Chrysler: prep for Ram port (#25040)

* Chrysler: prep for Ram port * bump opendbc * opendbc master * bump panda
commaai · Jul 5, 2022 · 88a3000 · 88a3000
1 parent d4f4809
commit 88a3000
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Showing 6 changed files with 23 additions and 25 deletions.
diff --git a/opendbc b/opendbc
diff --git a/panda b/panda
diff --git a/release/files_common b/release/files_common
@@ -35,7 +35,6 @@ common/filter_simple.py
 common/stat_live.py
 common/spinner.py
 common/text_window.py
-common/SConscript
 
 common/kalman/.gitignore
 common/kalman/*
@@ -217,7 +216,6 @@ selfdrive/locationd/generated/gps.h
 
 selfdrive/locationd/laikad.py
 selfdrive/locationd/laikad_helpers.py
-selfdrive/locationd/locationd.cc
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
@@ -475,7 +473,7 @@ opendbc/can/parser_pyx.pyx
 
 opendbc/comma_body.dbc
 
-opendbc/chrysler_pacifica_2017_hybrid.dbc
+opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
 
 opendbc/gm_global_a_powertrain_generated.dbc

diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
@@ -64,14 +64,14 @@ def update(self, cp, cp_cam):
     steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
     ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
-    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
+    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"])
 
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1
-      ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1
+      ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
+      ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
     self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
-    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
+    self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
@@ -100,7 +100,7 @@ def get_can_parser(CP):
       ("ACC_AVAILABLE", "DAS_3"),
       ("ACC_ACTIVE", "DAS_3"),
       ("ACC_FAULTED", "DAS_3"),
-      ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
+      ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
       ("ACC_SPEED_CONFIG_KPH", "DAS_4"),
       ("CRUISE_STATE", "DAS_4"),
       ("COLUMN_TORQUE", "EPS_2"),
@@ -132,10 +132,10 @@ def get_can_parser(CP):
 
     if CP.enableBsm:
       signals += [
-        ("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"),
-        ("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"),
+        ("RIGHT_STATUS", "BSM_1"),
+        ("LEFT_STATUS", "BSM_1"),
       ]
-      checks.append(("BLIND_SPOT_WARNINGS", 2))
+      checks.append(("BSM_1", 2))
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
@@ -144,13 +144,13 @@ def get_cam_can_parser(CP):
     signals = [
       # sig_name, sig_address
       ("COUNTER", "LKAS_COMMAND"),
-      ("CAR_MODEL", "LKAS_HUD"),
+      ("CAR_MODEL", "DAS_6"),
       ("LKAS_STATUS_OK", "LKAS_HEARTBIT")
     ]
     checks = [
       ("LKAS_COMMAND", 100),
       ("LKAS_HEARTBIT", 10),
-      ("LKAS_HUD", 4),
+      ("DAS_6", 4),
     ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
@@ -35,14 +35,14 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_mo
     "LKAS_ALERTS": alerts,  # byte 3, last 4 bits
     }
 
-  return packer.make_can_msg("LKAS_HUD", 0, values)  # 0x2a6
+  return packer.make_can_msg("DAS_6", 0, values)  # 0x2a6
 
 
 def create_lkas_command(packer, apply_steer, moving_fast, frame):
   # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
   values = {
-    "LKAS_STEERING_TORQUE": apply_steer,
-    "LKAS_HIGH_TORQUE": int(moving_fast),
+    "STEERING_TORQUE": apply_steer,
+    "LKAS_CONTROL_BIT": int(moving_fast),
     "COUNTER": frame % 0x10,
   }
   return packer.make_can_msg("LKAS_COMMAND", 0, values)

diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
@@ -101,13 +101,13 @@ class ChryslerCarInfo(CarInfo):
 
 
 DBC = {
-  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
 }
 
 STEER_THRESHOLD = 120