu Sep 29 11:04:55 2022 -0700 mark sensorEvents deprecated (commaai#367) Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit 5aa4986 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Sep 28 15:15:48 2022 -0700 add exposure value percent to camera state packets (commaai#368) * add exposure value percent to camera state packets * it's a real percent commit e310f48 Author: Kurt Nistelberger <kurt.nistelberger@hotmail.com> Date: Tue Sep 27 15:28:22 2022 -0700 Sensor events splitup (commaai#357) * change from sensorEvents to separated events * fix numbering * remove sensorEvent * update after rebase * . * move bmx gyro and accel to its own channels * address PR comments * . * inc frequency in tests * . * rename sensorEventsDEPRECATED sensorEvents * readd sensorEvents in services.py * . Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> commit a0c6f28 Author: Robbe Derks <robbe.derks@gmail.com> Date: Fri Sep 23 11:17:22 2022 +0200 Add adas ecu and make the brake booster non-Honda specific (commaai#362) add adas ecu commit 3baa20e Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Sat Sep 17 00:15:31 2022 -0700 Add panda CAN health to logs (commaai#361) * init * typo * fix * add canfd stats and speed commit e4130c9 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Thu Sep 15 17:03:38 2022 -0700 Live torque params (commaai#354) * add live torque messages * add to services * add decay to msg * store debug points * bump livetorqueparams ordinal in log capnp, after rebasing * rename slope and offset * store reset count instead of bool * renaming in tuning params * add tag to livetorqueparams struct * make this an int * add useParams to roll out per fingerprint Co-authored-by: nuwandavek <vivekaithal44@gmail.com> commit 513dfc7 Author: Igor Biletksyy <bs@privacy.im> Date: Thu Sep 15 13:30:29 2022 -0700 PandaState: fix mixup commit 3f5bc84 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Thu Sep 15 13:09:52 2022 -0700 Panda health: names and mixup fix (commaai#359) * init * naming commit bd2f7fa Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Sep 14 14:56:26 2022 -0700 add image sensor to camera states (commaai#360) commit f363cc1 Author: Shane Smiskol <shane@smiskol.com> Date: Tue Sep 13 22:50:17 2022 -0700 Add fields for lateral override (commaai#350) * add fields for lateral override state * comment * spelled out commit 2335f98 Author: Igor Biletskyy <briskspirit@users.noreply.github.com> Date: Fri Sep 9 20:13:25 2022 -0700 add RP with chiplet (commaai#358) * chiplet * Update log.capnp Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> commit 04b1cf2 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Fri Sep 9 16:49:12 2022 -0700 includes tape reel commit cea51af Author: Cameron Clough <cameronjclough@gmail.com> Date: Wed Sep 7 13:49:16 2022 -0700 Ecu: rename esp to abs (commaai#353) ecu: rename esp to abs commit ac98471 Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Sep 7 11:42:09 2022 -0700 add carParams.experimentalLongitudinalAvailable (commaai#356) * add carParams.disableRadarAvailable * better name commit f26ee5a Author: HaraldSchafer <harald.the.engineer@gmail.com> Date: Tue Sep 6 21:59:25 2022 -0700 Refactor longcontrol (commaai#355) * Bring starting back * Add starting params commit 6323950 Author: Bruce Wayne <harald.the.engineer@gmail.com> Date: Fri Sep 2 15:59:56 2022 -0700 Remove lane planning stuff commit d3a943e Author: Adeeb Shihadeh <adeebshihadeh@gmail.com> Date: Wed Aug 31 20:41:39 2022 -0700 deviceState: deprecate battery + charging fields (commaai#352) * deviceState: deprecate battery + charging fields * deprecate that one too * deprecated commit d05d3cb Author: Shane Smiskol <shane@smiskol.com> Date: Tue Aug 30 22:59:38 2022 -0700 Chrysler: add Ecu for Hybrid Control Processor (commaai#351) Add hcp commit aaf67ac Author: Shane Smiskol <shane@smiskol.com> Date: Tue Aug 30 11:14:07 2022 -0700 CarParams: add field for auto resume capability (commaai#349) * Add field for auto resume * Update car.capnp * add a comment section
budney · Jan 7, 2023 · 78c6dee · 78c6dee
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diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/Tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
+What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal)
 ----
 
 cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers.

diff --git a/car.capnp b/car.capnp
@@ -17,7 +17,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
   immediateDisable @6 :Bool;
   preEnable @7 :Bool;
   permanent @8 :Bool; # alerts presented regardless of openpilot state
-  override @9 :Bool;
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;
 
   enum EventName @0xbaa8c5d505f727de {
     canError @0;
@@ -33,8 +34,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     buttonCancel @11;
     buttonEnable @12;
     pedalPressed @13;  # exits active state
-    pedalPressedPreEnable @73;  # added during pre-enable state for either pedal
+    preEnableStandstill @73;  # added during pre-enable state with brake
     gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    steerOverride @114;
     cruiseDisabled @14;
     speedTooLow @17;
     outOfSpace @18;
@@ -44,7 +46,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     controlsMismatch @22;
     pcmEnable @23;
     pcmDisable @24;
-    noTarget @25;
     radarFault @26;
     brakeHold @28;
     parkBrake @29;
@@ -64,6 +65,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     lowBattery @48;
     vehicleModelInvalid @50;
     accFaulted @51;
+    accFaultedTemp @115;
     sensorDataInvalid @52;
     commIssue @53;
     commIssueAvgFreq @109;
@@ -135,6 +137,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     modelLagWarningDEPRECATED @93;
     startupOneplusDEPRECATED @82;
     startupFuzzyFingerprintDEPRECATED @97;
+    noTargetDEPRECATED @25;
   }
 }
 
@@ -165,6 +168,7 @@ struct CarState {
   # brake pedal, 0.0-1.0
   brake @5 :Float32;      # this is user pedal only
   brakePressed @6 :Bool;  # this is user pedal only
+  regenBraking @45 :Bool; # this is user pedal only
   parkingBrake @39 :Bool;
   brakeHoldActive @38 :Bool;
 
@@ -313,6 +317,9 @@ struct CarControl {
   # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
 
+  leftBlinker @15: Bool;
+  rightBlinker @16: Bool;
+
   # Any car specific rate limits or quirks applied by
   # the CarController are reflected in actuatorsOutput
   # and matches what is sent to the car
@@ -330,8 +337,12 @@ struct CarControl {
     brake @1: Float32;
     # range from -1.0 - 1.0
     steer @2: Float32;
+    # value sent over can to the car
+    steerOutputCan @8: Float32;
     steeringAngleDeg @3: Float32;
 
+    curvature @7: Float32;
+
     speed @6: Float32; # m/s
     accel @4: Float32; # m/s^2
     longControlState @5: LongControlState;
@@ -340,15 +351,14 @@ struct CarControl {
       off @0;
       pid @1;
       stopping @2;
-
-      startingDEPRECATED @3;
+      starting @3;
     }
-
   }
 
   struct CruiseControl {
     cancel @0: Bool;
     resume @1: Bool;
+    override @4: Bool;
     speedOverrideDEPRECATED @2: Float32;
     accelOverrideDEPRECATED @3: Float32;
   }
@@ -414,23 +424,18 @@ struct CarParams {
   enableGasInterceptor @2 :Bool;
   pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
   enableDsu @5 :Bool;        # driving support unit
-  enableApgs @6 :Bool;       # advanced parking guidance system
   enableBsm @56 :Bool;       # blind spot monitoring
   flags @64 :UInt32;         # flags for car specific quirks
+  experimentalLongitudinalAvailable @71 :Bool;
 
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
-  maxSteeringAngleDeg @54 :Float32;
   safetyConfigs @62 :List(SafetyConfig);
   alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
-  maxLateralAccel @68 :Float32;
 
-  steerMaxBPDEPRECATED @11 :List(Float32);
-  steerMaxVDEPRECATED @12 :List(Float32);
-  gasMaxBPDEPRECATED @13 :List(Float32);
-  gasMaxVDEPRECATED @14 :List(Float32);
-  brakeMaxBPDEPRECATED @15 :List(Float32);
-  brakeMaxVDEPRECATED @16 :List(Float32);
+  # Car docs fields
+  maxLateralAccel @68 :Float32;
+  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically
 
   # things about the car in the manual
   mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
@@ -458,12 +463,13 @@ struct CarParams {
 
   vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
   vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
-  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
+  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
   steerControlType @34 :SteerControlType;
   radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
   stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
   longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
@@ -507,6 +513,8 @@ struct CarParams {
     friction @3 :Float32;
     kf @4 :Float32;
     steeringAngleDeadzoneDeg @5 :Float32;
+    latAccelFactor @6 :Float32;
+    latAccelOffset @7 :Float32;
   }
 
   struct LongitudinalPIDTuning {
@@ -584,6 +592,7 @@ struct CarParams {
   enum SteerControlType {
     torque @0;
     angle @1;
+    curvature @2;
   }
 
   enum TransmissionType {
@@ -607,7 +616,7 @@ struct CarParams {
 
   enum Ecu {
     eps @0;
-    esp @1;
+    abs @1;
     fwdRadar @2;
     fwdCamera @3;
     engine @4;
@@ -617,6 +626,10 @@ struct CarParams {
     gateway @10; # can gateway
     hud @11; # heads up display
     combinationMeter @12; # instrument cluster
+    electricBrakeBooster @15;
+    shiftByWire @16;
+    adas @19;
+    cornerRadar @21;
 
     # Toyota only
     dsu @6;
@@ -625,8 +638,12 @@ struct CarParams {
     # Honda only
     vsa @13; # Vehicle Stability Assist
     programmedFuelInjection @14;
-    electricBrakeBooster @15;
-    shiftByWire @16;
+
+    # Chrysler only
+    hcp @18;  # Hybrid Control Processor
+
+    # Hyundai only
+    vcu @20;  # Vehicle (Motor) Control Unit
 
     debug @17;
   }
@@ -643,14 +660,22 @@ struct CarParams {
   }
 
   enableCameraDEPRECATED @4 :Bool;
+  enableApgsDEPRECATED @6 :Bool;
   steerRateCostDEPRECATED @33 :Float32;
   isPandaBlackDEPRECATED @39 :Bool;
   hasStockCameraDEPRECATED @57 :Bool;
   safetyParamDEPRECATED @10 :Int16;
   safetyModelDEPRECATED @9 :SafetyModel;
   safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
   minSpeedCanDEPRECATED @51 :Float32;
-  startAccelDEPRECATED @32 :Float32;
   communityFeatureDEPRECATED @46: Bool;
   startingAccelRateDEPRECATED @53 :Float32;
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
+  directAccelControlDEPRECATED @30 :Bool;
+  maxSteeringAngleDegDEPRECATED @54 :Float32;
 }