Tesla devel

.gitignore

@@ -32,3 +32,7 @@ selfdrive/test/tests/plant/out
 /src/
 
 one
+
+.vscode/*.json
+launch_chffrplus.sh
+

.travis.yml

@@ -10,3 +10,7 @@ script:
   - docker run --rm
       -v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
       tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
+
+branches:
+  only:
+  - /.*/

.vscode/settings.json

@@ -0,0 +1,7 @@
+{
+    "files.associations": {
+        "algorithm": "cpp",
+        "chrono": "cpp",
+        "limits": "cpp"
+    }
+}

README.md

@@ -1,3 +1,8 @@
+
+WARNING: TESLA ONLY OPENPILOT 0.5.8-T2
+======
+This repo contains code that was modified specifically for Tesla and will not work on other cars!
+
 [![](https://i.imgur.com/UetIFyH.jpg)](#)
 
 Welcome to openpilot

cereal/Makefile

@@ -1,14 +1,14 @@
 PWD := $(shell pwd)
 
-SRCS := log.capnp car.capnp
+SRCS := log.capnp car.capnp ui.capnp
 
-GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
-JS := gen/js/car.capnp.js gen/js/log.capnp.js
+GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++ gen/cpp/ui.capnp.c++
+JS := gen/js/car.capnp.js gen/js/log.capnp.js gen/js/ui.capnp.js
 
 UNAME_M ?= $(shell uname -m)
 # only generate C++ for docker tests
 ifneq ($(OPTEST),1)
-	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
+	GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/ui.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h 
 
 	ifeq ($(UNAME_M),x86_64)
 		ifneq (, $(shell which capnpc-java))

cereal/__init__.py

@@ -6,3 +6,4 @@
 
 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+ui = capnp.load(os.path.join(CEREAL_PATH, "ui.capnp"))

cereal/ui.capnp

@@ -0,0 +1,64 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+using Java = import "./include/java.capnp";
+$Java.package("ai.comma.openpilot.cereal");
+$Java.outerClassname("Ui");
+
+using Car = import "car.capnp";
+
+@0xce6ca45dddcd5317;
+
+struct UIButtonInfo {
+    # button ID 0..5
+    btnId @0 :Int8;
+    # internal button name
+    btnName @1 :Text;
+    # display label for button (3 chars)
+    btnLabel @2 :Text;
+    # buttons status: 0 = DISABLED, 1 = AVAILABLE, 2 = ENABLED, 3 = WARNING, 9 = NOT AVAILABLE
+    btnStatus @3 :Int16;
+    # small font label shows below the main label, max 7 chars
+    btnLabel2 @4 :Text;
+}
+
+struct UIButtonStatus {
+    # button ID 0..5
+    btnId @0 :Int8;
+    # buttons status: 0 = DISABLED, 1 = AVAILABLE, 2 = ENABLED, 3 = WARNING, 9 = NOT AVAILABLE
+    btnStatus @1 :Int16;
+}
+
+struct UICustomAlert {
+    caStatus @0 :Int8;
+    caText @1 :Text;
+}
+
+struct UISetCar {
+    icCarFolder @0 :Text;
+    icCarName @1 :Text;
+}
+
+struct UIPlaySound {
+    sndSound @0 :Int8;
+}
+
+struct UIUpdate {
+    uiDoUpdate @0 :Int8;
+    uiStatus @1 :Int8;
+    uiCanDisplayMessage @2 :Int8;
+}
+
+#struct UIEvent {
+#    # in nanoseconds?
+#    logMonoTime @0 :UInt64;
+#
+#    union {
+#        uiButtonInfo @1 :UIButtonInfo;
+#        uiCustomAlert @2 :UICustomAlert;
+#        uiSetCar @3 :UISetCar;
+#        uiButtonStatus @4 :UIButtonStatus;
+#        uiUpdate @5 :UIUpdate;
+#        uiPlaySound @6 :UIPlaySound;
+#    }
+#}

common/fingerprints.py

@@ -61,4 +61,4 @@ def eliminate_incompatible_cars(msg, candidate_cars):
 
 def all_known_cars():
   """Returns a list of all known car strings."""
-  return _FINGERPRINTS.keys()
+  return _FINGERPRINTS.keys()

common/params.py

@@ -358,4 +358,4 @@ def put(self, key, dat):
 
   # Test multiprocess:
   # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
-  # while python common/params.py DongleId; do sleep 0.05; done
+  # while python common/params.py DongleId; do sleep 0.05; done

opendbc/honda_accord_s2t_2018_can_generated.dbc

@@ -39,8 +39,8 @@ BU_: EBCM EON CAM RADAR PCM EPS VSA SCM BDY XXX EPB
 
 BO_ 228 STEERING_CONTROL: 5 EON
  SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
- SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
- SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS
+ SG_ GERNBY1 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ GERNBY_2 : 31|8@0+ (1,0) [0|0] "" EPS
  SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS
  SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS
  SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS

opendbc/tesla_can.dbc

@@ -98,7 +98,8 @@ BO_ 3 STW_ANGL_STAT: 8 STW
  SG_ MC_STW_ANGL_STAT : 55|4@0+ (1,0) [0|15] ""  NEO
  SG_ CRC_STW_ANGL_STAT : 63|8@0+ (1,0) [0|255] ""  NEO
 
-BO_ 14 STW_ANGLHP_STAT: 8 STW 
+BO_ 14 STW_ANGLHP_STAT: 8 STW
+
  SG_ StW_AnglHP : 5|14@0+ (0.1,-819.2) [-819.2|819] "deg"  NEO
  SG_ StW_AnglHP_Spd : 21|14@0+ (0.5,-4096) [-4096|4095.5] "deg/s"  NEO
  SG_ StW_AnglHP_Sens_Stat : 33|2@0+ (1,0) [0|0] ""  NEO
@@ -147,19 +148,25 @@ BO_ 309 ESP_135h: 5 ESP
  SG_ ESP_espOffLamp : 31|1@0+ (1,0) [-1|2] ""  NEO
  SG_ ESP_stabilityControlSts : 14|3@0+ (1,0) [6|7] ""  NEO
  SG_ ESP_tcLampFlash : 5|1@0+ (1,0) [-1|2] ""  NEO
- SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] ""  NEOBO_ 341 ESP_B: 8 ESP 
- SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] ""  NEO,EPAS 
- SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] ""  NEO,EPAS 
- SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph"  NEO,EPAS 
- SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] ""  NEO,EPAS 
- SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] ""  NEO,EPAS 
- SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] ""  NEO,EPAS 
- SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] ""  NEO,EPAS 
+ SG_ ESP_tcOffLamp : 15|1@0+ (1,0) [0|1] ""  NEO
+
+BO_ 341 ESP_B: 8 ESP
+ SG_ ESP_BChecksum : 39|8@0+ (1,0) [0|255] ""  NEO,EPAS
+ SG_ ESP_BCounter : 62|4@0+ (1,0) [1|15] ""  NEO,EPAS
+ SG_ ESP_vehicleSpeed : 47|16@0+ (0.00999999978,0) [0|0] "kph"  NEO,EPAS
+ SG_ ESP_vehicleSpeedQF : 57|2@0+ (1,0) [1|2] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountFrL : 7|8@0+ (1,0) [0|254] ""  NEO,EPAS 
+ SG_ ESP_wheelPulseCountFrR : 15|8@0+ (1,0) [0|254] ""  NEO,EPAS
+ SG_ ESP_wheelPulseCountReL : 23|8@0+ (1,0) [0|254] ""  NEO,EPAS 
  SG_ ESP_wheelPulseCountReR : 31|8@0+ (1,0) [0|254] ""  NEO,EPAS
 
-BO_ 532 EPB_epasControl: 3 EPB 
- SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS 
- SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS 
+BO_ 513 SDM1: 5 GTW
+ SG_ SDM_bcklPassStatus : 3|2@0+ (1,0) [0|3] "" NEO
+ SG_ SDM_bcklDrivStatus : 5|2@0+ (1,0) [0|3] "" NEO 
+
+BO_ 532 EPB_epasControl: 3 EPB
+ SG_ EPB_epasControlChecksum : 23|8@0+ (1,0) [0|255] ""  NEO,EPAS 
+ SG_ EPB_epasControlCounter : 11|4@0+ (1,0) [0|15] ""  NEO,EPAS
  SG_ EPB_epasEACAllow : 2|3@0+ (1,0) [4|7] ""  NEO,EPAS
 
 BO_ 792 GTW_carState: 8 GTW
@@ -307,6 +314,50 @@ BO_ 840 GTW_status: 8 GTW
  SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
  SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] ""  NEO
 
+BO_ 1361 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.0507968128,-22.85856576) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.1015936256,-22.85856576) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ IDX : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
+
+BO_ 1362 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0507968128,-22.85856576) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.1015936256,-22.85856576) [0|1] "" EON
+ SG_ STATE : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ IDX : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
+
+BO_ 920 GTW_carConfig: 8 GTW
+ SG_ GTW_performanceConfig : 2|3@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_fourWheelDrive : 4|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_unknown1 : 5|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_dasHw : 7|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_parkAssistInstalled : 9|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_forwardRadarHw : 11|2@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_airSuspensionInstalled : 14|3@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_unknown2 : 15|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_country : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_parkSensorGeometryType : 33|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_rhd : 34|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_bodyControlsType : 35|1@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_radarPosition : 39|4@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_rearCornerRadarHw : 41|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_frontCornerRadarHw : 43|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_epasType : 45|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_chassisType : 47|2@0+ (1,0) [0|2] ""  NEO
+ SG_ GTW_wheelType : 52|5@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_rearSeatControllerMask : 55|3@0+ (1,0) [0|7] ""  NEO
+ SG_ GTW_euVehicle : 56|1@0+ (1,0) [0|0] "" NEO
+ SG_ GTW_foldingMirrorsInstalled : 57|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_brakeHwType : 59|2@0+ (1,0) [0|2] ""  NEO
+ SG_ GTW_autopilot : 61|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GTW_unknown3 : 63|2@0+ (1,0) [0|0] ""  NEO
+
+
+
+
+
 VAL_ 3 StW_Angl 16383 "SNA" ;
 VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
 VAL_ 3 StW_AnglSens_Stat 2 "ERR" 3 "ERR_INI" 1 "INI" 0 "OK" ;
@@ -417,5 +468,6 @@ VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
+VAL_ 1362 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";

panda/board/build.mk

@@ -1,4 +1,4 @@
-CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -Os
+CFLAGS += -I inc -I ../ -nostdlib -fno-builtin -std=gnu11 -O2
 
 CFLAGS += -Tstm32_flash.ld
 
@@ -51,11 +51,11 @@ obj/$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/main.$(PROJ_NAME).o
 	$(CC) -Wl,--section-start,.isr_vector=0x8004000 $(CFLAGS) -o obj/$(PROJ_NAME).elf $^
 	$(OBJCOPY) -v -O binary obj/$(PROJ_NAME).elf obj/code.bin
 	SETLEN=1 ../crypto/sign.py obj/code.bin $@ $(CERT)
-	@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
+	#@BINSIZE=$$(du -b "obj/$(PROJ_NAME).bin" | cut -f 1) ; if [ $$BINSIZE -ge 32768 ]; then echo "ERROR obj/$(PROJ_NAME).bin is too big!"; exit 1; fi;
 
 
 obj/bootstub.$(PROJ_NAME).bin: obj/$(STARTUP_FILE).o obj/bootstub.$(PROJ_NAME).o obj/sha.$(PROJ_NAME).o obj/rsa.$(PROJ_NAME).o
-	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^
+	$(CC) $(CFLAGS) -o obj/bootstub.$(PROJ_NAME).elf $^ # -lgcc
 	$(OBJCOPY) -v -O binary obj/bootstub.$(PROJ_NAME).elf $@
 
 clean:

panda/board/drivers/can.h

@@ -53,7 +53,7 @@ int can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) {
     ret = 1;
   }
   exit_critical_section();
-  if (ret == 0) puts("can_push failed!\n");
+  //if (ret == 0) puts("can_push failed!\n");
   return ret;
 }
 

panda/board/drivers/gmlan_alt.h

@@ -161,6 +161,7 @@ void reset_gmlan_switch_timeout(void) {
   can_timeout_counter = GMLAN_TICKS_PER_SECOND;
   gmlan_switch_below_timeout = 1;
   gmlan_alt_mode = GPIO_SWITCH;
+  TIM4->CR1 = TIM_CR1_CEN; // Enable timer again in case we were timed out
 }
 
 void set_bitbanged_gmlan(int val) {
@@ -253,6 +254,10 @@ void TIM4_IRQHandler(void) {
     }
     TIM4->SR = 0;
   } //gmlan switch mode
+  else {
+    //disable timer; not a valid mode
+    TIM4->CR1 &= ~TIM_CR1_CEN;
+  }
 }
 
 void bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {