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Chrysler: prep for Ram port #25040

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merged 4 commits into from
Jul 5, 2022
Merged

Chrysler: prep for Ram port #25040

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39839f0
Chrysler: prep for Ram port
adeebshihadeh Jul 5, 2022
9e8c0d7
bump opendbc
adeebshihadeh Jul 5, 2022
b745974
opendbc master
adeebshihadeh Jul 5, 2022
bbc6849
bump panda
adeebshihadeh Jul 5, 2022
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2 changes: 1 addition & 1 deletion opendbc
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Submodule opendbc updated 9 files
+77 −213 chrysler_pacifica_2017_hybrid_generated.dbc
+172 −0 chrysler_ram_dt_generated.dbc
+1 −0 generator/chrysler/.gitignore
+96 −0 generator/chrysler/_stellantis_common.dbc
+41 −0 generator/chrysler/_stellantis_common_ram.py
+202 −0 generator/chrysler/chrysler_pacifica_2017_hybrid.dbc
+69 −0 generator/chrysler/chrysler_ram_dt.dbc
+9 −4 generator/generator.py
+14 −0 vw_golf_mk4.dbc
2 changes: 1 addition & 1 deletion panda
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Submodule panda updated 3 files
+1 −1 Dockerfile.panda
+1 −1 README.md
+13 −24 tests/safety/test_chrysler.py
4 changes: 1 addition & 3 deletions release/files_common
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Original file line number Diff line number Diff line change
Expand Up @@ -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/*
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down
20 changes: 10 additions & 10 deletions selfdrive/car/chrysler/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"]

Expand Down Expand Up @@ -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"),
Expand Down Expand Up @@ -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)

Expand All @@ -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)
6 changes: 3 additions & 3 deletions selfdrive/car/chrysler/chryslercan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down
14 changes: 7 additions & 7 deletions selfdrive/car/chrysler/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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