From 39839f09cc7bc1cea49c5c34a237989d84fe03d6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Jul 2022 14:44:56 -0700 Subject: [PATCH 1/4] Chrysler: prep for Ram port --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 20 ++++++++++---------- selfdrive/car/chrysler/chryslercan.py | 6 +++--- selfdrive/car/chrysler/values.py | 14 +++++++------- 4 files changed, 21 insertions(+), 21 deletions(-) diff --git a/opendbc b/opendbc index 9c7248ceb26992..94fa1e88e0d397 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 9c7248ceb269928e3741103f978e9e4de2b38156 +Subproject commit 94fa1e88e0d397a252b7b52a25379b190bc00565 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 444557191a1872..aa46ea0d9434f5 100644 --- 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 index 53b79cab73e566..adcd411d317d07 100644 --- 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 index d624bd27272fc7..5537b383d30f89 100644 --- 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 From 9e8c0d738b1a4eb7043e1fb8d8981a3379ca692d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Jul 2022 15:21:40 -0700 Subject: [PATCH 2/4] bump opendbc --- opendbc | 2 +- release/files_common | 4 +--- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 94fa1e88e0d397..fb1b8400fe0a4f 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 94fa1e88e0d397a252b7b52a25379b190bc00565 +Subproject commit fb1b8400fe0a4fea88c916c96dd2abec4f0a64dc diff --git a/release/files_common b/release/files_common index acf74e21375be4..e32277dfd8250e 100644 --- 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 From b745974fb8fa74cef9b8231e5af2ae77d44ba1eb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Jul 2022 15:44:10 -0700 Subject: [PATCH 3/4] opendbc master --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index fb1b8400fe0a4f..b2895650c744e2 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit fb1b8400fe0a4fea88c916c96dd2abec4f0a64dc +Subproject commit b2895650c744e24d48cee2f13563dcd5b030a271 From bbc68492f18a28847d3fb77719d6835768560d9e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Jul 2022 16:37:34 -0700 Subject: [PATCH 4/4] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 265245389208e1..6c0d0b43c239b8 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 265245389208e1e6ada86b169e879c0a2e30426c +Subproject commit 6c0d0b43c239b89baa83b4a1885d0ce21ab2335e