Merge pull request #405 from commaai/devel

0.5.5 release

RELEASES.md

@@ -1,3 +1,9 @@
+Version 0.5.5 (2018-10-20)
+========================
+ * Increase allowed Honda positive accelerations
+ * Fix sporadic unexpected braking when passing semi-trucks in Toyota
+ * Fix gear reading bug in Hyundai Elantra thanks to emmertex!
+
 Version 0.5.4 (2018-09-25)
 ========================
  * New Driving Model

cereal/log.capnp

@@ -410,6 +410,7 @@ struct Live100Data {
   alertStatus @38 :AlertStatus;
   alertSize @39 :AlertSize;
   alertBlinkingRate @42 :Float32;
+  alertType @44 :Text;
   awarenessStatus @26 :Float32;
   angleOffset @27 :Float32;
   gpsPlannerActive @40 :Bool;
@@ -1558,6 +1559,13 @@ struct Boot {
   lastPmsg @2 :Data;
 }
 
+struct LiveParametersData {
+  valid @0 :Bool;
+  gyroBias @1 :Float32;
+  angleOffset @2 :Float32;
+}
+
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -1623,5 +1631,6 @@ struct Event {
     orbFeaturesSummary @58 :OrbFeaturesSummary;
     driverMonitoring @59 :DriverMonitoring;
     boot @60 :Boot;
+    liveParameters @61 :LiveParametersData;
   }
 }

common/ffi_wrapper.py

@@ -6,7 +6,7 @@
 
 TMPDIR = "/tmp/ccache"
 
-def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
+def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR, cflags="", libraries=[]):
   cache = name + "_" + hashlib.sha1(c_code).hexdigest()
   try:
     os.mkdir(tmpdir)
@@ -21,19 +21,19 @@ def ffi_wrap(name, c_code, c_header, tmpdir=TMPDIR):
       mod = __import__(cache)
     except Exception:
       print "cache miss", cache
-      compile_code(cache, c_code, c_header, tmpdir)
+      compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
       mod = __import__(cache)
   finally:
     os.close(fd)
 
   return mod.ffi, mod.lib
 
-def compile_code(name, c_code, c_header, directory):
+def compile_code(name, c_code, c_header, directory, cflags="", libraries=[]):
   ffibuilder = FFI()
-  ffibuilder.set_source(name, c_code, source_extension='.cpp')
+  ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
   ffibuilder.cdef(c_header)
   os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
-  os.environ['CFLAGS'] = ""
+  os.environ['CFLAGS'] = cflags
   ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
 
 def wrap_compiled(name, directory):

common/transformations/model.py

@@ -75,10 +75,8 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
       [0, 0, 1],
   ]))
 
-  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)
+  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)
 
   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/toyota_prius_2017_adas.dbc

@@ -182,80 +182,95 @@ BO_ 543 TRACK_A_15: 8 XXX
 BO_ 544 TRACK_B_0: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 545 TRACK_B_1: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 546 TRACK_B_2: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 547 TRACK_B_3: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 548 TRACK_B_4: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 549 TRACK_B_5: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 550 TRACK_B_6: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 551 TRACK_B_7: 8 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 552 TRACK_B_8: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 553 TRACK_B_9: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 554 TRACK_B_10: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 555 TRACK_B_11: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 556 TRACK_B_12: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 557 TRACK_B_13: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 558 TRACK_B_14: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 559 TRACK_B_15: 6 XXX
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ REL_ACCEL : 15|7@0- (1,0) [-64|63] "" XXX
+ SG_ SCORE : 23|8@0+ (1,0) [0|100] "" XXX
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX
-

panda/VERSION

@@ -1 +1 @@
-v1.1.5
+v1.1.6

panda/board/safety.h

@@ -56,6 +56,7 @@ int controls_allowed = 0;
 #include "safety/safety_toyota.h"
 #ifdef PANDA
 #include "safety/safety_toyota_ipas.h"
+#include "safety/safety_tesla.h"
 #endif
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
@@ -100,6 +101,7 @@ typedef struct {
 #define SAFETY_FORD 5
 #define SAFETY_CADILLAC 6
 #define SAFETY_HYUNDAI 7
+#define SAFETY_TESLA 8
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -117,6 +119,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
+  {SAFETY_TESLA, &tesla_hooks},
 #endif
   {SAFETY_ALLOUTPUT, &alloutput_hooks},
   {SAFETY_ELM327, &elm327_hooks},