Coverted from OpenActuator dbc to Ocelot_control

selfdrive/car/bmw/bmwcan.py

@@ -1,24 +1,22 @@
 import crcmod
 from opendbc.can.packer import CANPacker
 
-openactuator_checksum = crcmod.mkCrcFun(0x1D7, initCrc=0xFF, rev=False, xorOut=0x00) # 0xeb (implicit notation) HD = 5 (detecting 4, correcting 2 bits)
-
 def create_steer_command(mode, steer_delta, steer_tq, frame):
-    """Creates a CAN message for the actuator ControlCommand"""
-    packer = CANPacker('OpenActuator')
+    """Creates a CAN message for the actuator STEERING_COMMAND"""
+    packer = CANPacker('ocelot_controls')
     values = {
-        "Counter_CMD1": frame % 0xF,
-        "MotorId_CMD1": 0x0,
-        "ControlMode": mode,
-        "PositionChange": steer_delta,
-        "TorqueFeedforward": steer_tq,
-        "TorqueCloseloopMax": 0., #TODO: generate signals for this
+        "COUNTER": frame % 0xF,
+        "STEER_MODE": mode,
+        "STEER_ANGLE": steer_delta,
+        "STEER_TORQUE": steer_tq,
     }
-    dat = packer.make_can_msg("ControlCmd1", 0, values)[2]
-    # values["CRC8_CMD1"] = openactuator_checksum(dat[:7])
-    values["CRC8_CMD1"] = (dat[0] + dat[1] + dat[2] + dat[3] + dat[4] + dat[5] + dat[6]) & 0xFF
+    msg = packer.make_can_msg("STEERING_COMMAND", 0, values)
+    addr = msg[0]
+    dat  = msg[2]
+
+    values["CHECKSUM"] = calc_checksum_8bit(dat, addr)
 
-    return packer.make_can_msg("ControlCmd1", 2, values) #bus 2 is the actuator CAN bus
+    return packer.make_can_msg("STEERING_COMMAND", 2, values) #bus 2 is the actuator CAN bus
 
 
 def calc_checksum_4bit(work_data, msg_id): # 0x130

selfdrive/car/bmw/carcontroller.py

@@ -196,7 +196,7 @@ def update(self, control, CS, frame):
       self.steer_rate_limited = target_angle_delta != angle_step #advertise steer beeing rate limited
 
       # steer torque
-      I_steering = 10 #estimated moment of inertia
+      I_steering = 0 #estimated moment of inertia
 
       PLANNER_SAMPLING_SUBRATE = 6 #planner updates target angle every 4 or 6 samples
       if target_angle_lim != self.last_target_angle_lim or self.planner_cnt >= PLANNER_SAMPLING_SUBRATE-1:

selfdrive/car/bmw/carstate.py

@@ -144,8 +144,8 @@ def update(self, cp_PT, cp_F, cp_aux):
 
     ret.genericToggle = self.sportMode
 
-    ret.steeringTorqueEps =  cp_aux.vl['ControlStatus1']['TorqueActual']
-    self.steer_angle_delta = cp_aux.vl['ControlStatus1']['PositionError']
+    ret.steeringTorqueEps =  cp_aux.vl['STEERING_STATUS']['STEERING_TORQUE']
+    self.steer_angle_delta = cp_aux.vl['STEERING_STATUS']['STEERING_ANGLE']
 
     self.prev_gasPressed = ret.gasPressed
     return ret
@@ -235,14 +235,13 @@ def get_F_can_parser(CP):  # 540 vehicle option could get away with just PT_CAN,
   @staticmethod
   def get_actuator_can_parser(CP):
     signals = [  # signal name, message name, default value
-      ("TorqueActual", "ControlStatus1", 0),
-      ("TorqueCloseLoopActual", "ControlStatus1", 0),
-      ("SpeedActual", "ControlStatus1", 0),
-      ("PositionError", "ControlStatus1", 0),
-      ("PositionRaw", "SystemStatus2", 0),
+      ("STEERING_ANGLE", "STEERING_STATUS", 0),
+      ("STEERING_TORQUE", "STEERING_STATUS", 0),
+      ("STEERING_SPEED", "STEERING_STATUS", 0),
+      ("CONTROL_STATUS", "STEERING_STATUS", 0),
+      ("TEMPERATURE", "STEERING_STATUS", 0),
     ]
     checks = [ # refresh frequency Hz
-    ("ControlStatus1", 100),
-    ("SystemStatus2", 100),
+    ("STEERING_STATUS", 100),
     ] 
-    return CANParser('OpenActuator', signals, checks, 2)  # 2: Actuator-CAN,
+    return CANParser('ocelot_controls', signals, checks, 2)  # 2: Actuator-CAN,

selfdrive/car/bmw/interface.py

@@ -61,7 +61,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay
 
     ret.lateralTuning.init('pid')
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[5.5, 30.], [5.5, 30.]]
-    ret.lateralTuning.pid.kiV, ret.lateralTuning.pid.kpV = [[0.0, 0.0], [1, 5]]
+    ret.lateralTuning.pid.kiV, ret.lateralTuning.pid.kpV = [[0.0, 0.0], [0.5, 3]]
     ret.lateralTuning.pid.kf = 0
     ret.steerMaxBP = [0.]
     ret.steerMaxV = [SteerLimitParams.MAX_STEERING_TQ]

selfdrive/test/process_replay/test_processes.py

@@ -14,7 +14,7 @@
 INJECT_MODEL = 0
 
 segments = [
-  ("BMW", os.path.dirname(os.path.abspath(__file__)) + "/ref_log/2022-08-31--23-27-00--1--rlog.bz2"),
+  ("BMW", os.path.dirname(os.path.abspath(__file__)) + "/ref_log/2022-09-01--22-52-03--4--rlog.bz2"),
   ("HONDA", "0375fdf7b1ce594d|2019-06-13--08-32-25--3"),      # HONDA.ACCORD
   ("HONDA", "99c94dc769b5d96e|2019-08-03--14-19-59--2"),      # HONDA.CIVIC
   ("TOYOTA", "77611a1fac303767|2020-02-29--13-29-33--3"),     # TOYOTA.COROLLA_TSS2