diff --git a/SConstruct b/SConstruct index 7008bb055cafc3..5420130ea432cb 100644 --- a/SConstruct +++ b/SConstruct @@ -75,7 +75,7 @@ lenv = { "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath, "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath, - "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer", + "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer" } rpath = lenv["LD_LIBRARY_PATH"].copy() @@ -112,6 +112,9 @@ else: # MacOS if arch == "Darwin": + if real_arch == "x86_64": + lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer" + brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip() yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64" libpath = [ @@ -120,9 +123,13 @@ else: f"{brew_prefix}/Library", f"{brew_prefix}/opt/openssl/lib", f"{brew_prefix}/Cellar", - f"#third_party/acados/{arch}/lib", "/System/Library/Frameworks/OpenGL.framework/Libraries", ] + if real_arch == "x86_64": + libpath.append(f"#third_party/acados/Darwin_x86_64/lib") + else: + libpath.append(f"#third_party/acados/{arch}/lib") + cflags += ["-DGL_SILENCE_DEPRECATION"] cxxflags += ["-DGL_SILENCE_DEPRECATION"] cpppath += [ diff --git a/cereal/car.capnp b/cereal/car.capnp index 3cae6d339ea37e..aeac8f071d9c36 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -370,8 +370,7 @@ struct CarControl { off @0; pid @1; stopping @2; - - startingDEPRECATED @3; + starting @3; } } @@ -449,6 +448,7 @@ struct CarParams { enableApgs @6 :Bool; # advanced parking guidance system enableBsm @56 :Bool; # blind spot monitoring flags @64 :UInt32; # flags for car specific quirks + experimentalLongitudinalAvailable @71 :Bool; minEnableSpeed @7 :Float32; minSteerSpeed @8 :Float32; @@ -458,14 +458,7 @@ struct CarParams { # Car docs fields maxLateralAccel @68 :Float32; - autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically - - steerMaxBPDEPRECATED @11 :List(Float32); - steerMaxVDEPRECATED @12 :List(Float32); - gasMaxBPDEPRECATED @13 :List(Float32); - gasMaxVDEPRECATED @14 :List(Float32); - brakeMaxBPDEPRECATED @15 :List(Float32); - brakeMaxVDEPRECATED @16 :List(Float32); + autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically # things about the car in the manual mass @17 :Float32; # [kg] curb weight: all fluids no cargo @@ -494,11 +487,13 @@ struct CarParams { vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state vEgoStarting @59 :Float32; # Speed at which the car goes into starting state directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake - stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping - stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary + stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping steerControlType @34 :SteerControlType; radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN + stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop + startAccel @32 :Float32; # Required acceleration to get car moving + startingState @70 :Bool; # Does this car make use of special starting state steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound @@ -522,18 +517,17 @@ struct CarParams { safetyParam2DEPRECATED @2 :UInt32; } - mdpsBus @70: Int8; - sasBus @71: Int8; - sccBus @72: Int8; - enableAutoHold @73 :Bool; - hasScc13 @74 :Bool; - hasScc14 @75 :Bool; - hasEms @76 :Bool; - hasLfaHda @77 :Bool; - steerFaultMaxAngle @78 :Int16; - steerFaultMaxFrames @79 :Int16; - - disableLateralLiveTuning @80 :Bool; + mdpsBus @72: Int8; + sasBus @73: Int8; + sccBus @74: Int8; + enableAutoHold @75 :Bool; + hasScc13 @76 :Bool; + hasScc14 @77 :Bool; + hasEms @78 :Bool; + hasLfaHda @79 :Bool; + steerFaultMaxAngle @80 :Int16; + steerFaultMaxFrames @81 :Int16; + disableLateralLiveTuning @82 :Bool; struct LateralParams { torqueBP @0 :List(Int32); @@ -658,7 +652,7 @@ struct CarParams { enum Ecu { eps @0; - esp @1; + abs @1; fwdRadar @2; fwdCamera @3; engine @4; @@ -704,7 +698,12 @@ struct CarParams { safetyModelDEPRECATED @9 :SafetyModel; safetyModelPassiveDEPRECATED @42 :SafetyModel = silent; minSpeedCanDEPRECATED @51 :Float32; - startAccelDEPRECATED @32 :Float32; communityFeatureDEPRECATED @46: Bool; startingAccelRateDEPRECATED @53 :Float32; + steerMaxBPDEPRECATED @11 :List(Float32); + steerMaxVDEPRECATED @12 :List(Float32); + gasMaxBPDEPRECATED @13 :List(Float32); + gasMaxVDEPRECATED @14 :List(Float32); + brakeMaxBPDEPRECATED @15 :List(Float32); + brakeMaxVDEPRECATED @16 :List(Float32); } diff --git a/cereal/log.capnp b/cereal/log.capnp index e10290449d6d71..c549396a168e50 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1901,15 +1901,10 @@ struct RoadLimitSpeed { camLimitSpeed @5 :Int16; sectionLimitSpeed @6 :Int16; sectionLeftDist @7 :Int16; - camSpeedFactor @8 :Float32; - restArea @9 :List(RestArea); - - struct RestArea { - image @0 :Text; - title @1 :Text; - oilPrice @2 :Text; - distance @3 :Text; - } + sectionAvgSpeed @8 :Int16; + sectionLeftTime @9 :Int16; + sectionAdjustSpeed @10 :Bool; + camSpeedFactor @11 :Float32; } struct Event { diff --git a/common/params.cc b/common/params.cc index 726ec20b07ea66..de4efae764aa96 100644 --- a/common/params.cc +++ b/common/params.cc @@ -93,6 +93,7 @@ std::unordered_map keys = { {"CarBatteryCapacity", PERSISTENT}, {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CarParamsCache", CLEAR_ON_MANAGER_START}, + {"CarParamsPersistent", PERSISTENT}, {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CompletedTrainingVersion", PERSISTENT}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, @@ -101,8 +102,7 @@ std::unordered_map keys = { {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, {"EndToEndLong", PERSISTENT}, - {"DisableRadar_Allow", PERSISTENT}, - {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB + {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, {"DongleId", PERSISTENT}, diff --git a/docs/CARS.md b/docs/CARS.md index aa7b5ecc5b0440..47694fffeecfba 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -10,93 +10,93 @@ A supported vehicle is one that just works when you install a comma three. All s |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Acura|RDX 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|comma|body|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None| +|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[2](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Civic 2019-21|All|openpilot|0 mph|2 mph[2](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| -|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|e 2020|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|CR-V 2017-22|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|e 2020|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Insight 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Inspire 2018|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Insight 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Inspire 2018|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| |Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| |Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D| -|Hyundai|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Santa Fe 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Santa Fe Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| -|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Kia|Forte 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| +|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| +|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| @@ -185,7 +185,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas 2018-23[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|California 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| diff --git a/docs/assets/icon-star-empty.svg b/docs/assets/icon-star-empty.svg deleted file mode 100644 index 5d3c32d6711aba..00000000000000 --- a/docs/assets/icon-star-empty.svg +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - image/svg+xml - - - - - - - - diff --git a/docs/assets/icon-star-full.svg b/docs/assets/icon-star-full.svg deleted file mode 100644 index 294db2b7f27c01..00000000000000 --- a/docs/assets/icon-star-full.svg +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - image/svg+xml - - - - - - - - diff --git a/docs/assets/icon-star-half.svg b/docs/assets/icon-star-half.svg deleted file mode 100644 index ab905fddcb4de2..00000000000000 --- a/docs/assets/icon-star-half.svg +++ /dev/null @@ -1,66 +0,0 @@ - - - - - - image/svg+xml - - - - - - - - - - diff --git a/opendbc/can/parser.cc b/opendbc/can/parser.cc index 8ea4e5ef9d2da6..471958c0608255 100644 --- a/opendbc/can/parser.cc +++ b/opendbc/can/parser.cc @@ -21,7 +21,7 @@ int64_t get_raw_value(const std::vector &msg, const Signal &sig) { int msb = (int)(sig.msb / 8) == i ? sig.msb : (i+1)*8 - 1; int size = msb - lsb + 1; - uint8_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1); + uint64_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1); ret |= d << (bits - size); bits -= size; @@ -287,10 +287,12 @@ void CANParser::UpdateValid(uint64_t sec) { const bool missing = state.last_seen_nanos == 0; const bool timed_out = (sec - state.last_seen_nanos) > state.check_threshold; if (state.check_threshold > 0 && (missing || timed_out)) { - if (missing) { - LOGE("0x%X MISSING", state.address); - } else if (show_missing) { - LOGE("0x%X TIMEOUT", state.address); + if (show_missing && !bus_timeout) { + if (missing) { + LOGE("0x%X NOT SEEN", state.address); + } else if (timed_out) { + LOGE("0x%X TIMED OUT", state.address); + } } _valid = false; } diff --git a/opendbc/hyundai_canfd.dbc b/opendbc/hyundai_canfd.dbc index 83c5f833f849c0..7ac9e71a367907 100644 --- a/opendbc/hyundai_canfd.dbc +++ b/opendbc/hyundai_canfd.dbc @@ -67,6 +67,8 @@ BO_ 96 ESP_STATUS: 32 XXX SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX SG_ ESP_DISABLED : 42|3@1+ (1,0) [0|63] "" XXX + SG_ BRAKE_POSITION : 128|10@1+ (1,0) [0|65535] "" XXX + SG_ BRAKE_PRESSED : 148|1@1+ (1,0) [0|3] "" XXX BO_ 101 BRAKE: 32 XXX SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX diff --git a/panda/board/build_all.sh b/panda/board/build_all.sh deleted file mode 100755 index 1c3a92de44f15c..00000000000000 --- a/panda/board/build_all.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/usr/bin/env sh -set -e - -scons -u -j$(nproc) -PEDAL=1 scons -u -j$(nproc) -PEDAL=1 PEDAL_USB=1 scons -u -j$(nproc) diff --git a/panda/board/drivers/fan.h b/panda/board/drivers/fan.h index 9d33df70af4bfe..5fc2c52779e49e 100644 --- a/panda/board/drivers/fan.h +++ b/panda/board/drivers/fan.h @@ -37,7 +37,9 @@ void fan_tick(void){ if (fan_state.stall_counter > FAN_STALL_THRESHOLD) { // Stall detected, power cycling fan controller current_board->set_fan_enabled(false); - fan_state.error_integral = 0U; + + // clip integral, can't fully reset otherwise we may always be stuck in stall detection + fan_state.error_integral = MIN(50.0f, MAX(0.0f, fan_state.error_integral)); } } else { fan_state.stall_counter = 0U; diff --git a/panda/board/flash_h7.sh b/panda/board/flash_h7.sh deleted file mode 100755 index 6fb28d2b80c535..00000000000000 --- a/panda/board/flash_h7.sh +++ /dev/null @@ -1,5 +0,0 @@ -#!/usr/bin/env sh -set -e - -scons -u -j$(nproc) -PYTHONPATH=.. python3 -c "from python import Panda; Panda().flash('obj/panda_h7.bin.signed')" diff --git a/panda/board/recover_h7.sh b/panda/board/recover_h7.sh deleted file mode 100755 index c39a24ec7b74f4..00000000000000 --- a/panda/board/recover_h7.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env sh -set -e - -DFU_UTIL="dfu-util" - -scons -u -j$(nproc) - -PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true -sleep 1 -$DFU_UTIL -d 0483:df11 -a 0 -s 0x08020000 -D obj/panda_h7.bin.signed -$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda_h7.bin diff --git a/panda/board/safety.h b/panda/board/safety.h index 32d80cf5f23399..d2100b0fc71e72 100644 --- a/panda/board/safety.h +++ b/panda/board/safety.h @@ -299,7 +299,9 @@ int set_safety_hooks(uint16_t mode, uint16_t param) { rt_torque_last = 0; ts_angle_last = 0; desired_angle_last = 0; - ts_last = 0; + ts_torque_check_last = 0; + ts_steer_req_mismatch_last = 0; + valid_steer_req_count = 0; torque_meas.max = 0; torque_meas.max = 0; @@ -473,10 +475,10 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi violation |= rt_rate_limit_check(desired_torque, rt_torque_last, limits.max_rt_delta); // every RT_INTERVAL set the new limits - uint32_t ts_elapsed = get_ts_elapsed(ts, ts_last); + uint32_t ts_elapsed = get_ts_elapsed(ts, ts_torque_check_last); if (ts_elapsed > limits.max_rt_interval) { rt_torque_last = desired_torque; - ts_last = ts; + ts_torque_check_last = ts; } } @@ -485,16 +487,40 @@ bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLi violation = true; } - // no torque if request bit isn't high - if ((steer_req == 0) && (desired_torque != 0)) { - violation = true; + // certain safety modes set their steer request bit low for one frame at a + // predefined max frequency to avoid steering faults in certain situations + bool steer_req_mismatch = (steer_req == 0) && (desired_torque != 0); + if (steer_req_mismatch) { + // no torque if request bit isn't high + if (!limits.has_steer_req_tolerance) { + violation = true; + + } else { + // disallow torque cut if not enough recent matching steer_req messages + if (valid_steer_req_count < limits.min_valid_request_frames) { + violation = true; + } + + // or we've cut torque too recently in time + uint32_t ts_elapsed = get_ts_elapsed(ts, ts_steer_req_mismatch_last); + if (ts_elapsed < limits.min_valid_request_rt_interval) { + violation = true; + } + + valid_steer_req_count = 0; + ts_steer_req_mismatch_last = ts; + } + } else { + valid_steer_req_count = MIN(valid_steer_req_count + 1, limits.min_valid_request_frames); } // reset to 0 if either controls is not allowed or there's a violation if (violation || !controls_allowed) { + valid_steer_req_count = 0; desired_torque_last = 0; rt_torque_last = 0; - ts_last = ts; + ts_torque_check_last = ts; + ts_steer_req_mismatch_last = ts; } return violation; diff --git a/panda/board/safety/safety_hyundai_community.h b/panda/board/safety/safety_hyundai_community.h index f14c5d18d315d7..905e31000fd268 100644 --- a/panda/board/safety/safety_hyundai_community.h +++ b/panda/board/safety/safety_hyundai_community.h @@ -200,9 +200,55 @@ static int hyundai_community_tx_hook(CANPacket_t *to_send, bool longitudinal_all if (addr == 832) { LKAS11_op = 20; int desired_torque = ((GET_BYTES_04(to_send) >> 16) & 0x7ff) - 1024; - //bool steer_req = GET_BIT(to_send, 27U) != 0U; + uint32_t ts = microsecond_timer_get(); + bool violation = 0; - if (steer_torque_cmd_checks(desired_torque, 1, HYUNDAI_STEERING_LIMITS)) { + if (controls_allowed) { + // *** global torque limit check *** + bool torque_check = 0; + violation |= torque_check = max_limit_check(desired_torque, HYUNDAI_STEERING_LIMITS.max_steer, -HYUNDAI_STEERING_LIMITS.max_steer); + if (torque_check) { + puts(" LKAS TX not allowed: torque limit check failed!\n");} + + // *** torque rate limit check *** + bool torque_rate_check = 0; + violation |= torque_rate_check = driver_limit_check(desired_torque, desired_torque_last, &torque_driver, + HYUNDAI_STEERING_LIMITS.max_steer, HYUNDAI_STEERING_LIMITS.max_rate_up, HYUNDAI_STEERING_LIMITS.max_rate_down, + HYUNDAI_STEERING_LIMITS.driver_torque_allowance, HYUNDAI_STEERING_LIMITS.driver_torque_factor); + if (torque_rate_check) { + puts(" LKAS TX not allowed: torque rate limit check failed!\n");} + + // used next time + desired_torque_last = desired_torque; + + // *** torque real time rate limit check *** + bool torque_rt_check = 0; + violation |= torque_rt_check = rt_rate_limit_check(desired_torque, rt_torque_last, HYUNDAI_STEERING_LIMITS.max_rt_delta); + if (torque_rt_check) { + puts(" LKAS TX not allowed: torque real time rate limit check failed!\n");} + + // every RT_INTERVAL set the new limits + uint32_t ts_elapsed = get_ts_elapsed(ts, ts_torque_check_last); + if (ts_elapsed > HYUNDAI_STEERING_LIMITS.max_rt_interval) { + rt_torque_last = desired_torque; + ts_torque_check_last = ts; + } + } + + // no torque if controls is not allowed + if (!controls_allowed && (desired_torque != 0)) { + violation = 1; + puts(" LKAS torque not allowed: controls not allowed!\n"); + } + + // reset to 0 if either controls is not allowed or there's a violation + if (!controls_allowed) { // a reset worsen the issue of Panda blocking some valid LKAS messages + desired_torque_last = 0; + rt_torque_last = 0; + ts_torque_check_last = ts; + } + + if (violation) { tx = 0; } } diff --git a/panda/board/safety_declarations.h b/panda/board/safety_declarations.h index 3beeecc6b0bfea..fdccc436bfd191 100644 --- a/panda/board/safety_declarations.h +++ b/panda/board/safety_declarations.h @@ -46,6 +46,11 @@ typedef struct { // motor torque limits const int max_torque_error; + + // safety around steer req bit + const int min_valid_request_frames; + const uint32_t min_valid_request_rt_interval; + const bool has_steer_req_tolerance; } SteeringLimits; typedef struct { @@ -143,9 +148,11 @@ int cruise_button_prev = 0; // for safety modes with torque steering control int desired_torque_last = 0; // last desired steer torque int rt_torque_last = 0; // last desired torque for real time check +int valid_steer_req_count = 0; // counter for steer request bit matching non-zero torque struct sample_t torque_meas; // last 6 motor torques produced by the eps struct sample_t torque_driver; // last 6 driver torques measured -uint32_t ts_last = 0; +uint32_t ts_torque_check_last = 0; +uint32_t ts_steer_req_mismatch_last = 0; // last timestamp steer req was mismatched with torque // state for controls_allowed timeout logic bool heartbeat_engaged = false; // openpilot enabled, passed in heartbeat USB command diff --git a/panda/examples/query_fw_versions.py b/panda/examples/query_fw_versions.py index 11aba600a253f1..2d4509745c381d 100644 --- a/panda/examples/query_fw_versions.py +++ b/panda/examples/query_fw_versions.py @@ -34,7 +34,6 @@ panda = Panda() panda.set_safety_mode(Panda.SAFETY_ELM327) - panda.set_heartbeat_disabled() print("querying addresses ...") with tqdm(addrs) as t: for addr in t: diff --git a/release/files_common b/release/files_common index 10c66a8960fc43..be0a4f0f03ba9e 100644 --- a/release/files_common +++ b/release/files_common @@ -101,6 +101,7 @@ selfdrive/car/interfaces.py selfdrive/car/vin.py selfdrive/car/disable_ecu.py selfdrive/car/fw_versions.py +selfdrive/car/fw_query_definitions.py selfdrive/car/ecu_addrs.py selfdrive/car/isotp_parallel_query.py selfdrive/car/tests/__init__.py @@ -173,7 +174,6 @@ selfdrive/controls/lib/alerts_offroad.json selfdrive/controls/lib/desire_helper.py selfdrive/controls/lib/drive_helpers.py selfdrive/controls/lib/events.py -selfdrive/controls/lib/lane_planner.py selfdrive/controls/lib/latcontrol_angle.py selfdrive/controls/lib/latcontrol_indi.py selfdrive/controls/lib/latcontrol_torque.py diff --git a/release/files_tici b/release/files_tici index 8e3249cdfd55fb..c8abd720d5d637 100644 --- a/release/files_tici +++ b/release/files_tici @@ -9,6 +9,8 @@ selfdrive/assets/training_wide/* system/camerad/cameras/camera_qcom2.cc system/camerad/cameras/camera_qcom2.h +system/camerad/cameras/camera_util.cc +system/camerad/cameras/camera_util.h system/camerad/cameras/real_debayer.cl selfdrive/sensord/rawgps/* diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 7deacc0ba112eb..abacf5aebbce5d 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -175,14 +175,14 @@ def get_car(logcan, sendcan): cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) candidate = "mock" - disable_radar = Params().get_bool("DisableRadar") + experimental_long = Params().get_bool("ExperimentalLongitudinalEnabled") selected_car = Params().get("SelectedCar") if selected_car: candidate = selected_car.decode("utf-8") CarInterface, CarController, CarState = interfaces[candidate] - CP = CarInterface.get_params(candidate, fingerprints, car_fw, disable_radar) + CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long) CP.carVin = vin CP.carFw = car_fw CP.fingerprintSource = source diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py new file mode 100755 index 00000000000000..c3b74da92049e5 --- /dev/null +++ b/selfdrive/car/fw_query_definitions.py @@ -0,0 +1,66 @@ +#!/usr/bin/env python3 +import capnp +from dataclasses import dataclass, field +import struct +from typing import Dict, List + +import panda.python.uds as uds + + +def p16(val): + return struct.pack("!H", val) + + +class StdQueries: + # FW queries + TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0]) + TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0]) + + SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT]) + SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40]) + + DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, + uds.SESSION_TYPE.DEFAULT]) + DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, + uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4]) + + EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, + uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC]) + EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, + uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4]) + + MANUFACTURER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + + UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + + OBD_VERSION_REQUEST = b'\x09\x04' + OBD_VERSION_RESPONSE = b'\x49\x04' + + # VIN queries + OBD_VIN_REQUEST = b'\x09\x02' + OBD_VIN_RESPONSE = b'\x49\x02\x01' + + UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) + UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(uds.DATA_IDENTIFIER_TYPE.VIN) + + +@dataclass +class Request: + request: List[bytes] + response: List[bytes] + whitelist_ecus: List[int] = field(default_factory=list) + rx_offset: int = 0x8 + bus: int = 1 + + +@dataclass +class FwQueryConfig: + requests: List[Request] + # Overrides and removes from essential ecus for specific models and ecus (exact matching) + non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 4213b1a2121d26..9c0c406f14991c 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,9 +1,7 @@ #!/usr/bin/env python3 -import struct import traceback from collections import defaultdict -from dataclasses import dataclass, field -from typing import Any, List, Optional, Set, Tuple +from typing import Any, Optional, Set, Tuple from tqdm import tqdm import panda.python.uds as uds @@ -15,233 +13,13 @@ from system.swaglog import cloudlog Ecu = car.CarParams.Ecu -ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] +ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] +FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) +VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) -def p16(val): - return struct.pack("!H", val) - - -TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT, 0x0]) -TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40, 0x0]) - -SHORT_TESTER_PRESENT_REQUEST = bytes([uds.SERVICE_TYPE.TESTER_PRESENT]) -SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40]) - -DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, - uds.SESSION_TYPE.DEFAULT]) -DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, - uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4]) - -EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, - uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC]) -EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, - uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4]) - -UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) -UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) - - -HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(0xf100) # Long description -HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ - p16(0xf100) -HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) - - -TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01' -TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01' - -VOLKSWAGEN_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) -VOLKSWAGEN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) - -OBD_VERSION_REQUEST = b'\x09\x04' -OBD_VERSION_RESPONSE = b'\x49\x04' - -DEFAULT_RX_OFFSET = 0x8 -VOLKSWAGEN_RX_OFFSET = 0x6a - -MAZDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) -MAZDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) - -NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0]) -NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0]) - -NISSAN_VERSION_REQUEST_KWP = b'\x21\x83' -NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83' - -NISSAN_VERSION_REQUEST_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) -NISSAN_VERSION_RESPONSE_STANDARD = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) - -NISSAN_RX_OFFSET = 0x20 - -SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) -SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION) - -CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(0xf132) -CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(0xf132) - -CHRYSLER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) -CHRYSLER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_NUMBER) - -CHRYSLER_RX_OFFSET = -0x280 - -FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) -FORD_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ - p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) - - -@dataclass -class Request: - brand: str - request: List[bytes] - response: List[bytes] - whitelist_ecus: List[int] = field(default_factory=list) - rx_offset: int = DEFAULT_RX_OFFSET - bus: int = 1 - - -REQUESTS: List[Request] = [ - # Subaru - Request( - "subaru", - [TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE], - ), - # Hyundai - Request( - "hyundai", - [HYUNDAI_VERSION_REQUEST_LONG], - [HYUNDAI_VERSION_RESPONSE], - ), - Request( - "hyundai", - [HYUNDAI_VERSION_REQUEST_MULTI], - [HYUNDAI_VERSION_RESPONSE], - ), - # Honda - Request( - "honda", - [UDS_VERSION_REQUEST], - [UDS_VERSION_RESPONSE], - ), - # Toyota - Request( - "toyota", - [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST], - [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE], - bus=0, - ), - Request( - "toyota", - [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST], - [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE], - bus=0, - ), - Request( - "toyota", - [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE], - bus=0, - ), - # Volkswagen - Request( - "volkswagen", - [VOLKSWAGEN_VERSION_REQUEST_MULTI], - [VOLKSWAGEN_VERSION_RESPONSE], - whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar], - rx_offset=VOLKSWAGEN_RX_OFFSET, - ), - Request( - "volkswagen", - [VOLKSWAGEN_VERSION_REQUEST_MULTI], - [VOLKSWAGEN_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine, Ecu.transmission], - ), - # Mazda - Request( - "mazda", - [MAZDA_VERSION_REQUEST], - [MAZDA_VERSION_RESPONSE], - ), - # Nissan - Request( - "nissan", - [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], - [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], - ), - Request( - "nissan", - [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP], - [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP], - rx_offset=NISSAN_RX_OFFSET, - ), - Request( - "nissan", - [NISSAN_VERSION_REQUEST_STANDARD], - [NISSAN_VERSION_RESPONSE_STANDARD], - rx_offset=NISSAN_RX_OFFSET, - ), - # Body - Request( - "body", - [TESTER_PRESENT_REQUEST, UDS_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE], - bus=0, - ), - # Chrysler / FCA / Stellantis - Request( - "chrysler", - [CHRYSLER_VERSION_REQUEST], - [CHRYSLER_VERSION_RESPONSE], - whitelist_ecus=[Ecu.esp, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter], - rx_offset=CHRYSLER_RX_OFFSET, - ), - Request( - "chrysler", - [CHRYSLER_VERSION_REQUEST], - [CHRYSLER_VERSION_RESPONSE], - whitelist_ecus=[Ecu.esp, Ecu.hcp, Ecu.engine, Ecu.transmission], - ), - Request( - "chrysler", - [CHRYSLER_SOFTWARE_VERSION_REQUEST], - [CHRYSLER_SOFTWARE_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine, Ecu.transmission], - ), - # Ford - Request( - "ford", - [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], - whitelist_ecus=[Ecu.engine], - ), - Request( - "ford", - [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST], - [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE], - bus=0, - whitelist_ecus=[Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera], - ), -] +MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e} +REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] def chunks(l, n=128): @@ -260,9 +38,8 @@ def build_fw_dict(fw_versions, filter_brand=None): def get_brand_addrs(): - versions = get_interface_attr('FW_VERSIONS', ignore_none=True) brand_addrs = defaultdict(set) - for brand, cars in versions.items(): + for brand, cars in VERSIONS.items(): for fw in cars.values(): brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} return brand_addrs @@ -324,13 +101,19 @@ def match_fw_to_car_exact(fw_versions_dict): for candidate, fws in candidates.items(): for ecu, expected_versions in fws.items(): + config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] ecu_type = ecu[0] addr = ecu[1:] + found_versions = fw_versions_dict.get(addr, set()) + if not len(found_versions): + # Some models can sometimes miss an ecu, or show on two different addresses + if candidate in config.non_essential_ecus.get(ecu_type, []): + continue - # Ignore non essential ecus - if ecu_type not in ESSENTIAL_ECUS and not len(found_versions): - continue + # Ignore non essential ecus + if ecu_type not in ESSENTIAL_ECUS: + continue # Virtual debug ecu doesn't need to match the database if ecu_type == Ecu.debug: @@ -351,11 +134,10 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): if allow_fuzzy: exact_matches.append((False, match_fw_to_car_fuzzy)) - brands = get_interface_attr('FW_VERSIONS', ignore_none=True).keys() for exact_match, match_func in exact_matches: # For each brand, attempt to fingerprint using all FW returned from its queries matches = set() - for brand in brands: + for brand in VERSIONS.keys(): fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) matches |= match_func(fw_versions_dict) @@ -369,13 +151,9 @@ def get_present_ecus(logcan, sendcan): queries = list() parallel_queries = list() responses = set() - versions = get_interface_attr('FW_VERSIONS', ignore_none=True) - - for r in REQUESTS: - if r.brand not in versions: - continue - for brand_versions in versions[r.brand].values(): + for brand, r in REQUESTS: + for brand_versions in VERSIONS[brand].values(): for ecu_type, addr, sub_addr in brand_versions: # Only query ecus in whitelist if whitelist is not empty if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: @@ -404,9 +182,9 @@ def get_brand_ecu_matches(ecu_rx_addrs): """Returns dictionary of brands and matches with ECUs in their FW versions""" brand_addrs = get_brand_addrs() - brand_matches = {r.brand: set() for r in REQUESTS} + brand_matches = {brand: set() for brand, _ in REQUESTS} - brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS) + brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS) for addr, sub_addr, _ in ecu_rx_addrs: # Since we can't know what request an ecu responded to, add matches for all possible rx offsets for brand, rx_offset in brand_rx_offsets: @@ -435,8 +213,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False): - versions = get_interface_attr('FW_VERSIONS', ignore_none=True) - if query_brand is not None and query_brand in versions.keys(): + versions = VERSIONS.copy() + if query_brand is not None: versions = {query_brand: versions[query_brand]} if extra is not None: @@ -466,12 +244,12 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Get versions and build capnp list to put into CarParams car_fw = [] - requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand] + requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): - for r in requests: + for brand, r in requests: try: - addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and + addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] if addrs: @@ -479,12 +257,12 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for (addr, rx_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() - f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown) + f.ecu = ecu_types.get((brand, addr[0], addr[1]), Ecu.unknown) f.fwVersion = version f.address = addr[0] f.responseAddress = rx_addr f.request = r.request - f.brand = r.brand + f.brand = brand f.bus = r.bus if addr[1] is not None: diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index ddf49658eb519f..48f30c04f266cb 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -35,7 +35,7 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed): v_current_kph = current_speed * CV.MS_TO_KPH gas_max_bp = [10., 20., 50., 70., 130., 150.] - gas_max_v = [1.4, 1.2, 0.63, 0.44, 0.15, 0.1] + gas_max_v = [1.3, 1.1, 0.63, 0.44, 0.15, 0.1] return CarControllerParams.ACCEL_MIN, interp(v_current_kph, gas_max_bp, gas_max_v) @@ -98,7 +98,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl ret.longitudinalActuatorDelayLowerBound = 0.3 ret.longitudinalActuatorDelayUpperBound = 0.3 - ret.stopAccel = -2.5 + ret.stopAccel = -2.0 ret.stoppingDecelRate = 0.4 # brake_travel/s while trying to stop ret.vEgoStopping = 0.5 ret.vEgoStarting = 0.5 diff --git a/selfdrive/car/hyundai/scc_smoother.py b/selfdrive/car/hyundai/scc_smoother.py index e3ff9bc8020926..060cef8bf85fed 100644 --- a/selfdrive/car/hyundai/scc_smoother.py +++ b/selfdrive/car/hyundai/scc_smoother.py @@ -10,7 +10,7 @@ from selfdrive.car.hyundai.values import Buttons from common.params import Params from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_MIN, V_CRUISE_DELTA_KM, V_CRUISE_DELTA_MI, CONTROL_N -from selfdrive.controls.lib.lane_planner import TRAJECTORY_SIZE +from selfdrive.controls.lib.lateral_planner import TRAJECTORY_SIZE from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import AUTO_TR_CRUISE_GAP from selfdrive.ntune import ntune_scc_get @@ -63,13 +63,10 @@ def kph_to_clu(self, kph): def __init__(self): - params = Params() + self.params = Params() + self.read_param() - self.longcontrol = params.get_bool('LongControlEnabled') - self.slow_on_curves = params.get_bool('SccSmootherSlowOnCurves') - self.sync_set_speed_while_gas_pressed = params.get_bool('SccSmootherSyncGasPressed') - self.is_metric = params.get_bool('IsMetric') - self.e2e_long = params.get_bool('EndToEndLong') + self.param_read_counter = 0 self.speed_conv_to_ms = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS self.speed_conv_to_clu = CV.MS_TO_KPH if self.is_metric else CV.MS_TO_MPH @@ -99,6 +96,13 @@ def __init__(self): self.curve_speed_ms = 0. self.stock_weight = 0. + def read_param(self): + self.longcontrol = self.params.get_bool('LongControlEnabled') + self.slow_on_curves = self.params.get_bool('SccSmootherSlowOnCurves') + self.sync_set_speed_while_gas_pressed = self.params.get_bool('SccSmootherSyncGasPressed') + self.is_metric = self.params.get_bool('IsMetric') + self.e2e_long = self.params.get_bool('EndToEndLong') + def reset(self): self.wait_timer = 0 @@ -202,6 +206,10 @@ def cal_max_speed(self, frame, CC, CS, sm, clu11_speed, controls): def update(self, enabled, can_sends, packer, CC, CS, frame, controls): + if self.param_read_counter % 100 == 0: + self.read_param() + self.param_read_counter += 1 + # mph or kph clu11_speed = CS.clu11["CF_Clu_Vanz"] @@ -357,11 +365,12 @@ def get_apply_accel(self, CS, sm, accel, stopping): gas_factor = ntune_scc_get("sccGasFactor") brake_factor = ntune_scc_get("sccBrakeFactor") - if not self.e2e_long: - start_boost = interp(CS.out.vEgo, [0.0, CREEP_SPEED, 2 * CREEP_SPEED], [0.6, 0.6, 0.0]) - is_accelerating = interp(accel, [0.0, 0.2], [0.0, 1.0]) - boost = start_boost * is_accelerating - accel += boost + boost_v = 0.2 if self.e2e_long else 0.5 + + start_boost = interp(CS.out.vEgo, [CREEP_SPEED, 2 * CREEP_SPEED], [boost_v, 0.0]) + is_accelerating = interp(accel, [0.0, 0.2], [0.0, 1.0]) + boost = start_boost * is_accelerating + accel += boost if accel > 0: accel *= gas_factor diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5f9d5a46b018a7..42e91316cc0a5b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,7 +1,10 @@ from enum import IntFlag from cereal import car +from panda.python import uds from selfdrive.car import dbc_dict +from selfdrive.car.fw_query_definitions import FwQueryConfig, p16, Request + Ecu = car.CarParams.Ecu class CarControllerParams: @@ -341,9 +344,30 @@ class Buttons: }], } +HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf100) # Long description +HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ + p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ + p16(0xf100) +HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + ), + Request( + [HYUNDAI_VERSION_REQUEST_MULTI], + [HYUNDAI_VERSION_RESPONSE], + ), + ], +) + FW_VERSIONS = { CAR.EV6: { - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', ], (Ecu.eps, 0x7d4, None): [ @@ -358,7 +382,7 @@ class Buttons: ], }, CAR.IONIQ_5: { - (Ecu.esp, 0x7d1, None): [ + (Ecu.abs, 0x7d1, None): [ b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010', b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010', ], diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index d199b6fb4b68fa..ee1470f7cde9ae 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -86,7 +86,7 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed): @staticmethod @abstractmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): pass @staticmethod diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index c7cedbc264de38..cf9b4c454a83ff 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -33,7 +33,7 @@ def compute_gb(accel, speed): return accel @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False): + def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) ret.carName = "mock" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)] diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 14ee7e223962f8..fcc762c2b85750 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -13,6 +13,7 @@ TESLA AP2 MODEL S: [.nan, 2.5, .nan] # Guess FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan] +FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan] FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] ### diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index ae3aa675c763dd..fba0c54eba165f 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -1,19 +1,12 @@ #!/usr/bin/env python3 import re -import struct import traceback import cereal.messaging as messaging -import panda.python.uds as uds from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from selfdrive.car.fw_query_definitions import StdQueries from system.swaglog import cloudlog -OBD_VIN_REQUEST = b'\x09\x02' -OBD_VIN_RESPONSE = b'\x49\x02\x01' - -UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN) -UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN) - VIN_UNKNOWN = "0" * 17 VIN_RE = "[A-HJ-NPR-Z0-9]{17}" @@ -25,7 +18,7 @@ def is_valid_vin(vin: str): def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI for i in range(retry): - for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)): + for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): try: query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug) for (addr, rx_addr), vin in query.get_data(timeout).items(): diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3aeb31332c6f6b..f291112a1a8e1f 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -12,10 +12,10 @@ from common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE from system.swaglog import cloudlog -from system.version import get_short_branch +from system.version import is_tested_branch, get_short_branch from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can -from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET +from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature from selfdrive.controls.lib.latcontrol import LatControl @@ -136,10 +136,14 @@ def __init__(self, sm=None, pm=None, can_sock=None, CI=None): safety_config.safetyModel = car.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] + if is_tested_branch(): + self.CP.experimentalLongitudinalAvailable = False + # Write CarParams for radard cp_bytes = self.CP.to_bytes() params.put("CarParams", cp_bytes) put_nonblocking("CarParamsCache", cp_bytes) + put_nonblocking("CarParamsPersistent", cp_bytes) self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() @@ -739,8 +743,8 @@ def publish_logs(self, CS, start_time, CC, lac_log): model_v2 = self.sm['modelV2'] desire_prediction = model_v2.meta.desirePrediction if len(desire_prediction) and ldw_allowed: - right_lane_visible = self.sm['lateralPlan'].rProb > 0.5 - left_lane_visible = self.sm['lateralPlan'].lProb > 0.5 + right_lane_visible = model_v2.laneLineProbs[2] > 0.5 + left_lane_visible = model_v2.laneLineProbs[1] > 0.5 l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1] r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1] diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 30244f197bd189..1fc98cbf678d71 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -8,7 +8,7 @@ LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection -LANE_CHANGE_SPEED_MIN = 60 * CV.KPH_TO_MS +LANE_CHANGE_SPEED_MIN = 25 * CV.KPH_TO_MS LANE_CHANGE_TIME_MAX = 10. DESIRES = { diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index 9cbd047ab22e0a..497776326e9265 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -5,18 +5,15 @@ from common.realtime import DT_MDL from system.swaglog import cloudlog -ENABLE_ZORROBYTE = True -ENABLE_INC_LANE_PROB = True - TRAJECTORY_SIZE = 33 -# camera offset is meters from center car to camera -# model path is in the frame of the camera -PATH_OFFSET = 0.00 CAMERA_OFFSET = 0.04 +ENABLE_ZORROBYTE = True +ENABLE_INC_LANE_PROB = True + class LanePlanner: - def __init__(self, wide_camera=False): + def __init__(self,): self.ll_t = np.zeros((TRAJECTORY_SIZE,)) self.ll_x = np.zeros((TRAJECTORY_SIZE,)) self.lll_y = np.zeros((TRAJECTORY_SIZE,)) @@ -35,8 +32,7 @@ def __init__(self, wide_camera=False): self.l_lane_change_prob = 0. self.r_lane_change_prob = 0. - self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET - self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET + self.camera_offset = CAMERA_OFFSET self.readings = [] self.frame = 0 @@ -62,7 +58,6 @@ def parse_model(self, md): def get_d_path(self, v_ego, path_t, path_xyz): # Reduce reliance on lanelines that are too far apart or # will be in a few seconds - path_xyz[:, 1] += self.path_offset l_prob, r_prob = self.lll_prob, self.rll_prob width_pts = self.rll_y - self.lll_y prob_mods = [] diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index dd842db8dce044..ebb2e813a11177 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -1,20 +1,23 @@ import numpy as np from common.realtime import sec_since_boot, DT_MDL from common.numpy_fast import interp +from selfdrive.controls.lib.lane_planner import LanePlanner from selfdrive.ntune import ntune_common_get from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N -from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE from selfdrive.controls.lib.desire_helper import DesireHelper, AUTO_LCA_START_TIME import cereal.messaging as messaging from cereal import log +from common.params import Params +TRAJECTORY_SIZE = 33 +CAMERA_OFFSET = 0.04 class LateralPlanner: - def __init__(self, CP, use_lanelines=True, wide_camera=False): - self.use_lanelines = use_lanelines - self.LP = LanePlanner(wide_camera) + def __init__(self, CP): + self.use_lanelines = not Params().get_bool('EndToEndToggle') + self.LP = LanePlanner() self.DH = DesireHelper() # Vehicle model parameters used to calculate lateral movement of car @@ -88,7 +91,7 @@ def update(self, sm): heading_pts, curv_rate_pts) # init state for next - # mpc.u_sol is the desired curvature rate given x0 curv state. + # mpc.u_sol is the desired curvature rate given x0 curv state. # with x0[3] = measured_curvature, this would be the actual desired rate. # instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control. self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3]) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 75bce5f1ff4b48..a95ea839359ac5 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -11,16 +11,21 @@ ACCEL_MIN_ISO = -3.5 # m/s^2 ACCEL_MAX_ISO = 2.0 # m/s^2 - def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, - v_target_future, brake_pressed, cruise_standstill, radar_state): - """Update longitudinal control state machine""" - accelerating = v_target_future > v_target - stopping_condition = (v_ego < 2.0 and cruise_standstill) or \ - (v_ego < CP.vEgoStopping and - ((v_target_future < CP.vEgoStopping and not accelerating) or brake_pressed)) - - starting_condition = v_target_future > CP.vEgoStarting and accelerating and not cruise_standstill + v_target_1sec, brake_pressed, cruise_standstill, radar_state): + accelerating = v_target_1sec > v_target + planned_stop = (v_target < CP.vEgoStopping and + v_target_1sec < CP.vEgoStopping and + not accelerating) + stay_stopped = (v_ego < CP.vEgoStopping and + (brake_pressed or cruise_standstill)) + stopping_condition = planned_stop or stay_stopped + + starting_condition = (v_target_1sec > CP.vEgoStarting and + accelerating and + not cruise_standstill and + not brake_pressed) + started_condition = v_ego > CP.vEgoStarting # neokii if radar_state is not None and radar_state.leadOne is not None and radar_state.leadOne.status: @@ -38,9 +43,21 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, long_control_state = LongCtrlState.stopping elif long_control_state == LongCtrlState.stopping: - if starting_condition: + if starting_condition and CP.startingState: + long_control_state = LongCtrlState.starting + elif starting_condition: long_control_state = LongCtrlState.pid + elif long_control_state == LongCtrlState.starting: + if stopping_condition: + long_control_state = LongCtrlState.stopping + elif started_condition: + long_control_state = LongCtrlState.pid + + + + + return long_control_state @@ -64,65 +81,63 @@ def update(self, active, CS, long_plan, accel_limits, t_since_plan, radar_state) # Interp control trajectory speeds = long_plan.speeds if len(speeds) == CONTROL_N: - v_target = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds) - a_target = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels) + v_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], speeds) + a_target_now = interp(t_since_plan, T_IDXS[:CONTROL_N], long_plan.accels) v_target_lower = interp(self.CP.longitudinalActuatorDelayLowerBound + t_since_plan, T_IDXS[:CONTROL_N], speeds) - a_target_lower = 2 * (v_target_lower - v_target) / self.CP.longitudinalActuatorDelayLowerBound - a_target + a_target_lower = 2 * (v_target_lower - v_target_now) / self.CP.longitudinalActuatorDelayLowerBound - a_target_now v_target_upper = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan, T_IDXS[:CONTROL_N], speeds) - a_target_upper = 2 * (v_target_upper - v_target) / self.CP.longitudinalActuatorDelayUpperBound - a_target + a_target_upper = 2 * (v_target_upper - v_target_now) / self.CP.longitudinalActuatorDelayUpperBound - a_target_now + + v_target = min(v_target_lower, v_target_upper) a_target = min(a_target_lower, a_target_upper) - v_target_future = speeds[-1] + v_target_1sec = interp(self.CP.longitudinalActuatorDelayUpperBound + t_since_plan + 1.0, T_IDXS[:CONTROL_N], speeds) else: v_target = 0.0 - v_target_future = 0.0 + v_target_now = 0.0 + v_target_1sec = 0.0 a_target = 0.0 - # TODO: This check is not complete and needs to be enforced by MPC - a_target = clip(a_target, ACCEL_MIN_ISO, ACCEL_MAX_ISO) - self.pid.neg_limit = accel_limits[0] self.pid.pos_limit = accel_limits[1] - # Update state machine output_accel = self.last_output_accel self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo, - v_target, v_target_future, CS.brakePressed, + v_target, v_target_1sec, CS.brakePressed, CS.cruiseState.standstill, radar_state) if self.long_control_state == LongCtrlState.off: self.reset(CS.vEgo) output_accel = 0. - # tracking objects and driving + elif self.long_control_state == LongCtrlState.stopping: + if output_accel > self.CP.stopAccel: + output_accel -= self.CP.stoppingDecelRate * DT_CTRL * \ + interp(output_accel, [self.CP.stopAccel/2., 0., 1.], [0.5, 1., 2.]) + self.reset(CS.vEgo) + + elif self.long_control_state == LongCtrlState.starting: + output_accel = self.CP.startAccel + self.reset(CS.vEgo) + elif self.long_control_state == LongCtrlState.pid: - self.v_pid = v_target + self.v_pid = v_target_now # Toyota starts braking more when it thinks you want to stop # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration - prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_future < 0.7 and v_target_future < self.v_pid + # TODO too complex, needs to be simplified and tested on toyotas + prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV) freeze_integrator = prevent_overshoot error = self.v_pid - CS.vEgo error_deadzone = apply_deadzone(error, deadzone) - output_accel = self.pid.update(error_deadzone, speed=CS.vEgo, feedforward=a_target, freeze_integrator=freeze_integrator) - - if prevent_overshoot: - output_accel = min(output_accel, 0.0) - - # Intention is to stop, switch to a different brake control until we stop - elif self.long_control_state == LongCtrlState.stopping: - # Keep applying brakes until the car is stopped - if not CS.standstill or output_accel > self.CP.stopAccel: - output_accel -= self.CP.stoppingDecelRate * DT_CTRL * \ - interp(output_accel, [self.CP.stopAccel/2., 0., 1.], [0.5, 1., 2.]) - output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) - self.reset(CS.vEgo) + output_accel = self.pid.update(error_deadzone, speed=CS.vEgo, + feedforward=a_target, + freeze_integrator=freeze_integrator) - self.last_output_accel = output_accel - final_accel = clip(output_accel, accel_limits[0], accel_limits[1]) + self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1]) - return final_accel + return self.last_output_accel diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 8a238839457867..dfb63c5ec77fa8 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -25,7 +25,7 @@ X_DIM = 3 U_DIM = 1 -PARAM_DIM = 5 +PARAM_DIM = 7 COST_E_DIM = 5 COST_DIM = COST_E_DIM + 1 CONSTR_DIM = 4 @@ -38,16 +38,17 @@ A_CHANGE_COST = 20. # 200. DANGER_ZONE_COST = 100. CRASH_DISTANCE = .5 +LEAD_DANGER_FACTOR = 0.75 LIMIT_COST = 1e6 ACADOS_SOLVER_TYPE = 'SQP_RTI' CRUISE_GAP_BP = [1., 2., 3., 4.] -CRUISE_GAP_V = [1.1, 1.3, 1.58, 2.10] -AUTO_TR_BP = [0., 30.*CV.KPH_TO_MS, 70.*CV.KPH_TO_MS, 110.*CV.KPH_TO_MS] -AUTO_TR_V = [1.1, 1.2, 1.3, 1.45] +CRUISE_GAP_V = [1.1, 1.3, 1.6, 1.8] +CRUISE_GAP_E2E_V = [1.3, 1.45, 1.6, 1.8] -E2E_TR_FACTOR = 1.3 +AUTO_TR_BP = [0., 30.*CV.KPH_TO_MS, 70.*CV.KPH_TO_MS, 110.*CV.KPH_TO_MS] +AUTO_TR_V = [1.2, 1.3, 1.4, 1.5] AUTO_TR_CRUISE_GAP = 4 DIFF_RADAR_VISION = 1.0 @@ -64,17 +65,18 @@ MIN_ACCEL = -3.5 MAX_ACCEL = 2.0 T_FOLLOW = 1.45 -COMFORT_BRAKE = 2.2 -STOP_DISTANCE = 6.3 +COMFORT_BRAKE = 2.5 +STOP_DISTANCE = 5.0 +STOP_DISTANCE_E2E = 4.0 def get_stopped_equivalence_factor(v_lead): return (v_lead**2) / (2 * COMFORT_BRAKE) -def get_safe_obstacle_distance(v_ego, tr): - return (v_ego**2) / (2 * COMFORT_BRAKE) + tr * v_ego + STOP_DISTANCE +def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW, stop_dist=STOP_DISTANCE): + return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + stop_dist -def desired_follow_distance(v_ego, v_lead, tr): - return get_safe_obstacle_distance(v_ego, tr) - get_stopped_equivalence_factor(v_lead) +def desired_follow_distance(v_ego, v_lead): + return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) def gen_long_model(): @@ -102,8 +104,11 @@ def gen_long_model(): a_max = SX.sym('a_max') x_obstacle = SX.sym('x_obstacle') prev_a = SX.sym('prev_a') - tr = SX.sym('tr') - model.p = vertcat(a_min, a_max, x_obstacle, prev_a, tr) + lead_t_follow = SX.sym('lead_t_follow') + lead_danger_factor = SX.sym('lead_danger_factor') + stop_dist = SX.sym('stop_dist') + + model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor, stop_dist) # dynamics model f_expl = vertcat(v_ego, a_ego, j_ego) @@ -137,12 +142,14 @@ def gen_long_ocp(): a_min, a_max = ocp.model.p[0], ocp.model.p[1] x_obstacle = ocp.model.p[2] prev_a = ocp.model.p[3] - tr = ocp.model.p[4] + lead_t_follow = ocp.model.p[4] + lead_danger_factor = ocp.model.p[5] + stop_dist = ocp.model.p[6] ocp.cost.yref = np.zeros((COST_DIM, )) ocp.cost.yref_e = np.zeros((COST_E_DIM, )) - desired_dist_comfort = get_safe_obstacle_distance(v_ego, tr) + desired_dist_comfort = get_safe_obstacle_distance(v_ego, lead_t_follow, stop_dist) # The main cost in normal operation is how close you are to the "desired" distance # from an obstacle at every timestep. This obstacle can be a lead car @@ -163,12 +170,12 @@ def gen_long_ocp(): constraints = vertcat(v_ego, (a_ego - a_min), (a_max - a_ego), - ((x_obstacle - x_ego) - (3/4) * (desired_dist_comfort)) / (v_ego + 10.)) + ((x_obstacle - x_ego) - lead_danger_factor * (desired_dist_comfort)) / (v_ego + 10.)) ocp.model.con_h_expr = constraints x0 = np.zeros(X_DIM) ocp.constraints.x0 = x0 - ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW]) + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR, STOP_DISTANCE]) # We put all constraint cost weights to 0 and only set them at runtime cost_weights = np.zeros(CONSTR_DIM) @@ -226,7 +233,8 @@ def reset(self): self.x_sol = np.zeros((N+1, X_DIM)) self.u_sol = np.zeros((N,1)) self.params = np.zeros((N+1, PARAM_DIM)) - self.param_tr = T_FOLLOW + self.t_follow = T_FOLLOW + self.stop_dist = STOP_DISTANCE for i in range(N+1): self.solver.set(i, 'x', np.zeros(X_DIM)) self.last_cloudlog_t = 0 @@ -264,7 +272,7 @@ def set_weights(self, prev_accel_constraint=True): constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': cost_weights = [0., 0.2, 0.25, 1.0, 0.0, 1.0] - constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 5.0] + constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] elif self.mode == 'e2e': cost_weights = [0., 0.2, 0.25, 1., 0.0, .1] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0] @@ -323,16 +331,15 @@ def update(self, carstate, radarstate, v_cruise, x, v, a, j): lead_xv_1 = self.process_lead(radarstate.leadTwo) # neokii - cruise_gap = int(clip(carstate.cruiseGap, 1., 4.)) + cruise_gap = int(clip(carstate.cruiseGap, 1., 4.)) if carstate.cruiseGap > 0 else AUTO_TR_CRUISE_GAP if cruise_gap == AUTO_TR_CRUISE_GAP: - tr = interp(carstate.vEgo, AUTO_TR_BP, AUTO_TR_V) + tr = interp(carstate.vEgo, AUTO_TR_BP, AUTO_TR_V) if self.mode == 'acc' else T_FOLLOW else: - tr = interp(float(cruise_gap), CRUISE_GAP_BP, CRUISE_GAP_V) + tr = interp(float(cruise_gap), CRUISE_GAP_BP, CRUISE_GAP_V if self.mode == 'acc' else CRUISE_GAP_E2E_V) - if self.mode is not 'acc': - tr *= E2E_TR_FACTOR + self.t_follow = tr - self.param_tr = tr + self.stop_dist = STOP_DISTANCE if self.mode == 'acc' else STOP_DISTANCE_E2E # To estimate a safe distance from a moving lead, we calculate how much stopping # distance that lead needs as a minimum. We can add that to the current distance @@ -344,6 +351,7 @@ def update(self, carstate, radarstate, v_cruise, x, v, a, j): if self.mode == 'acc': self.params[:,0] = MIN_ACCEL if self.status else self.cruise_min_a self.params[:,1] = self.cruise_max_a + self.params[:,5] = LEAD_DANGER_FACTOR # Fake an obstacle for cruise, this ensures smooth acceleration to set speed # when the leads are no factor. @@ -352,7 +360,7 @@ def update(self, carstate, radarstate, v_cruise, x, v, a, j): v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) - cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, self.param_tr) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, self.t_follow, self.stop_dist) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) self.source = SOURCES[np.argmin(x_obstacles[0])] @@ -362,6 +370,7 @@ def update(self, carstate, radarstate, v_cruise, x, v, a, j): elif self.mode == 'blended': self.params[:,0] = MIN_ACCEL self.params[:,1] = MAX_ACCEL + self.params[:,5] = 1.0 x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle]) @@ -371,7 +380,8 @@ def update(self, carstate, radarstate, v_cruise, x, v, a, j): x_and_cruise = np.column_stack([x, cruise_target]) x = np.min(x_and_cruise, axis=1) - self.source = 'e2e' + + self.source = 'e2e' if x_and_cruise[0,0] < x_and_cruise[0,1] else 'cruise' else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update') @@ -386,8 +396,8 @@ def update(self, carstate, radarstate, v_cruise, x, v, a, j): self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,3] = np.copy(self.prev_a) - - self.params[:,4] = self.param_tr + self.params[:,4] = self.t_follow + self.params[:,6] = self.stop_dist self.run() if (np.any(lead_xv_0[:,0] - self.x_sol[:,0] < CRASH_DISTANCE) and @@ -396,10 +406,24 @@ def update(self, carstate, radarstate, v_cruise, x, v, a, j): else: self.crash_cnt = 0 + # Check if it got within lead comfort range + # TODO This should be done cleaner + if self.mode == 'blended': + if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], self.t_follow, self.stop_dist)) - self.x_sol[:, 0] < 0.0): + self.source = 'lead0' + if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], self.t_follow, self.stop_dist)) - self.x_sol[:, 0] < 0.0) and \ + (lead_1_obstacle[0] - lead_0_obstacle[0]): + self.source = 'lead1' + + + def update_with_xva(self, x, v, a): self.params[:,0] = -10. self.params[:,1] = 10. self.params[:,2] = 1e5 + self.params[:,4] = self.t_follow + self.params[:,5] = LEAD_DANGER_FACTOR + self.params[:,6] = self.stop_dist # v, and a are in local frame, but x is wrt the x[0] position # In >90degree turns, x goes to 0 (and may even be -ve) @@ -413,7 +437,6 @@ def update_with_xva(self, x, v, a): self.solver.cost_set(i, "yref", self.yref[i]) self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) self.params[:,3] = np.copy(self.prev_a) - self.params[:,4] = self.param_tr self.run() def run(self): diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 4c2e67bcb637a9..c6cb78b36fd323 100644 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -45,13 +45,14 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): return [a_target[0], min(a_target[1], a_x_allowed)] -class Planner: +class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0): self.CP = CP - params = Params() - # TODO read param in the loop for live toggling - mode = 'blended' if params.get_bool('EndToEndLong') else 'acc' - self.mpc = LongitudinalMpc(mode=mode) + self.params = Params() + self.param_read_counter = 0 + + self.mpc = LongitudinalMpc() + self.read_param() self.fcw = False @@ -66,6 +67,10 @@ def __init__(self, CP, init_v=0.0, init_a=0.0): self.use_cluster_speed = Params().get_bool('UseClusterSpeed') + def read_param(self): + e2e = self.params.get_bool('EndToEndLong') and self.CP.openpilotLongitudinalControl + self.mpc.mode = 'blended' if e2e else 'acc' + def parse_model(self, model_msg): if (len(model_msg.position.x) == 33 and len(model_msg.velocity.x) == 33 and @@ -85,8 +90,11 @@ def parse_model(self, model_msg): return x, v, a, j def update(self, sm): - v_ego = sm['carState'].vEgo + if self.param_read_counter % 100 == 0: + self.read_param() + self.param_read_counter += 1 + v_ego = sm['carState'].vEgo v_cruise_kph = sm['controlsState'].vCruise v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX) v_cruise = v_cruise_kph * CV.KPH_TO_MS @@ -135,6 +143,7 @@ def update(self, sm): self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution) # TODO counter is only needed because radar is glitchy, remove once radar is gone + # TODO write fcw in e2e_long mode self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 if self.fcw: cloudlog.info("FCW triggered") diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 559da013263be4..2b5917cdb26785 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -3,7 +3,7 @@ from common.params import Params from common.realtime import Priority, config_realtime_process from system.swaglog import cloudlog -from selfdrive.controls.lib.longitudinal_planner import Planner +from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner from selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging @@ -15,14 +15,8 @@ def plannerd_thread(sm=None, pm=None): params = Params() CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) cloudlog.info("plannerd got CarParams: %s", CP.carName) - - use_lanelines = not params.get_bool('EndToEndToggle') - wide_camera = params.get_bool('WideCameraOnly') - - cloudlog.event("e2e mode", on=use_lanelines) - - longitudinal_planner = Planner(CP) - lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera) + longitudinal_planner = LongitudinalPlanner(CP) + lateral_planner = LateralPlanner(CP) if sm is None: sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'], diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py new file mode 100755 index 00000000000000..a972bfb0734f75 --- /dev/null +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -0,0 +1,39 @@ +#!/usr/bin/env python3 +import unittest +import numpy as np +from common.params import Params + + +from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver + +def run_cruise_simulation(cruise, t_end=20.): + man = Maneuver( + '', + duration=t_end, + initial_speed=max(cruise - 1., 0.0), + lead_relevancy=True, + initial_distance_lead=100, + cruise_values=[cruise], + prob_lead_values=[0.0], + breakpoints=[0.], + ) + valid, output = man.evaluate() + assert valid + return output[-1,3] + + +class TestCruiseSpeed(unittest.TestCase): + def test_cruise_speed(self): + params = Params() + for e2e in [False, True]: + params.put_bool("EndToEndLong", e2e) + for speed in np.arange(5, 40, 5): + print(f'Testing {speed} m/s') + cruise_speed = float(speed) + + simulation_steady_state = run_cruise_simulation(cruise_speed) + self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s') + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py new file mode 100755 index 00000000000000..3534f58235e2d4 --- /dev/null +++ b/selfdrive/controls/tests/test_following_distance.py @@ -0,0 +1,41 @@ +#!/usr/bin/env python3 +import unittest +import numpy as np +from common.params import Params + + +from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance +from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver + +def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): + man = Maneuver( + '', + duration=t_end, + initial_speed=float(v_lead), + lead_relevancy=True, + initial_distance_lead=100, + speed_lead_values=[v_lead], + breakpoints=[0.], + e2e=e2e + ) + valid, output = man.evaluate() + assert valid + return output[-1,2] - output[-1,1] + + +class TestFollowingDistance(unittest.TestCase): + def test_following_distance(self): + params = Params() + for e2e in [False, True]: + params.put_bool("EndToEndLong", e2e) + for speed in np.arange(0, 40, 5): + print(f'Testing {speed} m/s') + v_lead = float(speed) + simulation_steady_state = run_following_distance_simulation(v_lead) + correct_steady_state = desired_follow_distance(v_lead, v_lead) + err_ratio = 0.2 if e2e else 0.1 + self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py index bcdaed07783a61..24258db9f20523 100755 --- a/selfdrive/debug/set_car_params.py +++ b/selfdrive/debug/set_car_params.py @@ -1,11 +1,22 @@ #!/usr/bin/env python3 import sys +from cereal import car from common.params import Params from tools.lib.route import Route from tools.lib.logreader import LogReader if __name__ == "__main__": - r = Route(sys.argv[1]) - cp = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams'] - Params().put("CarParams", cp[0].carParams.as_builder().to_bytes()) + CP = None + if len(sys.argv) > 1: + r = Route(sys.argv[1]) + cps = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams'] + CP = cps[0].carParams.as_builder() + else: + CP = car.CarParams.new_message() + CP.openpilotLongitudinalControl = True + CP.experimentalLongitudinalAvailable = False + + cp_bytes = CP.to_bytes() + for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"): + Params().put(p, cp_bytes) diff --git a/selfdrive/loggerd/encoderd.cc b/selfdrive/loggerd/encoderd.cc index 9bd8e2f1d4422b..db5f4b61ab92c0 100644 --- a/selfdrive/loggerd/encoderd.cc +++ b/selfdrive/loggerd/encoderd.cc @@ -52,17 +52,23 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { VisionBuf buf_info = vipc_client.buffers[0]; LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height); - // main encoder - encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height, - cam_info.fps, cam_info.bitrate, - cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - buf_info.width, buf_info.height, false)); - // qcamera encoder - if (cam_info.has_qcamera) { - encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height, - qcam_info.fps, qcam_info.bitrate, - qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - qcam_info.frame_width, qcam_info.frame_height, false)); + if (buf_info.width > 0 && buf_info.height > 0) { + // main encoder + encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height, + cam_info.fps, cam_info.bitrate, + cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, + buf_info.width, buf_info.height, false)); + // qcamera encoder + if (cam_info.has_qcamera) { + encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height, + qcam_info.fps, qcam_info.bitrate, + qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, + qcam_info.frame_width, qcam_info.frame_height, false)); + } + } else { + LOGE("not initting empty encoder"); + s->max_waiting--; + break; } } diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 56fd95c01249e6..ba6ace68fc38d7 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -40,6 +40,7 @@ def manager_init() -> None: ("CompletedTrainingVersion", "0"), ("DisengageOnAccelerator", "0"), ("HasAcceptedTerms", "0"), + ("LanguageSetting", "main_en"), ("OpenpilotEnabledToggle", "1"), ("IsMetric", "1"), @@ -66,9 +67,6 @@ def manager_init() -> None: if params.get_bool("RecordFrontLock"): params.put_bool("RecordFront", True) - if not params.get_bool("DisableRadar_Allow"): - params.remove("DisableRadar") - # set unset params for k, v in default_params: if params.get(k) is None: diff --git a/selfdrive/modeld/__init__.py b/selfdrive/modeld/__init__.py new file mode 100644 index 00000000000000..e69de29bb2d1d6 diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py new file mode 100755 index 00000000000000..ac7cc68814df22 --- /dev/null +++ b/selfdrive/modeld/runners/onnx_runner.py @@ -0,0 +1,73 @@ +#!/usr/bin/env python3 + +import os +import sys +import numpy as np + +os.environ["OMP_NUM_THREADS"] = "4" +os.environ["OMP_WAIT_POLICY"] = "PASSIVE" + +import onnxruntime as ort # pylint: disable=import-error + +def read(sz, tf8=False): + dd = [] + gt = 0 + szof = 1 if tf8 else 4 + while gt < sz * szof: + st = os.read(0, sz * szof - gt) + assert(len(st) > 0) + dd.append(st) + gt += len(st) + r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32).astype(np.float32) + if tf8: + r = r / 255. + return r + +def write(d): + os.write(1, d.tobytes()) + +def run_loop(m, tf8_input=False): + ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()] + keys = [x.name for x in m.get_inputs()] + + # run once to initialize CUDA provider + if "CUDAExecutionProvider" in m.get_providers(): + m.run(None, dict(zip(keys, [np.zeros(shp, dtype=np.float32) for shp in ishapes]))) + + print("ready to run onnx model", keys, ishapes, file=sys.stderr) + while 1: + inputs = [] + for k, shp in zip(keys, ishapes): + ts = np.product(shp) + #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr) + inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp)) + ret = m.run(None, dict(zip(keys, inputs))) + #print(ret, file=sys.stderr) + for r in ret: + write(r) + + +if __name__ == "__main__": + print(sys.argv, file=sys.stderr) + print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr) + options = ort.SessionOptions() + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL + if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + provider = 'OpenVINOExecutionProvider' + elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ: + options.intra_op_num_threads = 2 + provider = 'CUDAExecutionProvider' + else: + options.intra_op_num_threads = 2 + options.inter_op_num_threads = 8 + options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL + options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL + provider = 'CPUExecutionProvider' + + try: + print("Onnx selected provider: ", [provider], file=sys.stderr) + ort_session = ort.InferenceSession(sys.argv[1], options, providers=[provider]) + print("Onnx using ", ort_session.get_providers(), file=sys.stderr) + run_loop(ort_session, tf8_input=("--use_tf8" in sys.argv)) + except KeyboardInterrupt: + pass diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc new file mode 100644 index 00000000000000..447d90fd7efeb5 --- /dev/null +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -0,0 +1,142 @@ +#include "selfdrive/modeld/runners/onnxmodel.h" + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "common/swaglog.h" +#include "common/util.h" + +ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8, cl_context context) { + LOGD("loading model %s", path); + + output = _output; + output_size = _output_size; + use_extra = _use_extra; + use_tf8 = _use_tf8; + + int err = pipe(pipein); + assert(err == 0); + err = pipe(pipeout); + assert(err == 0); + + std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe")); + std::string onnx_runner = exe_dir + "/runners/onnx_runner.py"; + std::string tf8_arg = use_tf8 ? "--use_tf8" : ""; + + proc_pid = fork(); + if (proc_pid == 0) { + LOGD("spawning onnx process %s", onnx_runner.c_str()); + char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr}; + dup2(pipein[0], 0); + dup2(pipeout[1], 1); + close(pipein[0]); + close(pipein[1]); + close(pipeout[0]); + close(pipeout[1]); + execvp(onnx_runner.c_str(), argv); + } + + // parent + close(pipein[0]); + close(pipeout[1]); +} + +ONNXModel::~ONNXModel() { + close(pipein[1]); + close(pipeout[0]); + kill(proc_pid, SIGTERM); +} + +void ONNXModel::pwrite(float *buf, int size) { + char *cbuf = (char *)buf; + int tw = size*sizeof(float); + while (tw > 0) { + int err = write(pipein[1], cbuf, tw); + //printf("host write %d\n", err); + assert(err >= 0); + cbuf += err; + tw -= err; + } + LOGD("host write of size %d done", size); +} + +void ONNXModel::pread(float *buf, int size) { + char *cbuf = (char *)buf; + int tr = size*sizeof(float); + struct pollfd fds[1]; + fds[0].fd = pipeout[0]; + fds[0].events = POLLIN; + while (tr > 0) { + int err; + err = poll(fds, 1, 10000); // 10 second timeout + assert(err == 1 || (err == -1 && errno == EINTR)); + LOGD("host read remaining %d/%d poll %d", tr, size*sizeof(float), err); + err = read(pipeout[0], cbuf, tr); + assert(err > 0 || (err == 0 && errno == EINTR)); + cbuf += err; + tr -= err; + } + LOGD("host read done"); +} + +void ONNXModel::addRecurrent(float *state, int state_size) { + rnn_input_buf = state; + rnn_state_size = state_size; +} + +void ONNXModel::addDesire(float *state, int state_size) { + desire_input_buf = state; + desire_state_size = state_size; +} + +void ONNXModel::addTrafficConvention(float *state, int state_size) { + traffic_convention_input_buf = state; + traffic_convention_size = state_size; +} + +void ONNXModel::addCalib(float *state, int state_size) { + calib_input_buf = state; + calib_size = state_size; +} + +void ONNXModel::addImage(float *image_buf, int buf_size) { + image_input_buf = image_buf; + image_buf_size = buf_size; +} + +void ONNXModel::addExtra(float *image_buf, int buf_size) { + extra_input_buf = image_buf; + extra_buf_size = buf_size; +} + +void ONNXModel::execute() { + // order must be this + if (image_input_buf != NULL) { + pwrite(image_input_buf, image_buf_size); + } + if (extra_input_buf != NULL) { + pwrite(extra_input_buf, extra_buf_size); + } + if (desire_input_buf != NULL) { + pwrite(desire_input_buf, desire_state_size); + } + if (traffic_convention_input_buf != NULL) { + pwrite(traffic_convention_input_buf, traffic_convention_size); + } + if (calib_input_buf != NULL) { + pwrite(calib_input_buf, calib_size); + } + if (rnn_input_buf != NULL) { + pwrite(rnn_input_buf, rnn_state_size); + } + pread(output, output_size); +} + diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h new file mode 100644 index 00000000000000..d5b7bfecf0cc05 --- /dev/null +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -0,0 +1,45 @@ +#pragma once + +#include + +#include "selfdrive/modeld/runners/runmodel.h" + +class ONNXModel : public RunModel { +public: + ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false, cl_context context = NULL); + ~ONNXModel(); + void addRecurrent(float *state, int state_size); + void addDesire(float *state, int state_size); + void addTrafficConvention(float *state, int state_size); + void addCalib(float *state, int state_size); + void addImage(float *image_buf, int buf_size); + void addExtra(float *image_buf, int buf_size); + void execute(); +private: + int proc_pid; + + float *output; + size_t output_size; + + float *rnn_input_buf = NULL; + int rnn_state_size; + float *desire_input_buf = NULL; + int desire_state_size; + float *traffic_convention_input_buf = NULL; + int traffic_convention_size; + float *calib_input_buf = NULL; + int calib_size; + float *image_input_buf = NULL; + int image_buf_size; + bool use_tf8; + float *extra_input_buf = NULL; + int extra_buf_size; + bool use_extra; + + // pipe to communicate to keras subprocess + void pread(float *buf, int size); + void pwrite(float *buf, int size); + int pipein[2]; + int pipeout[2]; +}; + diff --git a/selfdrive/modeld/thneed/thneed_pc.cc b/selfdrive/modeld/thneed/thneed_pc.cc deleted file mode 100644 index 8d0037628e2f3d..00000000000000 --- a/selfdrive/modeld/thneed/thneed_pc.cc +++ /dev/null @@ -1,32 +0,0 @@ -#include "selfdrive/modeld/thneed/thneed.h" - -#include - -#include "common/clutil.h" -#include "common/timing.h" - -Thneed::Thneed(bool do_clinit, cl_context _context) { - context = _context; - if (do_clinit) clinit(); - char *thneed_debug_env = getenv("THNEED_DEBUG"); - debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0; -} - -void Thneed::execute(float **finputs, float *foutput, bool slow) { - uint64_t tb, te; - if (debug >= 1) tb = nanos_since_boot(); - - // ****** copy inputs - copy_inputs(finputs); - - // ****** run commands - clexec(); - - // ****** copy outputs - copy_output(foutput); - - if (debug >= 1) { - te = nanos_since_boot(); - printf("model exec in %lu us\n", (te-tb)/1000); - } -} diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc index cabc58a46d8337..f341314144ec02 100644 --- a/selfdrive/modeld/transforms/transform.cc +++ b/selfdrive/modeld/transforms/transform.cc @@ -32,7 +32,7 @@ void transform_queue(Transform* s, const int zero = 0; // sampled using pixel center origin - // (because thats how fastcv and opencv does it) + // (because that's how fastcv and opencv does it) mat3 projection_y = projection; diff --git a/selfdrive/road_speed_limiter.py b/selfdrive/road_speed_limiter.py index b59e0f7941312d..5a9997955d4ae1 100644 --- a/selfdrive/road_speed_limiter.py +++ b/selfdrive/road_speed_limiter.py @@ -264,25 +264,11 @@ def main(): dat.roadLimitSpeed.camLimitSpeed = server.get_limit_val("cam_limit_speed", 0) dat.roadLimitSpeed.sectionLimitSpeed = server.get_limit_val("section_limit_speed", 0) dat.roadLimitSpeed.sectionLeftDist = server.get_limit_val("section_left_dist", 0) + dat.roadLimitSpeed.sectionAvgSpeed = server.get_limit_val("section_avg_speed", 0) + dat.roadLimitSpeed.sectionLeftTime = server.get_limit_val("section_left_time", 0) + dat.roadLimitSpeed.sectionAdjustSpeed = server.get_limit_val("section_adjust_speed", False) dat.roadLimitSpeed.camSpeedFactor = server.get_limit_val("cam_speed_factor", CAMERA_SPEED_FACTOR) - try: - json = server.json_road_limit - if json is not None and "rest_area" in json: - - restAreaList = [] - for rest_area in json["rest_area"]: - restArea = log.RoadLimitSpeed.RestArea.new_message() - restArea.image = server.get_json_val(rest_area, "image") - restArea.title = server.get_json_val(rest_area, "title") - restArea.oilPrice = server.get_json_val(rest_area, "oilPrice") - restArea.distance = server.get_json_val(rest_area, "distance") - restAreaList.append(restArea) - - dat.roadLimitSpeed.restArea = restAreaList - except: - pass - roadLimitSpeed.send(dat.to_bytes()) server.send_sdp(sock) server.check() @@ -333,6 +319,10 @@ def get_max_speed(self, cluster_speed, is_metric): section_limit_speed = self.roadLimitSpeed.sectionLimitSpeed section_left_dist = self.roadLimitSpeed.sectionLeftDist + section_avg_speed = self.roadLimitSpeed.sectionAvgSpeed + section_left_time = self.roadLimitSpeed.sectionLeftTime + section_adjust_speed = self.roadLimitSpeed.sectionAdjustSpeed + camSpeedFactor = clip(self.roadLimitSpeed.camSpeedFactor, 1.0, 1.1) if is_highway is not None: @@ -373,7 +363,7 @@ def get_max_speed(self, cluster_speed, is_metric): td = self.started_dist - safe_dist d = cam_limit_speed_left_dist - safe_dist - if d > 0. and td > 0. and diff_speed > 0. and (section_left_dist is None or section_left_dist < 10): + if d > 0. and td > 0. and diff_speed > 0. and (section_left_dist is None or section_left_dist < 10 or cam_type == 2): pp = (d / td) ** 0.6 else: pp = 0 @@ -393,7 +383,11 @@ def get_max_speed(self, cluster_speed, is_metric): else: first_started = False - return section_limit_speed * camSpeedFactor, section_limit_speed, section_left_dist, first_started, log + speed_diff = 0 + if section_adjust_speed is not None and section_adjust_speed: + speed_diff = (section_limit_speed - section_avg_speed) / 2. + + return section_limit_speed * camSpeedFactor + speed_diff, section_limit_speed, section_left_dist, first_started, log self.slowing_down = False return 0, section_limit_speed, section_left_dist, False, log diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 0d605a5fc7e8cc..dad5d898447820 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -27,7 +27,7 @@ def evaluate(self): speed=self.speed, distance_lead=self.distance_lead, only_lead2=self.only_lead2, - only_radar=self.only_radar + only_radar=self.only_radar, ) valid = True @@ -54,7 +54,7 @@ def evaluate(self): valid = False if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1: - print('Planner not starting!') + print('LongitudinalPlanner not starting!') valid = False print("maneuver end", valid) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 7c58a2812cc8ed..dbbd1da5f291c1 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -6,7 +6,8 @@ import cereal.messaging as messaging from common.realtime import Ratekeeper, DT_MDL from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.controls.lib.longitudinal_planner import Planner +from selfdrive.modeld.constants import T_IDXS +from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner class Plant(): @@ -43,7 +44,7 @@ def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0, from selfdrive.car.hyundai.values import CAR from selfdrive.car.hyundai.interface import CarInterface - self.planner = Planner(CarInterface.get_params(CAR.GRANDEUR_IG), init_v=self.speed) + self.planner = LongitudinalPlanner(CarInterface.get_params(CAR.GRANDEUR_IG), init_v=self.speed) def current_time(self): return float(self.rk.frame) / self.rate @@ -89,6 +90,21 @@ def step(self, v_lead=0.0, prob=1.0, v_cruise=50.): radar.radarState.leadOne = lead radar.radarState.leadTwo = lead + # Simulate model predicting slightly faster speed + # this is to ensure lead policy is effective when model + # does not predict slowdown in e2e mode + position = log.ModelDataV2.XYZTData.new_message() + position.x = [float(x) for x in (self.speed + 0.5) * np.array(T_IDXS)] + model.modelV2.position = position + velocity = log.ModelDataV2.XYZTData.new_message() + velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(T_IDXS)] + model.modelV2.velocity = velocity + acceleration = log.ModelDataV2.XYZTData.new_message() + acceleration.x = [float(x) for x in np.zeros_like(T_IDXS)] + model.modelV2.acceleration = acceleration + + + control.controlsState.longControlState = LongCtrlState.pid control.controlsState.vCruise = float(v_cruise * 3.6) car_state.carState.vEgo = float(self.speed) diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 58218d2ddc9f4a..9b151d70d582d1 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -140,16 +140,23 @@ def test_longitudinal_setup(self): def run_maneuver_worker(k): def run(self): + params = Params() + man = maneuvers[k] - print(man.title) + params.put_bool("EndToEndLong", True) + print(man.title, ' in e2e mode') + valid, _ = man.evaluate() + self.assertTrue(valid, msg=man.title) + params.put_bool("EndToEndLong", False) + print(man.title, ' in acc mode') valid, _ = man.evaluate() self.assertTrue(valid, msg=man.title) return run - for k in range(len(maneuvers)): setattr(LongitudinalControl, f"test_longitudinal_maneuvers_{k+1}", run_maneuver_worker(k)) + if __name__ == "__main__": unittest.main(failfast=True) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 0a61dfbc36eb3c..b51733bdd2cad0 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -486,9 +486,9 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct // for rhd, reflect direction and then flip if (is_rhd) { if (fn.contains("left")) { - fn.replace(QString("left"), QString("right")); + fn.replace("left", "right"); } else if (fn.contains("right")) { - fn.replace(QString("right"), QString("left")); + fn.replace("right", "left"); } } diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc index f97137a7f90d9d..8d5d4e1715816d 100644 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ b/selfdrive/ui/qt/maps/map_helpers.cc @@ -44,61 +44,31 @@ QMapbox::CoordinatesCollections model_to_collection( for (int i = 0; i < x.size(); i++) { Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef; Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]}); - QMapbox::Coordinate coordinate(point_geodetic.lat, point_geodetic.lon); - coordinates.push_back(coordinate); + coordinates.push_back({point_geodetic.lat, point_geodetic.lon}); } - QMapbox::CoordinatesCollection collection; - collection.push_back(coordinates); - - QMapbox::CoordinatesCollections collections; - collections.push_back(collection); - return collections; + return {QMapbox::CoordinatesCollection{coordinates}}; } -QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c) { - QMapbox::Coordinates coordinates; - coordinates.push_back(c); - - QMapbox::CoordinatesCollection collection; - collection.push_back(coordinates); - - QMapbox::CoordinatesCollections collections; - collections.push_back(collection); - return collections; +QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c) { + QMapbox::Coordinates coordinates{c}; + return {QMapbox::CoordinatesCollection{coordinates}}; } QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader& coordinate_list) { QMapbox::Coordinates coordinates; - for (auto const &c: coordinate_list) { - QMapbox::Coordinate coordinate(c.getLatitude(), c.getLongitude()); - coordinates.push_back(coordinate); + coordinates.push_back({c.getLatitude(), c.getLongitude()}); } - - QMapbox::CoordinatesCollection collection; - collection.push_back(coordinates); - - QMapbox::CoordinatesCollections collections; - collections.push_back(collection); - return collections; - + return {QMapbox::CoordinatesCollection{coordinates}}; } -QMapbox::CoordinatesCollections coordinate_list_to_collection(QList coordinate_list) { +QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list) { QMapbox::Coordinates coordinates; - for (auto &c : coordinate_list) { - QMapbox::Coordinate coordinate(c.latitude(), c.longitude()); - coordinates.push_back(coordinate); + coordinates.push_back({c.latitude(), c.longitude()}); } - - QMapbox::CoordinatesCollection collection; - collection.push_back(coordinates); - - QMapbox::CoordinatesCollections collections; - collections.push_back(collection); - return collections; + return {QMapbox::CoordinatesCollection{coordinates}}; } QList polyline_to_coordinate_list(const QString &polylineString) { @@ -143,7 +113,7 @@ QList polyline_to_coordinate_list(const QString &polylineString) return path; } -std::optional coordinate_from_param(std::string param) { +std::optional coordinate_from_param(const std::string ¶m) { QString json_str = QString::fromStdString(Params().get(param)); if (json_str.isEmpty()) return {}; diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h index a78b289487f617..85cf9d9d7e8b7c 100644 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ b/selfdrive/ui/qt/maps/map_helpers.h @@ -24,10 +24,10 @@ QMapbox::CoordinatesCollections model_to_collection( const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF, const cereal::LiveLocationKalman::Measurement::Reader &positionECEF, const cereal::ModelDataV2::XYZTData::Reader &line); -QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c); +QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c); QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader &coordinate_list); -QMapbox::CoordinatesCollections coordinate_list_to_collection(QList coordinate_list); +QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list); QList polyline_to_coordinate_list(const QString &polylineString); -std::optional coordinate_from_param(std::string param); +std::optional coordinate_from_param(const std::string ¶m); double angle_difference(double angle1, double angle2); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index ad23790f971951..36f1625de61b02 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -34,7 +34,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon - std::vector> toggles{ + std::vector> toggle_defs{ { "OpenpilotEnabledToggle", tr("Enable openpilot"), @@ -65,17 +65,23 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("In this mode openpilot will ignore lanelines and just drive how it thinks a human would."), "../assets/offroad/icon_road.png", }, + { + "DisengageOnAccelerator", + tr("Disengage On Accelerator Pedal"), + tr("When enabled, pressing the accelerator pedal will disengage openpilot."), + "../assets/offroad/icon_disengage_on_accelerator.svg", + }, { "EndToEndLong", tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"), - tr("Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental."), + "", "../assets/offroad/icon_road.png", }, { - "DisengageOnAccelerator", - tr("Disengage On Accelerator Pedal"), - tr("When enabled, pressing the accelerator pedal will disengage openpilot."), - "../assets/offroad/icon_disengage_on_accelerator.svg", + "ExperimentalLongitudinalEnabled", + tr("Experimental openpilot longitudinal control"), + tr("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB."), + "../assets/offroad/icon_speed_limit.png", }, #ifdef ENABLE_MAPS { @@ -94,22 +100,61 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { }; - Params params; - - if (params.getBool("DisableRadar_Allow")) { - toggles.push_back({ - "DisableRadar", - tr("openpilot Longitudinal Control"), - tr("openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!"), - "../assets/offroad/icon_speed_limit.png", - }); - } - - for (auto &[param, title, desc, icon] : toggles) { + for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); + bool locked = params.getBool((param + "Lock").toStdString()); toggle->setEnabled(!locked); + addItem(toggle); + toggles[param.toStdString()] = toggle; + } + + connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() { + updateToggles(); + }); +} + +void TogglesPanel::showEvent(QShowEvent *event) { + updateToggles(); +} + +void TogglesPanel::updateToggles() { + auto e2e_toggle = toggles["EndToEndLong"]; + auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"]; + const QString e2e_description = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental."); + + auto cp_bytes = params.get("CarParamsPersistent"); + if (!cp_bytes.empty()) { + AlignedBuffer aligned_buf; + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); + cereal::CarParams::Reader CP = cmsg.getRoot(); + + if (!CP.getExperimentalLongitudinalAvailable()) { + params.remove("ExperimentalLongitudinalEnabled"); + } + op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable()); + + const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable(); + const bool exp_long_enabled = CP.getExperimentalLongitudinalAvailable() && params.getBool("ExperimentalLongitudinalEnabled"); + if (op_long || exp_long_enabled) { + // normal description and toggle + e2e_toggle->setEnabled(true); + e2e_toggle->setDescription(e2e_description); + } else { + // no long for now + e2e_toggle->setEnabled(false); + params.remove("EndToEndLong"); + + const QString no_long = "openpilot longitudinal control is not currently available for this car."; + const QString exp_long = "Enable experimental longitudinal control to enable this."; + e2e_toggle->setDescription("" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "

" + e2e_description); + } + + e2e_toggle->refresh(); + } else { + e2e_toggle->setDescription(e2e_description); + op_long_toggle->setVisible(false); } } diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index cc2e903297f9c4..1bf7a455928ff3 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -56,6 +56,13 @@ class TogglesPanel : public ListWidget { Q_OBJECT public: explicit TogglesPanel(SettingsWindow *parent); + void showEvent(QShowEvent *event) override; + +private: + Params params; + std::map toggles; + + void updateToggles(); }; class SoftwarePanel : public ListWidget { diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 87ab1d556f9e80..cf4633666134f6 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -314,7 +314,25 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { // paint path QLinearGradient bg(0, height(), 0, height() / 4); - if (scene.end_to_end) { + float start_hue, end_hue; + if (scene.end_to_end_long) { + const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration(); + float acceleration_future = 0; + if (acceleration.getZ().size() > 16) { + acceleration_future = acceleration.getX()[16]; // 2.5 seconds + } + start_hue = 60; + // speed up: 120, slow down: 0 + end_hue = fmax(fmin(start_hue + acceleration_future * 30, 120), 0); + + // FIXME: painter.drawPolygon can be slow if hue is not rounded + end_hue = int(end_hue * 100 + 0.5) / 100; + + bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4)); + bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); + bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); + } + else if (scene.end_to_end) { const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation(); float orientation_future = 0; if (orientation.getZ().size() > 16) { diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index acb3555972e75e..8ac436a763163d 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -3,7 +3,6 @@ #include #include -#include "common/params.h" #include "selfdrive/ui/ui.h" typedef QPair, QColor> ItemStatus; @@ -50,7 +49,6 @@ public slots: const QColor warning_color = QColor(218, 202, 37); const QColor danger_color = QColor(201, 34, 49); - Params params; ItemStatus storage_status, panda_status, temp_status; QString net_type; int net_strength = 0; diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index aed99edae8da5a..5bb69cd25cc01d 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -105,7 +105,10 @@ class ToggleControl : public AbstractControl { QObject::connect(&toggle, &Toggle::stateChanged, this, &ToggleControl::toggleFlipped); } - void setEnabled(bool enabled) { toggle.setEnabled(enabled); toggle.update(); } + void setEnabled(bool enabled) { + toggle.setEnabled(enabled); + toggle.update(); + } signals: void toggleFlipped(bool state); @@ -121,17 +124,21 @@ class ParamControl : public ToggleControl { public: ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) { key = param.toStdString(); - QObject::connect(this, &ToggleControl::toggleFlipped, [=](bool state) { + QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) { params.putBool(key, state); }); } - void showEvent(QShowEvent *event) override { + void refresh() { if (params.getBool(key) != toggle.on) { toggle.togglePosition(); } }; + void showEvent(QShowEvent *event) override { + refresh(); + }; + private: std::string key; Params params; @@ -157,9 +164,12 @@ class ListWidget : public QWidget { QPainter p(this); p.setPen(Qt::gray); for (int i = 0; i < inner_layout.count() - 1; ++i) { - QRect r = inner_layout.itemAt(i)->geometry(); - int bottom = r.bottom() + inner_layout.spacing() / 2; - p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom); + QWidget *widget = inner_layout.itemAt(i)->widget(); + if (widget == nullptr || widget->isVisible()) { + QRect r = inner_layout.itemAt(i)->geometry(); + int bottom = r.bottom() + inner_layout.spacing() / 2; + p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom); + } } } QVBoxLayout outer_layout; diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 5419475262b338..a8ceee4ca9722f 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -18,21 +18,23 @@ using qrcodegen::QrCode; PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) { - QTimer* timer = new QTimer(this); - timer->start(5 * 60 * 1000); + timer = new QTimer(this); connect(timer, &QTimer::timeout, this, &PairingQRWidget::refresh); } void PairingQRWidget::showEvent(QShowEvent *event) { refresh(); + timer->start(5 * 60 * 1000); +} + +void PairingQRWidget::hideEvent(QHideEvent *event) { + timer->stop(); } void PairingQRWidget::refresh() { - if (isVisible()) { - QString pairToken = CommaApi::create_jwt({{"pair", true}}); - QString qrString = "https://connect.comma.ai/?pair=" + pairToken; - this->updateQrCode(qrString); - } + QString pairToken = CommaApi::create_jwt({{"pair", true}}); + QString qrString = "https://connect.comma.ai/?pair=" + pairToken; + this->updateQrCode(qrString); } void PairingQRWidget::updateQrCode(const QString &text) { diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index ce4baecfa28a73..0a1d93250d96c4 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -25,8 +25,10 @@ class PairingQRWidget : public QWidget { private: QPixmap img; + QTimer *timer; void updateQrCode(const QString &text); void showEvent(QShowEvent *event) override; + void hideEvent(QHideEvent *event) override; private slots: void refresh(); diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index fead288dfcad13..d8609f110b999c 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -9,6 +9,7 @@ from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") +LOCATION_TAG = "" not in cur_translations, + self.assertTrue("" not in cur_translations, f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist") def test_vanished_translations(self): for name, file in self.translation_files.items(): with self.subTest(name=name, file=file): cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file) - self.assertTrue(b"" not in cur_translations, + self.assertTrue("" not in cur_translations, f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them") def test_plural_translations(self): diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index f478b267c49685..1fd76d3117c3ca 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -4,17 +4,17 @@ AbstractAlert - + Close 닫기 - + Snooze Update 업데이트 다시알림 - + Reboot and Update 재부팅및 업데이트 @@ -22,53 +22,53 @@ AdvancedNetworking - + Back 뒤로 - + Enable Tethering 테더링 켜기 - + Tethering Password 테더링 암호 - - + + EDIT 편집 - + Enter new tethering password 새로운 암호를 입력하세요 - + IP Address IP 주소 - + Enable Roaming 로밍 켜기 - + APN Setting APN 설정 - + Enter APN APN 입력 - + leave blank for automatic configuration 자동설정을 하려면 공백으로 두세요 @@ -76,103 +76,103 @@ CommunityPanel - - + + Select your car 차량을 선택하세요 - + Use Cluster Speed 계기판속도 사용 - + Use cluster speed instead of wheel speed. 휠속도 대신 계기판속도를 사용합니다.(휠속도 사용 추천) - + Enable HKG Long Control Openpilot 지원 ASCC 사용(Long Control) - + Openpilot will control the speed of your car Openpilot이 ASCC를 컨트롤합니다 - + LDWS only LDWS 전용차량 - + If your car only supports LDWS, turn it on. LKAS, LFA가 아닌 구형 LDWS차량일 경우 설정하세요 - + Enable Lane Change Assist 차선변경 - + Perform assisted lane changes with openpilot by checking your surroundings for safety, activating the turn signal and gently nudging the steering wheel towards your desired lane. openpilot is not capable of checking if a lane change is safe. You must continuously observe your surroundings to use this feature. Openpilot으로 주변의 안전을 확인하고 방향 지시등을 활성화하고 스티어링 휠을 원하는 차선으로 부드럽게 움직여 보조 차선 변경을 수행하십시오. openpilot은 차선 변경이 안전한지 확인할 수 없습니다. 이 기능을 사용하려면 주변을 지속적으로 관찰해야 합니다. - + Enable Auto Lane Change(Nudgeless) 자동차선변경 - + Automatically changes lanes at turn signal. 스티어링휠을 살짝 꺽지 않고 턴시그널만 넣으면 자동으로 차선을 변경합니다. 항상 주의하세요. - + Enable slow on curves 커브 감속 - + Sync set speed on gas pressed 가속시 설정속도를 같이 올립니다 - + Stock Navi based deceleration 순정내비기반 감속 사용 - + Use the stock navi based deceleration for longcontrol Long Control일 때 순정내비의 감속신호가 있을 시 적용합니다. - + Keep steering while turn signals 턴 시그널일때도 계속 조향 - + Haptic feedback (speed-cam alert) 햅틱 피드백을 사용합니다 - + Haptic feedback when a speed camera is detected NDA 연동시 카메라를 만나면 햅틱 피드백을 사용합니다 - + Disable Openpilot FCW Openpilot FCW를 끕니다 - + Show Debug UI 디버그 메세지 보이기 @@ -180,13 +180,13 @@ ConfirmationDialog - - + + Ok 확인 - + Cancel 취소 @@ -194,17 +194,17 @@ DeclinePage - + You must accept the Terms and Conditions in order to use openpilot. openpilot을 사용하려면 이용 약관에 동의해야 합니다. - + Back 뒤로 - + Decline, uninstall %1 거절, %1 제거 @@ -212,43 +212,43 @@ DevicePanel - + Dongle ID 동글 ID - + N/A - + Serial 시리얼 - + Soft restart 소프트 재시작 - - + + Reset Calibration 캘리브레이션 재설정 - + Are you sure you want to reset calibration and live params? 캘리브레이션과 라이브 파라미터(AngleOffset, SteerRatio등)이 재설정(초기화)됩니다. 진행할까요? - + Driver Camera 운전자 카메라 - + PREVIEW 미리보기 @@ -257,136 +257,136 @@ 최상의 운전자 모니터링 위해 장착 위치를 최적화하는데 도움이 되도록 운전자가 바라보는 카메라를 미리 봅니다. (차량은 꺼져 있어야 함) - + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 최상의 운전자 모니터링 위해 장착 위치를 최적화하는데 도움이 되도록 운전자가 바라보는 카메라를 미리 봅니다. (차량은 꺼져 있어야 함) - + RESET 재설정 - + Are you sure you want to reset calibration? 캘리브레이션을 재설정할까요? - + Review Training Guide 트레이닝 가이드 검토 - + REVIEW 검토 - + Review the rules, features, and limitations of openpilot openpilot의 규칙, 기능 및 제한 사항 검토 - + Are you sure you want to review the training guide? 트레이닝 가이드를 검토하시겠습니까? - + Regulatory 규제 - + VIEW 보기 - + Change Language 언어 변경 - + CHANGE 변경 - + Select a language 사용할 언어를 선택하세요 - + Reboot 재부팅 - + Rebuild 전체 재빌드 - + Are you sure you want to rebuild? 전체 재빌드를 하시겠습니까? - + Power Off 전원 끄기 - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. 장치는 좌우 4°, 상하 5°~8° 이내로 장착되어야 합니다. openpilot은 계속해서 캘리브레이션을 수행합니다. 재설정은 거의 하지 않아도 됩니다. - + Your device is pointed %1° %2 and %3° %4. 현재 %2 %1° 그리고 %4 %3° 로 장착되어 있습니다. - + down 아래로 - + up 위로 - + left 좌측으로 - + right 우측으로 - + Are you sure you want to reboot? 재부팅하시겠습니까? - + Disengage to Reboot 재부팅하려면 디스인게이지하세요 - + Are you sure you want to power off? 전원을 끄시겠습니까? - + Disengage to Power Off 전원을 끄려면 디스인게이지하세요 @@ -394,32 +394,32 @@ openpilot은 계속해서 캘리브레이션을 수행합니다. DriveStats - + Drives 주행 - + Hours 시간 - + ALL TIME 전체 - + PAST WEEK 지난주 - + KM KM - + Miles 마일 @@ -427,7 +427,7 @@ openpilot은 계속해서 캘리브레이션을 수행합니다. DriverViewScene - + camera starting 카메라 시작중 @@ -435,12 +435,12 @@ openpilot은 계속해서 캘리브레이션을 수행합니다. InputDialog - + Cancel 취소 - + Need at least %n character(s)! 최소 %n 자가 필요합니 @@ -462,7 +462,7 @@ openpilot은 계속해서 캘리브레이션을 수행합니다. LateralControl - + Back 뒤로 @@ -470,17 +470,17 @@ openpilot은 계속해서 캘리브레이션을 수행합니다. MapETA - + eta 예상도착시간 - + min 분 - + hr 시간 @@ -488,27 +488,27 @@ openpilot은 계속해서 캘리브레이션을 수행합니다. MapPanel - + Current Destination 현재 목적지 - + CLEAR 삭제 - + Recent Destinations 최근 목적지 - + Try the Navigation Beta 내비게이션 베타를 시도해보세요 - + Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai 콤마 프라임 구독으로 턴바이턴 길찾기 등을 확인하세요. @@ -521,21 +521,21 @@ prime subscription. Sign up now: https://connect.comma.ai 지금 가입하세요: https://connect.comma.ai - + No home location set 집이 설정되지 않았습니다 위치를 설정하세요 - + No work location set 회사가 설정되지 않았습니다 위치를 설정하세요 - + no recent destinations 최근 목적지가 없습니다 @@ -543,12 +543,12 @@ location set MapWindow - + Map Loading 지도 로딩중 - + Waiting for GPS GPS 신호 대기중 @@ -556,12 +556,12 @@ location set MultiOptionDialog - + Select 선택 - + Cancel 취소 @@ -569,18 +569,18 @@ location set Networking - + Advanced 고급 설정 - + Enter password 암호를 입력하세요 - - + + for "%1" "%1" @@ -589,7 +589,7 @@ location set - + Wrong password 암호가 잘못되었습니다 @@ -597,17 +597,17 @@ location set OffroadHome - + UPDATE 업데이트 - + ALERTS 알림 - + ALERT 알림 @@ -615,22 +615,22 @@ location set PairingPopup - + Pair your device to your comma account 콤마 커넥트와 기기를 페어링하세요 - + Go to https://connect.comma.ai on your phone 폰에서 ttps://connect.comma.ai 로 접속하세요. - + Click "add new device" and scan the QR code on the right "새장치 추가"를 클릭하고 오른쪽 QR코드를 스캔하세요. - + Bookmark connect.comma.ai to your home screen to use it like an app 홈 스크린에 connect.comma.ai 를 등록해두면 사용하기 쉽습니다. @@ -654,32 +654,32 @@ location set PrimeAdWidget - + Upgrade Now 지금 업그레이드 - + Become a comma prime member at connect.comma.ai connect.comma.ai에서 콤마 프라임 회원이 되십시오. - + PRIME FEATURES: 프라임 기능 - + Remote access 원격 접속 - + 1 year of storage 1년 저장공간 - + Developer perks 개발자 특혜 @@ -687,22 +687,22 @@ location set PrimeUserWidget - + ✓ SUBSCRIBED ✓ 구독중 - + comma prime 콤마 프라임 - + CONNECT.COMMA.AI CONNECT.COMMA.AI - + COMMA POINTS 콤마 포인트 @@ -710,41 +710,41 @@ location set QObject - + Reboot 재부팅 - + Exit 나가기 - + dashcam dashcam - + openpilot openpilot - + %n minute(s) ago %n분전 - + %n hour(s) ago %n시간전 - + %n day(s) ago %n일 @@ -766,7 +766,7 @@ location set RichTextDialog - + Ok 확인 @@ -774,12 +774,12 @@ location set SelectCar - + Back 뒤로 - + [ Not selected ] [선택 안함] @@ -787,38 +787,38 @@ location set SettingsWindow - + ← Back ← 뒤로 - + Device 장치 - - + + Network 네트워크 - + Toggles 토글 - + Software 소프트웨어 - + Community 커뮤니티 - + Navigation 내비게이션 @@ -826,17 +826,17 @@ location set SetupWidget - + Finish Setup 설정 완료 - + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 장치를 콤마 커넥트(connect.comma.ai)과 페어링하고 콤마 프라임 제안을 요청하십시오. - + Pair device 장치 페어링 @@ -852,7 +852,7 @@ location set 오프라인 - + ONLINE 온라인 @@ -861,54 +861,54 @@ location set 에러 - + FREE 저장공간 - - - + + + TEMP 온도 - + HIGH 높음 - + GOOD 좋음 - + OK OK - + VEHICLE 차량 - + NO NO - + PANDA 판다 - + GPS - + SEARCH @@ -916,63 +916,63 @@ location set SoftwarePanel - + Git Branch Git 브랜치 - + Git Commit Git 커밋 - + OS Version OS 버전 - + Version 버전 - + Last Update Check 마지막 업데이트 확인 - + The last time openpilot successfully checked for an update. The updater only runs while the car is off. 마지막으로 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트는 차량 시동이 꺼져 있는 동안에만 실행됩니다. - + Check for Update 업데이트 확인 - + CHECKING 확인중 - + Switch Branch 브랜치 변경 - + ENTER 입력 - - + + The new branch will be pulled the next time the updater runs. 다음 업데이터가 실행될 때 해당 브랜치를 가져옵니다. - + Enter branch name 브랜치명을 입력하세요 @@ -981,28 +981,28 @@ location set 제거 - + UNINSTALL 제거 - + Uninstall %1 %1 제 - + Are you sure you want to uninstall? 제거하시겠습니까? - + failed to fetch update 업데이트 패치에 실패하였습니다 - - + + CHECK 확인 @@ -1010,50 +1010,50 @@ location set SshControl - + SSH Keys SSH 키 - + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. 경고: 이렇게 하면 GitHub 설정의 모든 공개 키에 SSH 액세스 권한이 부여됩니다. 자신의 GitHub 사용자 이름이 아닌 다른 사용자 이름을 입력하지 마십시오. 콤마 직원은 GitHub 사용자 이름을 추가하도록 요청하지 않습니다. - - + + ADD 추가 - + Enter your GitHub username GitHub 아이디를 입력하세요 - + LOADING 읽어오는중 - + REMOVE 제거 - + Username '%1' has no keys on GitHub '%1'의 키가 GitHub에 없습니다 - + Request timed out 타임아웃이 발생하였습니다 - + Username '%1' doesn't exist on GitHub '%1'은 GitHub의 회원이 아닙니다 @@ -1061,7 +1061,7 @@ location set SshToggle - + Enable SSH SSH 활성화 @@ -1069,22 +1069,22 @@ location set TermsPage - + Terms & Conditions 이용약관 - + Decline 거부 - + Scroll to accept 승인하려면 아래로 스크롤하세요 - + Agree 동의 @@ -1092,22 +1092,22 @@ location set TogglesPanel - + Enable openpilot 오픈파일럿 사용 - + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 어댑티브 크루즈 컨트롤 및 차선 유지 운전자 지원을 위해 오픈 파일럿 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의가 필요합니다. 이 설정을 변경하면 차량의 전원이 꺼질 때 적용됩니다. - + Enable Lane Departure Warnings 차선 이탈 경고 활성화 - + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 31mph(50km/h) 이상으로 운전하는 동안 방향 신호가 활성화되지 않은 상태에서 차량이 감지된 차선을 넘어갈 때 차선으로 다시 조향하라는 경고를 받습니다. @@ -1120,57 +1120,71 @@ location set openpilot이 왼쪽 교통 규칙을 준수하고 오른쪽 운전석에서 운전자 모니터링을 수행하도록 허용합니다. - + Use Metric System 미터법 사용 - + Display speed in km/h instead of mph. mph 대신 km/h로 속도를 표시합니다. - + Record and Upload Driver Camera 운전자 카메라 녹화 및 업로드 - + Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자를 향한 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선하는 데 도움이 됩니다. - + Disable use of lanelines 차선 사용 비활성화(End to end) - + In this mode openpilot will ignore lanelines and just drive how it thinks a human would. 이 모드에서 openpilot은 차선을 무시하고 사람처럼 운전합니다. - + 🌮 End-to-end longitudinal (extremely alpha) 🌮 🌮 End-to-end 가감속 (매우 실험적인 기능) 🌮 - + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + 모델에서 가감속을 제어하여 사람이 생각하는것처럼 운전합니다.(매우 실험적인 기능) + + Let the driving model control the gas and brakes, openpilot will drive as it thinks a human would. Super experimental. - 모델에서 가속과 감속을 제어하도록 하여 사람이 생각하는거 처럼 운전합니다.(매우 실험적인 기능) + 모델에서 가속과 감속을 제어하도록 하여 사람이 생각하는거 처럼 운전합니다.(매우 실험적인 기능) - + Disengage On Accelerator Pedal 가속 페달시 디스인게이지 - + When enabled, pressing the accelerator pedal will disengage openpilot. 활성화시, 가속페달을 밟으면 디스인게이지 됩니다. - + + Experimental openpilot longitudinal control + 실험적인 오픈파일럿 longitudinal 제 + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + <b>경고: 오픈파일럿의 long 제어는 실험적이며 순정 AEB가 비활성화됩니다.</b> + + + Show ETA in 24h Format 도착시간을 24시간으로 표시합니다. @@ -1179,51 +1193,41 @@ location set 24시간제으로 표시합니다. - + Use 24h format instead of am/pm 오전/오후 대신 24시간 형식 사용 - + Show Map on Left Side of UI 왼쪽에 지도 표시 - + Show map on left side when in split screen view. 분할 화면의 왼쪽에 지도를 표시합니다. - - - openpilot Longitudinal Control - - - - - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - - WifiUI - - + + Scanning for networks... 네트워크를 찾는 중 - + CONNECTING... 접속중... - + FORGET 제거 - + Forget Wi-Fi Network "%1"? "%1"을 제거하시겠습니까? diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 8ec65857378cf3..cae9acd152f4c0 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -198,6 +198,7 @@ void ui_update_params(UIState *s) { auto params = Params(); s->scene.is_metric = params.getBool("IsMetric"); s->scene.map_on_left = params.getBool("NavSettingLeftSide"); + s->scene.end_to_end_long = params.getBool("EndToEndLong"); s->show_debug = params.getBool("ShowDebugUI"); s->lat_control = std::string(Params().get("LateralControl")); } diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index d370d54cc67e66..64a598ae413696 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -102,7 +102,7 @@ typedef struct UIScene { bool lead_radar[2] = {false, false}; float light_sensor, accel_sensor, gyro_sensor; - bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end; + bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end, end_to_end_long; uint64_t started_frame; } UIScene; diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 05781589db160c..4f2ab30461d280 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -19,7 +19,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA for file in translation_files.values(): tr_file = os.path.join(translations_dir, f"{file}.ts") - args = f"lupdate -recursive {UI_DIR} -ts {tr_file}" + args = f"lupdate -locations relative -recursive {UI_DIR} -ts {tr_file}" if vanish: args += " -no-obsolete" if file in plural_only: diff --git a/system/camerad/SConscript b/system/camerad/SConscript index b03fbdc9a084c1..65f682dcce652f 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -10,6 +10,7 @@ if arch == "larch64": env.Program('camerad', [ 'main.cc', 'cameras/camera_common.cc', + 'cameras/camera_util.cc', 'imgproc/utils.cc', cameras, ], LIBS=libs) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 1d4ecd526a041a..313af00b5a91ce 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -36,10 +36,10 @@ class Debayer { "-cl-fast-relaxed-math -cl-denorms-are-zero " "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d " "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " - "-DCAM_NUM=%d%s", + "-DIS_OX=%d -DCAM_NUM=%d%s", ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset, b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset, - s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); + s->camera_id==CAMERA_ID_OX03C10 ? 1 : 0, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : ""); const char *cl_file = "cameras/real_debayer.cl"; cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args); krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err)); @@ -348,8 +348,8 @@ void camerad_thread() { MultiCameraState cameras = {}; VisionIpcServer vipc_server("camerad", device_id, context); - cameras_init(&vipc_server, &cameras, device_id, context); cameras_open(&cameras); + cameras_init(&vipc_server, &cameras, device_id, context); vipc_server.start_listener(); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index e87eaf4b91f2a4..7bbb13c75fc024 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -23,7 +23,7 @@ #define CAMERA_ID_LGC920 6 #define CAMERA_ID_LGC615 7 #define CAMERA_ID_AR0231 8 -#define CAMERA_ID_IMX390 9 +#define CAMERA_ID_OX03C10 9 #define CAMERA_ID_MAX 10 const int YUV_BUFFER_COUNT = 40; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index c06aeb43604507..2f674cb50c4432 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -32,7 +32,8 @@ const size_t FRAME_HEIGHT = 1208; const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) const size_t AR0231_REGISTERS_HEIGHT = 2; -const size_t AR0231_STATS_HEIGHT = 2; +// TODO: this extra height is universal and doesn't apply per camera +const size_t AR0231_STATS_HEIGHT = 2+8; const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py @@ -47,153 +48,60 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = { .frame_offset = AR0231_REGISTERS_HEIGHT, .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT, }, - [CAMERA_ID_IMX390] = { + [CAMERA_ID_OX03C10] = { .frame_width = FRAME_WIDTH, .frame_height = FRAME_HEIGHT, - .frame_stride = FRAME_STRIDE, + .frame_stride = FRAME_STRIDE, // (0xa80*12//8) + .extra_height = 16, // this right? }, }; -const float DC_GAIN = 2.5; -const float sensor_analog_gains[] = { +const float DC_GAIN_AR0231 = 2.5; +const float DC_GAIN_OX03C10 = 7.32; + +const float DC_GAIN_ON_GREY_AR0231= 0.2; +const float DC_GAIN_OFF_GREY_AR0231 = 0.3; +const float DC_GAIN_ON_GREY_OX03C10= 0.3; +const float DC_GAIN_OFF_GREY_OX03C10 = 0.375; + +const int DC_GAIN_MIN_WEIGHT = 0; +const int DC_GAIN_MAX_WEIGHT_AR0231 = 1; +const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32; + +const float sensor_analog_gains_AR0231[] = { 1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3 3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7 5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11 7.0/2.0, 8.0/2.0, 8.0/1.0}; // 12, 13, 14, 15 = bypass -const int ANALOG_GAIN_MIN_IDX = 0x1; // 0.25x -const int ANALOG_GAIN_REC_IDX = 0x6; // 0.8x -const int ANALOG_GAIN_MAX_IDX = 0xD; // 4.0x - -const int EXPOSURE_TIME_MIN = 2; // with HDR, fastest ss -const int EXPOSURE_TIME_MAX = 0x0855; // with HDR, slowest ss, 40ms - -// ************** low level camera helpers **************** -int do_cam_control(int fd, int op_code, void *handle, int size) { - struct cam_control camcontrol = {0}; - camcontrol.op_code = op_code; - camcontrol.handle = (uint64_t)handle; - if (size == 0) { - camcontrol.size = 8; - camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE; - } else { - camcontrol.size = size; - camcontrol.handle_type = CAM_HANDLE_USER_POINTER; - } - - int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol)); - if (ret == -1) { - LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno); - } - return ret; -} - -std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1) { - struct cam_acquire_dev_cmd cmd = { - .session_handle = session_handle, - .handle_type = CAM_HANDLE_USER_POINTER, - .num_resources = (uint32_t)(data ? num_resources : 0), - .resource_hdl = (uint64_t)data, - }; - int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); - return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; -}; - -int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { - struct cam_config_dev_cmd cmd = { - .session_handle = session_handle, - .dev_handle = dev_handle, - .packet_handle = packet_handle, - }; - return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd)); -} - -int device_control(int fd, int op_code, int session_handle, int dev_handle) { - // start stop and release are all the same - struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle }; - return do_cam_control(fd, op_code, &cmd, sizeof(cmd)); -} - -void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - int mmu_hdl = 0, int mmu_hdl2 = 0) { - struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0}; - mem_mgr_alloc_cmd.len = len; - mem_mgr_alloc_cmd.align = align; - mem_mgr_alloc_cmd.flags = flags; - mem_mgr_alloc_cmd.num_hdl = 0; - if (mmu_hdl != 0) { - mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl; - mem_mgr_alloc_cmd.num_hdl++; - } - if (mmu_hdl2 != 0) { - mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2; - mem_mgr_alloc_cmd.num_hdl++; - } - - do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd)); - *handle = mem_mgr_alloc_cmd.out.buf_handle; - - void *ptr = NULL; - if (mem_mgr_alloc_cmd.out.fd > 0) { - ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0); - assert(ptr != MAP_FAILED); - } - - // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr); +// similar gain curve to AR +const float sensor_analog_gains_OX03C10[] = { + 1.0, 1.25, 1.3125, 1.5625, + 1.6875, 2.0, 2.25, 2.625, + 3.125, 3.625, 4.5, 5.0, + 7.25, 8.5, 12.0, 15.5}; - return ptr; -} +const uint32_t ox03c10_analog_gains_reg[] = { + 0x100, 0x140, 0x150, 0x190, + 0x1B0, 0x200, 0x240, 0x2A0, + 0x320, 0x3A0, 0x480, 0x500, + 0x740, 0x880, 0xC00, 0xF80}; -void release(int video0_fd, uint32_t handle) { - int ret; - struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0}; - mem_mgr_release_cmd.buf_handle = handle; +const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x +const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x +const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x - ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd)); - assert(ret == 0); -} +const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0; +const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x5; // 2x +const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0xF; -void release_fd(int video0_fd, uint32_t handle) { - // handle to fd - close(handle>>16); - release(video0_fd, handle); -} +const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss +const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms -void *MemoryManager::alloc(int size, uint32_t *handle) { - lock.lock(); - void *ptr; - if (!cached_allocations[size].empty()) { - ptr = cached_allocations[size].front(); - cached_allocations[size].pop(); - *handle = handle_lookup[ptr]; - } else { - ptr = alloc_w_mmu_hdl(video0_fd, size, handle); - handle_lookup[ptr] = *handle; - size_lookup[ptr] = size; - } - lock.unlock(); - return ptr; -} - -void MemoryManager::free(void *ptr) { - lock.lock(); - cached_allocations[size_lookup[ptr]].push(ptr); - lock.unlock(); -} - -MemoryManager::~MemoryManager() { - for (auto& x : cached_allocations) { - while (!x.second.empty()) { - void *ptr = x.second.front(); - x.second.pop(); - LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]); - munmap(ptr, size_lookup[ptr]); - release_fd(video0_fd, handle_lookup[ptr]); - handle_lookup.erase(ptr); - size_lookup.erase(ptr); - } - } -} +const int EXPOSURE_TIME_MIN_OX03C10 = 2; // 1x +const int EXPOSURE_TIME_MAX_OX03C10 = 2016; +const uint32_t VS_TIME_MIN_OX03C10 = 1; +const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35 int CameraState::clear_req_queue() { struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; @@ -213,8 +121,8 @@ void CameraState::sensors_start() { LOGD("starting sensor %d", camera_num); if (camera_id == CAMERA_ID_AR0231) { sensors_i2c(start_reg_array_ar0231, std::size(start_reg_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_IMX390) { - sensors_i2c(start_reg_array_imx390, std::size(start_reg_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); + } else if (camera_id == CAMERA_ID_OX03C10) { + sensors_i2c(start_reg_array_ox03c10, std::size(start_reg_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); } else { assert(false); } @@ -300,15 +208,15 @@ int CameraState::sensors_init() { switch (camera_num) { case 0: // port 0 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34; + i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; // 6C = 0x36*2 break; case 1: // port 1 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x36; + i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x30 : 0x20; break; case 2: // port 2 - i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x34; + i2c_info->slave_addr = (camera_id == CAMERA_ID_AR0231) ? 0x20 : 0x6C; break; } @@ -324,9 +232,9 @@ int CameraState::sensors_init() { if (camera_id == CAMERA_ID_AR0231) { probe->reg_addr = 0x3000; probe->expected_data = 0x354; - } else if (camera_id == CAMERA_ID_IMX390) { - probe->reg_addr = 0x330; - probe->expected_data = 0x1538; + } else if (camera_id == CAMERA_ID_OX03C10) { + probe->reg_addr = 0x300a; + probe->expected_data = 0x5803; } else { assert(false); } @@ -393,8 +301,8 @@ int CameraState::sensors_init() { power->power_settings[1].power_seq_type = 1; power->power_settings[2].power_seq_type = 3; - LOGD("probing the sensor"); int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0); + LOGD("probing the sensor: %d", ret); mm.free(i2c_info); mm.free(power_settings); @@ -606,12 +514,67 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) { // ******************* camera ******************* -void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled_) { - multi_cam_state = multi_cam_state_; - camera_id = camera_id_; - camera_num = camera_num_; - enabled = enabled_; +void CameraState::camera_set_parameters() { + if (camera_id == CAMERA_ID_AR0231) { + dc_gain_factor = DC_GAIN_AR0231; + dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231; + dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231; + dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231; + exposure_time_min = EXPOSURE_TIME_MIN_AR0231; + exposure_time_max = EXPOSURE_TIME_MAX_AR0231; + analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231; + analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231; + analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231; + for (int i=0; i<=analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; + } + min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; + } else if (camera_id == CAMERA_ID_OX03C10) { + dc_gain_factor = DC_GAIN_OX03C10; + dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10; + dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10; + dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10; + exposure_time_min = EXPOSURE_TIME_MIN_OX03C10; + exposure_time_max = EXPOSURE_TIME_MAX_OX03C10; + analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10; + analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10; + analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10; + for (int i=0; i<=analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; + } + min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; + } else { + assert(false); + } + + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_fraction = 0.3; + + dc_gain_enabled = false; + dc_gain_weight = DC_GAIN_MIN_WEIGHT; + gain_idx = analog_gain_rec_idx; + exposure_time = 5; + cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time; +} + +void CameraState::camera_map_bufs(MultiCameraState *s) { + for (int i = 0; i < FRAME_BUF_COUNT; i++) { + // configure ISP to put the image in place + struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; + mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu; + mem_mgr_map_cmd.num_hdl = 1; + mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; + mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; + int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); + LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); + buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; + } + enqueue_req_multi(1, FRAME_BUF_COUNT, 0); +} + +void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, int camera_id_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) { if (!enabled) return; + camera_id = camera_id_; LOGD("camera init %d", camera_num); assert(camera_id < std::size(cameras_supported)); @@ -621,19 +584,18 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe request_id_last = 0; skipped = true; - min_ev = EXPOSURE_TIME_MIN * sensor_analog_gains[ANALOG_GAIN_MIN_IDX]; - max_ev = EXPOSURE_TIME_MAX * sensor_analog_gains[ANALOG_GAIN_MAX_IDX] * DC_GAIN; - target_grey_fraction = 0.3; - - dc_gain_enabled = false; - gain_idx = ANALOG_GAIN_REC_IDX; - exposure_time = 5; - cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time; + camera_set_parameters(); buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type); + camera_map_bufs(s); } -void CameraState::camera_open() { +void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) { + multi_cam_state = multi_cam_state_; + camera_num = camera_num_; + enabled = enabled_; + if (!enabled) return; + int ret; sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num); assert(sensor_fd >= 0); @@ -644,10 +606,12 @@ void CameraState::camera_open() { // probe the sensor LOGD("-- Probing sensor %d", camera_num); + camera_id = CAMERA_ID_AR0231; ret = sensors_init(); if (ret != 0) { - LOGD("AR0231 init failed, trying IMX390"); - camera_id = CAMERA_ID_IMX390; + // TODO: use build flag instead? + LOGD("AR0231 init failed, trying OX03C10"); + camera_id = CAMERA_ID_OX03C10; ret = sensors_init(); } LOGD("-- Probing sensor %d done with %d", camera_num, ret); @@ -671,13 +635,18 @@ void CameraState::camera_open() { LOGD("acquire sensor dev"); LOG("-- Configuring sensor"); + uint32_t dt; if (camera_id == CAMERA_ID_AR0231) { sensors_i2c(init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_IMX390) { - sensors_i2c(init_array_imx390, std::size(init_array_imx390), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); + dt = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead + } else if (camera_id == CAMERA_ID_OX03C10) { + sensors_i2c(init_array_ox03c10, std::size(init_array_ox03c10), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); + // one is 0x2a, two are 0x2b + dt = 0x2c; } else { assert(false); } + printf("dt is %x\n", dt); // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c // If you don't do this, the strobe GPIO is an output (even in reset it seems!) @@ -691,7 +660,7 @@ void CameraState::camera_open() { .lane_cfg = 0x3210, .vc = 0x0, - .dt = 0x12, // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead + .dt = dt, .format = CAM_FORMAT_MIPI_RAW_12, .test_pattern = 0x2, // 0x3? @@ -805,29 +774,15 @@ void CameraState::camera_open() { ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle); LOGD("start isp: %d", ret); - for (int i = 0; i < FRAME_BUF_COUNT; i++) { - // configure ISP to put the image in place - struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; - mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu; - mem_mgr_map_cmd.num_hdl = 1; - mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; - mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); - LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); - buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; - } - // TODO: this is unneeded, should we be doing the start i2c in a different way? //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle); //LOGD("start sensor: %d", ret); - - enqueue_req_multi(1, FRAME_BUF_COUNT, 0); } void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_DRIVER, !env_disable_driver); - s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_ROAD, !env_disable_road); - s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road); + s->driver_cam.camera_init(s, v, s->driver_cam.camera_id, 20, device_id, ctx, VISION_STREAM_DRIVER); + s->road_cam.camera_init(s, v, s->road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_ROAD); + s->wide_road_cam.camera_init(s, v, s->wide_road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } @@ -873,11 +828,11 @@ void cameras_open(MultiCameraState *s) { ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); LOGD("req mgr subscribe: %d", ret); - s->driver_cam.camera_open(); + s->driver_cam.camera_open(s, 2, !env_disable_driver); LOGD("driver camera opened"); - s->road_cam.camera_open(); + s->road_cam.camera_open(s, 1, !env_disable_road); LOGD("road camera opened"); - s->wide_road_cam.camera_open(); + s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road); LOGD("wide road camera opened"); } @@ -1044,7 +999,7 @@ void CameraState::handle_camera_event(void *evdat) { meta_data.frame_id = main_id - idx_offset; meta_data.timestamp_sof = timestamp; exp_lock.lock(); - meta_data.gain = dc_gain_enabled ? analog_gain_frac * DC_GAIN : analog_gain_frac; + meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); meta_data.high_conversion_gain = dc_gain_enabled; meta_data.integ_lines = exposure_time; meta_data.measured_grey_fraction = measured_grey_fraction; @@ -1096,33 +1051,42 @@ void CameraState::set_camera_exposure(float grey_frac) { // Hysteresis around high conversion gain // We usually want this on since it results in lower noise, but turn off in very bright day scenes bool enable_dc_gain = dc_gain_enabled; - if (!enable_dc_gain && target_grey < 0.2) { + if (!enable_dc_gain && target_grey < dc_gain_on_grey) { enable_dc_gain = true; - } else if (enable_dc_gain && target_grey > 0.3) { + dc_gain_weight = DC_GAIN_MIN_WEIGHT; + } else if (enable_dc_gain && target_grey > dc_gain_off_grey) { enable_dc_gain = false; + dc_gain_weight = dc_gain_max_weight; } + + if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;} + if (!enable_dc_gain && dc_gain_weight > DC_GAIN_MIN_WEIGHT) {dc_gain_weight -= 1;} + + std::string gain_bytes, time_bytes; if (env_ctrl_exp_from_params) { + gain_bytes = Params().get("CameraDebugExpGain"); + time_bytes = Params().get("CameraDebugExpTime"); + } + + if (gain_bytes.size() > 0 && time_bytes.size() > 0) { // Override gain and exposure time - if (buf.cur_frame_data.frame_id % 5 == 0) { - std::string gain_bytes = Params().get("CameraDebugExpGain"); - std::string time_bytes = Params().get("CameraDebugExpTime"); - gain_idx = std::stoi(gain_bytes); - exposure_time = std::stoi(time_bytes); - } + gain_idx = std::stoi(gain_bytes); + exposure_time = std::stoi(time_bytes); + new_g = gain_idx; new_t = exposure_time; enable_dc_gain = false; } else { // Simple brute force optimizer to choose sensor parameters // to reach desired EV - for (int g = std::max((int)ANALOG_GAIN_MIN_IDX, gain_idx - 1); g <= std::min((int)ANALOG_GAIN_MAX_IDX, gain_idx + 1); g++) { - float gain = sensor_analog_gains[g] * (enable_dc_gain ? DC_GAIN : 1); + for (int g = std::max((int)analog_gain_min_idx, gain_idx - 1); g <= std::min((int)analog_gain_max_idx, gain_idx + 1); g++) { + float gain = sensor_analog_gains[g] * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); // Compute optimal time for given gain - int t = std::clamp(int(std::round(desired_ev / gain)), EXPOSURE_TIME_MIN, EXPOSURE_TIME_MAX); + int t = std::clamp(int(std::round(desired_ev / gain)), exposure_time_min, exposure_time_max); // Only go below recommended gain when absolutely necessary to not overexpose - if (g < ANALOG_GAIN_REC_IDX && t > 20 && g < gain_idx) { + if (g < analog_gain_rec_idx && t > 20 && g < gain_idx) { continue; } @@ -1130,8 +1094,8 @@ void CameraState::set_camera_exposure(float grey_frac) { float score = std::abs(desired_ev - (t * gain)) * 10; // Going below recommended gain needs lower penalty to not overexpose - float m = g > ANALOG_GAIN_REC_IDX ? 5.0 : 0.1; - score += std::abs(g - (int)ANALOG_GAIN_REC_IDX) * m; + float m = g > analog_gain_rec_idx ? 5.0 : 0.1; + score += std::abs(g - (int)analog_gain_rec_idx) * m; // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev); @@ -1156,7 +1120,7 @@ void CameraState::set_camera_exposure(float grey_frac) { exposure_time = new_t; dc_gain_enabled = enable_dc_gain; - float gain = analog_gain_frac * (dc_gain_enabled ? DC_GAIN : 1.0); + float gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight); cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain; exp_lock.unlock(); @@ -1177,17 +1141,25 @@ void CameraState::set_camera_exposure(float grey_frac) { {0x3012, (uint16_t)exposure_time}, }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); - } else if (camera_id == CAMERA_ID_IMX390) { - // if gain is sub 1, we have to use exposure to mimic sub 1 gains - uint32_t real_exposure_time = (gain < 1.0) ? (exposure_time*gain) : exposure_time; - // invert real_exposure_time, max exposure is 2 - real_exposure_time = (exposure_time >= 0x7cf) ? 2 : (0x7cf - exposure_time); - uint32_t real_gain = int((10*log10(fmax(1.0, gain)))/0.3); - //printf("%d expose: %d gain: %f = %d\n", camera_num, exposure_time, gain, real_gain); + } else if (camera_id == CAMERA_ID_OX03C10) { + // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD + uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0); + uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0); + uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min); + uint32_t vs_time = std::min(std::max(hcg_time / 64, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); + + uint32_t real_gain = ox03c10_analog_gains_reg[new_g]; struct i2c_random_wr_payload exp_reg_array[] = { - {0x000c, real_exposure_time&0xFF}, {0x000d, real_exposure_time>>8}, - {0x0010, real_exposure_time&0xFF}, {0x0011, real_exposure_time>>8}, - {0x0018, real_gain&0xFF}, {0x0019, real_gain>>8}, + + {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, + {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, + {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, + {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF}, + + {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, + {0x3588, real_gain>>8}, {0x3589, real_gain&0xFF}, + {0x3548, real_gain>>8}, {0x3549, real_gain&0xFF}, + {0x35c8, real_gain>>8}, {0x35c9, real_gain&0xFF}, }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); } diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index e75e7e586a0d16..1b792e7e967867 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -7,25 +7,12 @@ #include #include "system/camerad/cameras/camera_common.h" +#include "system/camerad/cameras/camera_util.h" #include "common/params.h" #include "common/util.h" #define FRAME_BUF_COUNT 4 -class MemoryManager { - public: - void init(int _video0_fd) { video0_fd = _video0_fd; } - void *alloc(int len, uint32_t *handle); - void free(void *ptr); - ~MemoryManager(); - private: - std::mutex lock; - std::map handle_lookup; - std::map size_lookup; - std::map > cached_allocations; - int video0_fd; -}; - class CameraState { public: MultiCameraState *multi_cam_state; @@ -36,14 +23,28 @@ class CameraState { int exposure_time; bool dc_gain_enabled; + int dc_gain_weight; + int gain_idx; float analog_gain_frac; + int exposure_time_min; + int exposure_time_max; + + float dc_gain_factor; + int dc_gain_max_weight; + float dc_gain_on_grey; + float dc_gain_off_grey; + + float sensor_analog_gains[16]; + int analog_gain_min_idx; + int analog_gain_max_idx; + int analog_gain_rec_idx; + float cur_ev[3]; float min_ev, max_ev; float measured_grey_fraction; float target_grey_fraction; - int gain_idx; unique_fd sensor_fd; unique_fd csiphy_fd; @@ -55,8 +56,10 @@ class CameraState { void sensors_start(); - void camera_open(); - void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled); + void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); + void camera_set_parameters(); + void camera_map_bufs(MultiCameraState *s); + void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type); void camera_close(); std::map ar0231_parse_registers(uint8_t *data, std::initializer_list addrs); diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc new file mode 100644 index 00000000000000..6f7da56cd110dd --- /dev/null +++ b/system/camerad/cameras/camera_util.cc @@ -0,0 +1,138 @@ +#include "system/camerad/cameras/camera_util.h" + +#include + +#include + +#include +#include + +#include "common/swaglog.h" +#include "common/util.h" + +// ************** low level camera helpers **************** +int do_cam_control(int fd, int op_code, void *handle, int size) { + struct cam_control camcontrol = {0}; + camcontrol.op_code = op_code; + camcontrol.handle = (uint64_t)handle; + if (size == 0) { + camcontrol.size = 8; + camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE; + } else { + camcontrol.size = size; + camcontrol.handle_type = CAM_HANDLE_USER_POINTER; + } + + int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol)); + if (ret == -1) { + LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno); + } + return ret; +} + +std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) { + struct cam_acquire_dev_cmd cmd = { + .session_handle = session_handle, + .handle_type = CAM_HANDLE_USER_POINTER, + .num_resources = (uint32_t)(data ? num_resources : 0), + .resource_hdl = (uint64_t)data, + }; + int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); + return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; +}; + +int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { + struct cam_config_dev_cmd cmd = { + .session_handle = session_handle, + .dev_handle = dev_handle, + .packet_handle = packet_handle, + }; + return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd)); +} + +int device_control(int fd, int op_code, int session_handle, int dev_handle) { + // start stop and release are all the same + struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle }; + return do_cam_control(fd, op_code, &cmd, sizeof(cmd)); +} + +void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) { + struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0}; + mem_mgr_alloc_cmd.len = len; + mem_mgr_alloc_cmd.align = align; + mem_mgr_alloc_cmd.flags = flags; + mem_mgr_alloc_cmd.num_hdl = 0; + if (mmu_hdl != 0) { + mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl; + mem_mgr_alloc_cmd.num_hdl++; + } + if (mmu_hdl2 != 0) { + mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2; + mem_mgr_alloc_cmd.num_hdl++; + } + + do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd)); + *handle = mem_mgr_alloc_cmd.out.buf_handle; + + void *ptr = NULL; + if (mem_mgr_alloc_cmd.out.fd > 0) { + ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0); + assert(ptr != MAP_FAILED); + } + + // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr); + + return ptr; +} + +void release(int video0_fd, uint32_t handle) { + int ret; + struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0}; + mem_mgr_release_cmd.buf_handle = handle; + + ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd)); + assert(ret == 0); +} + +void release_fd(int video0_fd, uint32_t handle) { + // handle to fd + close(handle>>16); + release(video0_fd, handle); +} + +void *MemoryManager::alloc(int size, uint32_t *handle) { + lock.lock(); + void *ptr; + if (!cached_allocations[size].empty()) { + ptr = cached_allocations[size].front(); + cached_allocations[size].pop(); + *handle = handle_lookup[ptr]; + } else { + ptr = alloc_w_mmu_hdl(video0_fd, size, handle); + handle_lookup[ptr] = *handle; + size_lookup[ptr] = size; + } + lock.unlock(); + memset(ptr, 0, size); + return ptr; +} + +void MemoryManager::free(void *ptr) { + lock.lock(); + cached_allocations[size_lookup[ptr]].push(ptr); + lock.unlock(); +} + +MemoryManager::~MemoryManager() { + for (auto& x : cached_allocations) { + while (!x.second.empty()) { + void *ptr = x.second.front(); + x.second.pop(); + LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]); + munmap(ptr, size_lookup[ptr]); + release_fd(video0_fd, handle_lookup[ptr]); + handle_lookup.erase(ptr); + size_lookup.erase(ptr); + } + } +} diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h new file mode 100644 index 00000000000000..e408f6c0e2c5c4 --- /dev/null +++ b/system/camerad/cameras/camera_util.h @@ -0,0 +1,30 @@ +#pragma once + +#include +#include +#include +#include + +#include + +std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1); +int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle); +int device_control(int fd, int op_code, int session_handle, int dev_handle); +int do_cam_control(int fd, int op_code, void *handle, int size); +void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, + int mmu_hdl = 0, int mmu_hdl2 = 0); +void release(int video0_fd, uint32_t handle); + +class MemoryManager { + public: + void init(int _video0_fd) { video0_fd = _video0_fd; } + void *alloc(int len, uint32_t *handle); + void free(void *ptr); + ~MemoryManager(); + private: + std::mutex lock; + std::map handle_lookup; + std::map size_lookup; + std::map > cached_allocations; + int video0_fd; +}; diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl index fc9f41049495f1..4a36a03bf51218 100644 --- a/system/camerad/cameras/real_debayer.cl +++ b/system/camerad/cameras/real_debayer.cl @@ -8,9 +8,15 @@ float3 color_correct(float3 rgb) { // color correction + #if IS_OX + float3 x = rgb.x * (float3)(1.81485125, -0.51650643, -0.06985117); + x += rgb.y * (float3)(-0.51681964, 1.85935946, -0.49871889); + x += rgb.z * (float3)(-0.29803161, -0.34285304, 1.56857006); + #else float3 x = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673); x += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455); x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782); + #endif // tone mapping params const float gamma_k = 0.75; @@ -36,14 +42,43 @@ float get_vignetting_s(float r) { } } +constant float ox03c10_lut[] = { + 0.0000e+00, 5.9488e-08, 1.1898e-07, 1.7846e-07, 2.3795e-07, 2.9744e-07, 3.5693e-07, 4.1642e-07, 4.7591e-07, 5.3539e-07, 5.9488e-07, 6.5437e-07, 7.1386e-07, 7.7335e-07, 8.3284e-07, 8.9232e-07, 9.5181e-07, 1.0113e-06, 1.0708e-06, 1.1303e-06, 1.1898e-06, 1.2493e-06, 1.3087e-06, 1.3682e-06, 1.4277e-06, 1.4872e-06, 1.5467e-06, 1.6062e-06, 1.6657e-06, 1.7252e-06, 1.7846e-06, 1.8441e-06, 1.9036e-06, 1.9631e-06, 2.0226e-06, 2.0821e-06, 2.1416e-06, 2.2011e-06, 2.2606e-06, 2.3200e-06, 2.3795e-06, 2.4390e-06, 2.4985e-06, 2.5580e-06, 2.6175e-06, 2.6770e-06, 2.7365e-06, 2.7959e-06, 2.8554e-06, 2.9149e-06, 2.9744e-06, 3.0339e-06, 3.0934e-06, 3.1529e-06, 3.2124e-06, 3.2719e-06, 3.3313e-06, 3.3908e-06, 3.4503e-06, 3.5098e-06, 3.5693e-06, 3.6288e-06, 3.6883e-06, 3.7478e-06, 3.8072e-06, 3.8667e-06, 3.9262e-06, 3.9857e-06, 4.0452e-06, 4.1047e-06, 4.1642e-06, 4.2237e-06, 4.2832e-06, 4.3426e-06, 4.4021e-06, 4.4616e-06, 4.5211e-06, 4.5806e-06, 4.6401e-06, 4.6996e-06, 4.7591e-06, 4.8185e-06, 4.8780e-06, 4.9375e-06, 4.9970e-06, 5.0565e-06, 5.1160e-06, 5.1755e-06, 5.2350e-06, 5.2945e-06, 5.3539e-06, 5.4134e-06, 5.4729e-06, 5.5324e-06, 5.5919e-06, 5.6514e-06, 5.7109e-06, 5.7704e-06, 5.8298e-06, 5.8893e-06, 5.9488e-06, 6.0083e-06, 6.0678e-06, 6.1273e-06, 6.1868e-06, 6.2463e-06, 6.3058e-06, 6.3652e-06, 6.4247e-06, 6.4842e-06, 6.5437e-06, 6.6032e-06, 6.6627e-06, 6.7222e-06, 6.7817e-06, 6.8411e-06, 6.9006e-06, 6.9601e-06, 7.0196e-06, 7.0791e-06, 7.1386e-06, 7.1981e-06, 7.2576e-06, 7.3171e-06, 7.3765e-06, 7.4360e-06, 7.4955e-06, 7.5550e-06, 7.6145e-06, 7.6740e-06, 7.7335e-06, 7.7930e-06, 7.8524e-06, 7.9119e-06, 7.9714e-06, 8.0309e-06, 8.0904e-06, 8.1499e-06, 8.2094e-06, 8.2689e-06, 8.3284e-06, 8.3878e-06, 8.4473e-06, 8.5068e-06, 8.5663e-06, 8.6258e-06, 8.6853e-06, 8.7448e-06, 8.8043e-06, 8.8637e-06, 8.9232e-06, 8.9827e-06, 9.0422e-06, 9.1017e-06, 9.1612e-06, 9.2207e-06, 9.2802e-06, 9.3397e-06, 9.3991e-06, 9.4586e-06, 9.5181e-06, 9.5776e-06, 9.6371e-06, 9.6966e-06, 9.7561e-06, 9.8156e-06, 9.8750e-06, 9.9345e-06, 9.9940e-06, 1.0054e-05, 1.0113e-05, 1.0172e-05, 1.0232e-05, 1.0291e-05, 1.0351e-05, 1.0410e-05, 1.0470e-05, 1.0529e-05, 1.0589e-05, 1.0648e-05, 1.0708e-05, 1.0767e-05, 1.0827e-05, 1.0886e-05, 1.0946e-05, 1.1005e-05, 1.1065e-05, 1.1124e-05, 1.1184e-05, 1.1243e-05, 1.1303e-05, 1.1362e-05, 1.1422e-05, 1.1481e-05, 1.1541e-05, 1.1600e-05, 1.1660e-05, 1.1719e-05, 1.1779e-05, 1.1838e-05, 1.1898e-05, 1.1957e-05, 1.2017e-05, 1.2076e-05, 1.2136e-05, 1.2195e-05, 1.2255e-05, 1.2314e-05, 1.2374e-05, 1.2433e-05, 1.2493e-05, 1.2552e-05, 1.2612e-05, 1.2671e-05, 1.2730e-05, 1.2790e-05, 1.2849e-05, 1.2909e-05, 1.2968e-05, 1.3028e-05, 1.3087e-05, 1.3147e-05, 1.3206e-05, 1.3266e-05, 1.3325e-05, 1.3385e-05, 1.3444e-05, 1.3504e-05, 1.3563e-05, 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2.5390e-01, 2.5488e-01, 2.5586e-01, 2.5683e-01, 2.5781e-01, 2.5879e-01, 2.5976e-01, 2.6074e-01, 2.6172e-01, 2.6269e-01, 2.6367e-01, 2.6465e-01, 2.6562e-01, 2.6660e-01, 2.6758e-01, 2.6855e-01, 2.6953e-01, 2.7051e-01, 2.7148e-01, 2.7246e-01, 2.7344e-01, 2.7441e-01, 2.7539e-01, 2.7637e-01, 2.7734e-01, 2.7832e-01, 2.7930e-01, 2.8027e-01, 2.8125e-01, 2.8222e-01, 2.8320e-01, 2.8418e-01, 2.8515e-01, 2.8613e-01, 2.8711e-01, 2.8808e-01, 2.8906e-01, 2.9004e-01, 2.9101e-01, 2.9199e-01, 2.9297e-01, 2.9394e-01, 2.9492e-01, 2.9590e-01, 2.9687e-01, 2.9785e-01, 2.9883e-01, 2.9980e-01, 3.0078e-01, 3.0176e-01, 3.0273e-01, 3.0371e-01, 3.0469e-01, 3.0566e-01, 3.0664e-01, 3.0762e-01, 3.0859e-01, 3.0957e-01, 3.1055e-01, 3.1152e-01, 3.1250e-01, 3.1347e-01, 3.1445e-01, 3.1543e-01, 3.1640e-01, 3.1738e-01, 3.1836e-01, 3.1933e-01, 3.2031e-01, 3.2129e-01, 3.2226e-01, 3.2324e-01, 3.2422e-01, 3.2519e-01, 3.2617e-01, 3.2715e-01, 3.2812e-01, 3.2910e-01, 3.3008e-01, 3.3105e-01, 3.3203e-01, 3.3301e-01, 3.3398e-01, 3.3496e-01, 3.3594e-01, 3.3691e-01, 3.3789e-01, 3.3887e-01, 3.3984e-01, 3.4082e-01, 3.4180e-01, 3.4277e-01, 3.4375e-01, 3.4472e-01, 3.4570e-01, 3.4668e-01, 3.4765e-01, 3.4863e-01, 3.4961e-01, 3.5058e-01, 3.5156e-01, 3.5254e-01, 3.5351e-01, 3.5449e-01, 3.5547e-01, 3.5644e-01, 3.5742e-01, 3.5840e-01, 3.5937e-01, 3.6035e-01, 3.6133e-01, 3.6230e-01, 3.6328e-01, 3.6426e-01, 3.6523e-01, 3.6621e-01, 3.6719e-01, 3.6816e-01, 3.6914e-01, 3.7012e-01, 3.7109e-01, 3.7207e-01, 3.7305e-01, 3.7402e-01, 3.7500e-01, + 3.7695e-01, 3.7890e-01, 3.8086e-01, 3.8281e-01, 3.8476e-01, 3.8672e-01, 3.8867e-01, 3.9062e-01, 3.9258e-01, 3.9453e-01, 3.9648e-01, 3.9844e-01, 4.0039e-01, 4.0234e-01, 4.0430e-01, 4.0625e-01, 4.0820e-01, 4.1015e-01, 4.1211e-01, 4.1406e-01, 4.1601e-01, 4.1797e-01, 4.1992e-01, 4.2187e-01, 4.2383e-01, 4.2578e-01, 4.2773e-01, 4.2969e-01, 4.3164e-01, 4.3359e-01, 4.3555e-01, 4.3750e-01, 4.3945e-01, 4.4140e-01, 4.4336e-01, 4.4531e-01, 4.4726e-01, 4.4922e-01, 4.5117e-01, 4.5312e-01, 4.5508e-01, 4.5703e-01, 4.5898e-01, 4.6094e-01, 4.6289e-01, 4.6484e-01, 4.6680e-01, 4.6875e-01, 4.7070e-01, 4.7265e-01, 4.7461e-01, 4.7656e-01, 4.7851e-01, 4.8047e-01, 4.8242e-01, 4.8437e-01, 4.8633e-01, 4.8828e-01, 4.9023e-01, 4.9219e-01, 4.9414e-01, 4.9609e-01, 4.9805e-01, 5.0000e-01, 5.0195e-01, 5.0390e-01, 5.0586e-01, 5.0781e-01, 5.0976e-01, 5.1172e-01, 5.1367e-01, 5.1562e-01, 5.1758e-01, 5.1953e-01, 5.2148e-01, 5.2344e-01, 5.2539e-01, 5.2734e-01, 5.2930e-01, 5.3125e-01, 5.3320e-01, 5.3515e-01, 5.3711e-01, 5.3906e-01, 5.4101e-01, 5.4297e-01, 5.4492e-01, 5.4687e-01, 5.4883e-01, 5.5078e-01, 5.5273e-01, 5.5469e-01, 5.5664e-01, 5.5859e-01, 5.6055e-01, 5.6250e-01, 5.6445e-01, 5.6640e-01, 5.6836e-01, 5.7031e-01, 5.7226e-01, 5.7422e-01, 5.7617e-01, 5.7812e-01, 5.8008e-01, 5.8203e-01, 5.8398e-01, 5.8594e-01, 5.8789e-01, 5.8984e-01, 5.9180e-01, 5.9375e-01, 5.9570e-01, 5.9765e-01, 5.9961e-01, 6.0156e-01, 6.0351e-01, 6.0547e-01, 6.0742e-01, 6.0937e-01, 6.1133e-01, 6.1328e-01, 6.1523e-01, 6.1719e-01, 6.1914e-01, 6.2109e-01, 6.2305e-01, 6.2500e-01, 6.2695e-01, 6.2890e-01, 6.3086e-01, 6.3281e-01, 6.3476e-01, 6.3672e-01, 6.3867e-01, 6.4062e-01, 6.4258e-01, 6.4453e-01, 6.4648e-01, 6.4844e-01, 6.5039e-01, 6.5234e-01, 6.5430e-01, 6.5625e-01, 6.5820e-01, 6.6015e-01, 6.6211e-01, 6.6406e-01, 6.6601e-01, 6.6797e-01, 6.6992e-01, 6.7187e-01, 6.7383e-01, 6.7578e-01, 6.7773e-01, 6.7969e-01, 6.8164e-01, 6.8359e-01, 6.8554e-01, 6.8750e-01, 6.8945e-01, 6.9140e-01, 6.9336e-01, 6.9531e-01, 6.9726e-01, 6.9922e-01, 7.0117e-01, 7.0312e-01, 7.0508e-01, 7.0703e-01, 7.0898e-01, 7.1094e-01, 7.1289e-01, 7.1484e-01, 7.1679e-01, 7.1875e-01, 7.2070e-01, 7.2265e-01, 7.2461e-01, 7.2656e-01, 7.2851e-01, 7.3047e-01, 7.3242e-01, 7.3437e-01, 7.3633e-01, 7.3828e-01, 7.4023e-01, 7.4219e-01, 7.4414e-01, 7.4609e-01, 7.4804e-01, 7.5000e-01, 7.5390e-01, 7.5781e-01, 7.6172e-01, 7.6562e-01, 7.6953e-01, 7.7344e-01, 7.7734e-01, 7.8125e-01, 7.8515e-01, 7.8906e-01, 7.9297e-01, 7.9687e-01, 8.0078e-01, 8.0469e-01, 8.0859e-01, 8.1250e-01, 8.1640e-01, 8.2031e-01, 8.2422e-01, 8.2812e-01, 8.3203e-01, 8.3594e-01, 8.3984e-01, 8.4375e-01, 8.4765e-01, 8.5156e-01, 8.5547e-01, 8.5937e-01, 8.6328e-01, 8.6719e-01, 8.7109e-01, 8.7500e-01, 8.7890e-01, 8.8281e-01, 8.8672e-01, 8.9062e-01, 8.9453e-01, 8.9844e-01, 9.0234e-01, 9.0625e-01, 9.1015e-01, 9.1406e-01, 9.1797e-01, 9.2187e-01, 9.2578e-01, 9.2969e-01, 9.3359e-01, 9.3750e-01, 9.4140e-01, 9.4531e-01, 9.4922e-01, 9.5312e-01, 9.5703e-01, 9.6094e-01, 9.6484e-01, 9.6875e-01, 9.7265e-01, 9.7656e-01, 9.8047e-01, 9.8437e-01, 9.8828e-01, 9.9219e-01, 9.9609e-01, 1.0000e+00 +}; + float4 val4_from_12(uchar8 pvs, float gain) { uint4 parsed = (uint4)(((uint)pvs.s0<<4) + (pvs.s1>>4), // is from the previous 10 bit ((uint)pvs.s2<<4) + (pvs.s4&0xF), ((uint)pvs.s3<<4) + (pvs.s4>>4), ((uint)pvs.s5<<4) + (pvs.s7&0xF)); + #if IS_OX + // PWL + //float4 pv = (convert_float4(parsed) - 64.0) / (4096.0 - 64.0); + float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]}; + + // it's a 24 bit signal, center in the middle 8 bits + return pv*256.0; + #else // AR // normalize and scale float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0); return clamp(pv*gain, 0.0, 1.0); + #endif + } float get_k(float a, float b, float c, float d) { diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 284347623b32cb..9df99552e18207 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -1,48 +1,754 @@ struct i2c_random_wr_payload start_reg_array_ar0231[] = {{0x301A, 0x91C}}; struct i2c_random_wr_payload stop_reg_array_ar0231[] = {{0x301A, 0x918}}; -struct i2c_random_wr_payload start_reg_array_imx390[] = {{0x0, 0}}; -struct i2c_random_wr_payload stop_reg_array_imx390[] = {{0x0, 1}}; +struct i2c_random_wr_payload start_reg_array_ox03c10[] = {{0x100, 1}}; +struct i2c_random_wr_payload stop_reg_array_ox03c10[] = {{0x100, 0}}; -struct i2c_random_wr_payload init_array_imx390[] = { - {0x2008, 0xd0}, {0x2009, 0x07}, {0x200a, 0x00}, // MODE_VMAX = time between frames - {0x200C, 0xe4}, {0x200D, 0x0c}, // MODE_HMAX +struct i2c_random_wr_payload init_array_ox03c10[] = { + {0x103, 1}, + {0x107, 1}, - // crop - {0x3410, 0x88}, {0x3411, 0x7}, // CROP_H_SIZE - {0x3418, 0xb8}, {0x3419, 0x4}, // CROP_V_SIZE - {0x0078, 1}, {0x03c0, 1}, + // X3C_1920x1280_60fps_HDR4_LFR_PWL12_mipi1200 - // external trigger (off) - // while images still come in, they are blank with this - {0x3650, 0}, // CU_MODE + // TPM + {0x4d5a, 0x1a}, {0x4d09, 0xff}, {0x4d09, 0xdf}, - // exposure - {0x000c, 0xc0}, {0x000d, 0x07}, - {0x0010, 0xc0}, {0x0011, 0x07}, + /*) + // group 4 + {0x3208, 0x04}, + {0x4620, 0x04}, + {0x3208, 0x14}, - // WUXGA mode - // not in datasheet, from https://github.com/bogsen/STLinux-Kernel/blob/master/drivers/media/platform/tegra/imx185.c - {0x0086, 0xc4}, {0x0087, 0xff}, // WND_SHIFT_V = -60 - {0x03c6, 0xc4}, {0x03c7, 0xff}, // SM_WND_SHIFT_V_APL = -60 + // group 5 + {0x3208, 0x05}, + {0x4620, 0x04}, + {0x3208, 0x15}, - {0x201c, 0xe1}, {0x201d, 0x12}, // image read amount - {0x21ee, 0xc4}, {0x21ef, 0x04}, // image send amount (1220 is the end) - {0x21f0, 0xc4}, {0x21f1, 0x04}, // image processing amount + // group 2 + {0x3208, 0x02}, + {0x3507, 0x00}, + {0x3208, 0x12}, - // disable a bunch of errors causing blanking - {0x0390, 0x00}, {0x0391, 0x00}, {0x0392, 0x00}, + // delay launch group 2 + {0x3208, 0xa2},*/ - // flip bayer - {0x2D64, 0x64 + 2}, + // PLL setup + {0x0301, 0xc8}, // pll1_divs, pll1_predivp, pll1_divpix + {0x0303, 0x01}, // pll1_prediv + {0x0304, 0x01}, {0x0305, 0x2c}, // pll1_loopdiv = 300 + {0x0306, 0x04}, // pll1_divmipi = 4 + {0x0307, 0x01}, // pll1_divm = 1 + {0x0316, 0x00}, + {0x0317, 0x00}, + {0x0318, 0x00}, + {0x0323, 0x05}, // pll2_prediv + {0x0324, 0x01}, {0x0325, 0x2c}, // pll2_divp = 300 - // color correction - {0x0030, 0xf8}, {0x0031, 0x00}, // red gain - {0x0032, 0x9a}, {0x0033, 0x00}, // gr gain - {0x0034, 0x9a}, {0x0035, 0x00}, // gb gain - {0x0036, 0x22}, {0x0037, 0x01}, // blue gain + // SCLK/PCLK + {0x0400, 0xe0}, {0x0401, 0x80}, + {0x0403, 0xde}, {0x0404, 0x34}, + {0x0405, 0x3b}, {0x0406, 0xde}, + {0x0407, 0x08}, + {0x0408, 0xe0}, {0x0409, 0x7f}, + {0x040a, 0xde}, {0x040b, 0x34}, + {0x040c, 0x47}, {0x040d, 0xd8}, + {0x040e, 0x08}, - // hdr enable (noise with this on for now) - {0x00f9, 0} + // xchk + {0x2803, 0xfe}, {0x280b, 0x00}, {0x280c, 0x79}, + + // SC ctrl + {0x3001, 0x03}, // io_pad_oen + {0x3002, 0xf8}, // io_pad_oen + {0x3005, 0x80}, // io_pad_out + {0x3007, 0x01}, // io_pad_sel + {0x3008, 0x80}, // io_pad_sel + + // FSIN first frame + /* + {0x3009, 0x2}, + {0x3015, 0x2}, + {0x3822, 0x20}, + {0x3823, 0x58}, + + {0x3826, 0x0}, {0x3827, 0x8}, + {0x3881, 0x4}, + + {0x3882, 0x8}, {0x3883, 0x0D}, + {0x3836, 0x1F}, {0x3837, 0x40}, + */ + + // FSIN with external pulses + {0x3009, 0x2}, + {0x3015, 0x2}, + {0x383E, 0x80}, + {0x3881, 0x4}, + {0x3882, 0x8}, {0x3883, 0x0D}, + {0x3836, 0x1F}, {0x3837, 0x40}, + + {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI + {0x3020, 0x05}, // SC_CTRL_20 + + // this is not in the datasheet, listed as RSVD + // but the camera doesn't work without it + {0x3700, 0x28}, {0x3701, 0x15}, {0x3702, 0x19}, {0x3703, 0x23}, + {0x3704, 0x0a}, {0x3705, 0x00}, {0x3706, 0x3e}, {0x3707, 0x0d}, + {0x3708, 0x50}, {0x3709, 0x5a}, {0x370a, 0x00}, {0x370b, 0x96}, + {0x3711, 0x11}, {0x3712, 0x13}, {0x3717, 0x02}, {0x3718, 0x73}, + {0x372c, 0x40}, {0x3733, 0x01}, {0x3738, 0x36}, {0x3739, 0x36}, + {0x373a, 0x25}, {0x373b, 0x25}, {0x373f, 0x21}, {0x3740, 0x21}, + {0x3741, 0x21}, {0x3742, 0x21}, {0x3747, 0x28}, {0x3748, 0x28}, + {0x3749, 0x19}, {0x3755, 0x1a}, {0x3756, 0x0a}, {0x3757, 0x1c}, + {0x3765, 0x19}, {0x3766, 0x05}, {0x3767, 0x05}, {0x3768, 0x13}, + {0x376c, 0x07}, {0x3778, 0x20}, {0x377c, 0xc8}, {0x3781, 0x02}, + {0x3783, 0x02}, {0x379c, 0x58}, {0x379e, 0x00}, {0x379f, 0x00}, + {0x37a0, 0x00}, {0x37bc, 0x22}, {0x37c0, 0x01}, {0x37c4, 0x3e}, + {0x37c5, 0x3e}, {0x37c6, 0x2a}, {0x37c7, 0x28}, {0x37c8, 0x02}, + {0x37c9, 0x12}, {0x37cb, 0x29}, {0x37cd, 0x29}, {0x37d2, 0x00}, + {0x37d3, 0x73}, {0x37d6, 0x00}, {0x37d7, 0x6b}, {0x37dc, 0x00}, + {0x37df, 0x54}, {0x37e2, 0x00}, {0x37e3, 0x00}, {0x37f8, 0x00}, + {0x37f9, 0x01}, {0x37fa, 0x00}, {0x37fb, 0x19}, + + // also RSVD + {0x3c03, 0x01}, {0x3c04, 0x01}, {0x3c06, 0x21}, {0x3c08, 0x01}, + {0x3c09, 0x01}, {0x3c0a, 0x01}, {0x3c0b, 0x21}, {0x3c13, 0x21}, + {0x3c14, 0x82}, {0x3c16, 0x13}, {0x3c21, 0x00}, {0x3c22, 0xf3}, + {0x3c37, 0x12}, {0x3c38, 0x31}, {0x3c3c, 0x00}, {0x3c3d, 0x03}, + {0x3c44, 0x16}, {0x3c5c, 0x8a}, {0x3c5f, 0x03}, {0x3c61, 0x80}, + {0x3c6f, 0x2b}, {0x3c70, 0x5f}, {0x3c71, 0x2c}, {0x3c72, 0x2c}, + {0x3c73, 0x2c}, {0x3c76, 0x12}, + + // PEC checks + {0x3182, 0x12}, + + {0x320e, 0x00}, {0x320f, 0x00}, // RSVD + {0x3211, 0x61}, + {0x3215, 0xcd}, + {0x3219, 0x08}, + + {0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure + {0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain + + {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure + {0x358a, 0x04}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain + + {0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure + {0x354a, 0x04}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain + + {0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure + {0x35ca, 0x04}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain + + // also RSVD + {0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01}, + {0x360e, 0x1d}, {0x360f, 0x10}, {0x3610, 0x70}, {0x3611, 0x3a}, + {0x3612, 0x28}, {0x361a, 0x29}, {0x361b, 0x6c}, {0x361c, 0x0b}, + {0x361d, 0x00}, {0x361e, 0xfc}, {0x362a, 0x00}, {0x364d, 0x0f}, + {0x364e, 0x18}, {0x364f, 0x12}, {0x3653, 0x1c}, {0x3654, 0x00}, + {0x3655, 0x1f}, {0x3656, 0x1f}, {0x3657, 0x0c}, {0x3658, 0x0a}, + {0x3659, 0x14}, {0x365a, 0x18}, {0x365b, 0x14}, {0x365c, 0x10}, + {0x365e, 0x12}, {0x3674, 0x08}, {0x3677, 0x3a}, {0x3678, 0x3a}, + {0x3679, 0x19}, + + // Y_ADDR_START = 4 + {0x3802, 0x00}, {0x3803, 0x04}, + // Y_ADDR_END = 0x50b + {0x3806, 0x05}, {0x3807, 0x0b}, + + // X_OUTPUT_SIZE = 0x780 = 1920 (changed to 1928) + {0x3808, 0x07}, {0x3809, 0x88}, + + // Y_OUTPUT_SIZE = 0x500 = 1280 (changed to 1208) + {0x380a, 0x04}, {0x380b, 0xb8}, + + // horizontal timing 0x447 + {0x380c, 0x04}, {0x380d, 0x47}, + + // rows per frame (was 0x2ae) + // 0x8ae = 53.65 ms + {0x380e, 0x08}, {0x380f, 0x15}, + // this should be triggered by FSIN, not free running + + {0x3810, 0x00}, {0x3811, 0x08}, // x cutoff + {0x3812, 0x00}, {0x3813, 0x04}, // y cutoff + {0x3816, 0x01}, + {0x3817, 0x01}, + {0x381c, 0x18}, + {0x381e, 0x01}, + {0x381f, 0x01}, + + // don't mirror, just flip + {0x3820, 0x04}, + + {0x3821, 0x19}, + {0x3832, 0x00}, + {0x3834, 0x00}, + {0x384c, 0x02}, + {0x384d, 0x0d}, + {0x3850, 0x00}, + {0x3851, 0x42}, + {0x3852, 0x00}, + {0x3853, 0x40}, + {0x3858, 0x04}, + {0x388c, 0x02}, + {0x388d, 0x2b}, + + // APC + {0x3b40, 0x05}, {0x3b41, 0x40}, {0x3b42, 0x00}, {0x3b43, 0x90}, + {0x3b44, 0x00}, {0x3b45, 0x20}, {0x3b46, 0x00}, {0x3b47, 0x20}, + {0x3b48, 0x19}, {0x3b49, 0x12}, {0x3b4a, 0x16}, {0x3b4b, 0x2e}, + {0x3b4c, 0x00}, {0x3b4d, 0x00}, + {0x3b86, 0x00}, {0x3b87, 0x34}, {0x3b88, 0x00}, {0x3b89, 0x08}, + {0x3b8a, 0x05}, {0x3b8b, 0x00}, {0x3b8c, 0x07}, {0x3b8d, 0x80}, + {0x3b8e, 0x00}, {0x3b8f, 0x00}, {0x3b92, 0x05}, {0x3b93, 0x00}, + {0x3b94, 0x07}, {0x3b95, 0x80}, {0x3b9e, 0x09}, + + // OTP + {0x3d82, 0x73}, + {0x3d85, 0x05}, + {0x3d8a, 0x03}, + {0x3d8b, 0xff}, + {0x3d99, 0x00}, + {0x3d9a, 0x9f}, + {0x3d9b, 0x00}, + {0x3d9c, 0xa0}, + {0x3da4, 0x00}, + {0x3da7, 0x50}, + + // DTR + {0x420e, 0x6b}, + {0x420f, 0x6e}, + {0x4210, 0x06}, + {0x4211, 0xc1}, + {0x421e, 0x02}, + {0x421f, 0x45}, + {0x4220, 0xe1}, + {0x4221, 0x01}, + {0x4301, 0xff}, + {0x4307, 0x03}, + {0x4308, 0x13}, + {0x430a, 0x13}, + {0x430d, 0x93}, + {0x430f, 0x57}, + {0x4310, 0x95}, + {0x4311, 0x16}, + {0x4316, 0x00}, + + {0x4317, 0x38}, // both embedded rows are enabled + + {0x4319, 0x03}, // spd dcg + {0x431a, 0x00}, // 8 bit mipi + {0x431b, 0x00}, + {0x431d, 0x2a}, + {0x431e, 0x11}, + + {0x431f, 0x20}, // enable PWL (pwl0_en), 12 bits + //{0x431f, 0x00}, // disable PWL + + {0x4320, 0x19}, + {0x4323, 0x80}, + {0x4324, 0x00}, + {0x4503, 0x4e}, + {0x4505, 0x00}, + {0x4509, 0x00}, + {0x450a, 0x00}, + {0x4580, 0xf8}, + {0x4583, 0x07}, + {0x4584, 0x6a}, + {0x4585, 0x08}, + {0x4586, 0x05}, + {0x4587, 0x04}, + {0x4588, 0x73}, + {0x4589, 0x05}, + {0x458a, 0x1f}, + {0x458b, 0x02}, + {0x458c, 0xdc}, + {0x458d, 0x03}, + {0x458e, 0x02}, + {0x4597, 0x07}, + {0x4598, 0x40}, + {0x4599, 0x0e}, + {0x459a, 0x0e}, + {0x459b, 0xfb}, + {0x459c, 0xf3}, + {0x4602, 0x00}, + {0x4603, 0x13}, + {0x4604, 0x00}, + {0x4609, 0x0a}, + {0x460a, 0x30}, + {0x4610, 0x00}, + {0x4611, 0x70}, + {0x4612, 0x01}, + {0x4613, 0x00}, + {0x4614, 0x00}, + {0x4615, 0x70}, + {0x4616, 0x01}, + {0x4617, 0x00}, + + {0x4800, 0x04}, // invert output PCLK + {0x480a, 0x22}, + {0x4813, 0xe4}, + + // mipi + {0x4814, 0x2a}, + {0x4837, 0x0d}, + {0x484b, 0x47}, + {0x484f, 0x00}, + {0x4887, 0x51}, + {0x4d00, 0x4a}, + {0x4d01, 0x18}, + {0x4d05, 0xff}, + {0x4d06, 0x88}, + {0x4d08, 0x63}, + {0x4d09, 0xdf}, + {0x4d15, 0x7d}, + {0x4d1a, 0x20}, + {0x4d30, 0x0a}, + {0x4d31, 0x00}, + {0x4d34, 0x7d}, + {0x4d3c, 0x7d}, + {0x4f00, 0x00}, + {0x4f01, 0x00}, + {0x4f02, 0x00}, + {0x4f03, 0x20}, + {0x4f04, 0xe0}, + {0x6a00, 0x00}, + {0x6a01, 0x20}, + {0x6a02, 0x00}, + {0x6a03, 0x20}, + {0x6a04, 0x02}, + {0x6a05, 0x80}, + {0x6a06, 0x01}, + {0x6a07, 0xe0}, + {0x6a08, 0xcf}, + {0x6a09, 0x01}, + {0x6a0a, 0x40}, + {0x6a20, 0x00}, + {0x6a21, 0x02}, + {0x6a22, 0x00}, + {0x6a23, 0x00}, + {0x6a24, 0x00}, + {0x6a25, 0x00}, + {0x6a26, 0x00}, + {0x6a27, 0x00}, + {0x6a28, 0x00}, + + // isp + {0x5000, 0x8f}, + {0x5001, 0x75}, + {0x5002, 0x7f}, // PWL0 + //{0x5002, 0x3f}, // PWL disable + {0x5003, 0x7a}, + + {0x5004, 0x3e}, + {0x5005, 0x1e}, + {0x5006, 0x1e}, + {0x5007, 0x1e}, + + {0x5008, 0x00}, + {0x500c, 0x00}, + {0x502c, 0x00}, + {0x502e, 0x00}, + {0x502f, 0x00}, + {0x504b, 0x00}, + {0x5053, 0x00}, + {0x505b, 0x00}, + {0x5063, 0x00}, + {0x5070, 0x00}, + {0x5074, 0x04}, + {0x507a, 0x04}, + {0x507b, 0x09}, + {0x5500, 0x02}, + {0x5700, 0x02}, + {0x5900, 0x02}, + {0x6007, 0x04}, + {0x6008, 0x05}, + {0x6009, 0x02}, + {0x600b, 0x08}, + {0x600c, 0x07}, + {0x600d, 0x88}, + {0x6016, 0x00}, + {0x6027, 0x04}, + {0x6028, 0x05}, + {0x6029, 0x02}, + {0x602b, 0x08}, + {0x602c, 0x07}, + {0x602d, 0x88}, + {0x6047, 0x04}, + {0x6048, 0x05}, + {0x6049, 0x02}, + {0x604b, 0x08}, + {0x604c, 0x07}, + {0x604d, 0x88}, + {0x6067, 0x04}, + {0x6068, 0x05}, + {0x6069, 0x02}, + {0x606b, 0x08}, + {0x606c, 0x07}, + {0x606d, 0x88}, + {0x6087, 0x04}, + {0x6088, 0x05}, + {0x6089, 0x02}, + {0x608b, 0x08}, + {0x608c, 0x07}, + {0x608d, 0x88}, + + // 12-bit PWL0 + {0x5e00, 0x00}, + + // m_ndX_exp[0:32] + // 9*2+0xa*3+0xb*2+0xc*2+0xd*2+0xe*2+0xf*2+0x10*2+0x11*2+0x12*4+0x13*3+0x14*3+0x15*3+0x16 = 518 + {0x5e01, 0x09}, + {0x5e02, 0x09}, + {0x5e03, 0x0a}, + {0x5e04, 0x0a}, + {0x5e05, 0x0a}, + {0x5e06, 0x0b}, + {0x5e07, 0x0b}, + {0x5e08, 0x0c}, + {0x5e09, 0x0c}, + {0x5e0a, 0x0d}, + {0x5e0b, 0x0d}, + {0x5e0c, 0x0e}, + {0x5e0d, 0x0e}, + {0x5e0e, 0x0f}, + {0x5e0f, 0x0f}, + {0x5e10, 0x10}, + {0x5e11, 0x10}, + {0x5e12, 0x11}, + {0x5e13, 0x11}, + {0x5e14, 0x12}, + {0x5e15, 0x12}, + {0x5e16, 0x12}, + {0x5e17, 0x12}, + {0x5e18, 0x13}, + {0x5e19, 0x13}, + {0x5e1a, 0x13}, + {0x5e1b, 0x14}, + {0x5e1c, 0x14}, + {0x5e1d, 0x14}, + {0x5e1e, 0x15}, + {0x5e1f, 0x15}, + {0x5e20, 0x15}, + {0x5e21, 0x16}, + + // m_ndY_val[0:32] + // 0x200+0xff+0x100*3+0x80*12+0x40*16 = 4095 + {0x5e22, 0x00}, {0x5e23, 0x02}, {0x5e24, 0x00}, + {0x5e25, 0x00}, {0x5e26, 0x00}, {0x5e27, 0xff}, + {0x5e28, 0x00}, {0x5e29, 0x01}, {0x5e2a, 0x00}, + {0x5e2b, 0x00}, {0x5e2c, 0x01}, {0x5e2d, 0x00}, + {0x5e2e, 0x00}, {0x5e2f, 0x01}, {0x5e30, 0x00}, + {0x5e31, 0x00}, {0x5e32, 0x00}, {0x5e33, 0x80}, + {0x5e34, 0x00}, {0x5e35, 0x00}, {0x5e36, 0x80}, + {0x5e37, 0x00}, {0x5e38, 0x00}, {0x5e39, 0x80}, + {0x5e3a, 0x00}, {0x5e3b, 0x00}, {0x5e3c, 0x80}, + {0x5e3d, 0x00}, {0x5e3e, 0x00}, {0x5e3f, 0x80}, + {0x5e40, 0x00}, {0x5e41, 0x00}, {0x5e42, 0x80}, + {0x5e43, 0x00}, {0x5e44, 0x00}, {0x5e45, 0x80}, + {0x5e46, 0x00}, {0x5e47, 0x00}, {0x5e48, 0x80}, + {0x5e49, 0x00}, {0x5e4a, 0x00}, {0x5e4b, 0x80}, + {0x5e4c, 0x00}, {0x5e4d, 0x00}, {0x5e4e, 0x80}, + {0x5e4f, 0x00}, {0x5e50, 0x00}, {0x5e51, 0x80}, + {0x5e52, 0x00}, {0x5e53, 0x00}, {0x5e54, 0x80}, + {0x5e55, 0x00}, {0x5e56, 0x00}, {0x5e57, 0x40}, + {0x5e58, 0x00}, {0x5e59, 0x00}, {0x5e5a, 0x40}, + {0x5e5b, 0x00}, {0x5e5c, 0x00}, {0x5e5d, 0x40}, + {0x5e5e, 0x00}, {0x5e5f, 0x00}, {0x5e60, 0x40}, + {0x5e61, 0x00}, {0x5e62, 0x00}, {0x5e63, 0x40}, + {0x5e64, 0x00}, {0x5e65, 0x00}, {0x5e66, 0x40}, + {0x5e67, 0x00}, {0x5e68, 0x00}, {0x5e69, 0x40}, + {0x5e6a, 0x00}, {0x5e6b, 0x00}, {0x5e6c, 0x40}, + {0x5e6d, 0x00}, {0x5e6e, 0x00}, {0x5e6f, 0x40}, + {0x5e70, 0x00}, {0x5e71, 0x00}, {0x5e72, 0x40}, + {0x5e73, 0x00}, {0x5e74, 0x00}, {0x5e75, 0x40}, + {0x5e76, 0x00}, {0x5e77, 0x00}, {0x5e78, 0x40}, + {0x5e79, 0x00}, {0x5e7a, 0x00}, {0x5e7b, 0x40}, + {0x5e7c, 0x00}, {0x5e7d, 0x00}, {0x5e7e, 0x40}, + {0x5e7f, 0x00}, {0x5e80, 0x00}, {0x5e81, 0x40}, + {0x5e82, 0x00}, {0x5e83, 0x00}, {0x5e84, 0x40}, + + // disable PWL + /*{0x5e01, 0x18}, {0x5e02, 0x00}, {0x5e03, 0x00}, {0x5e04, 0x00}, + {0x5e05, 0x00}, {0x5e06, 0x00}, {0x5e07, 0x00}, {0x5e08, 0x00}, + {0x5e09, 0x00}, {0x5e0a, 0x00}, {0x5e0b, 0x00}, {0x5e0c, 0x00}, + {0x5e0d, 0x00}, {0x5e0e, 0x00}, {0x5e0f, 0x00}, {0x5e10, 0x00}, + {0x5e11, 0x00}, {0x5e12, 0x00}, {0x5e13, 0x00}, {0x5e14, 0x00}, + {0x5e15, 0x00}, {0x5e16, 0x00}, {0x5e17, 0x00}, {0x5e18, 0x00}, + {0x5e19, 0x00}, {0x5e1a, 0x00}, {0x5e1b, 0x00}, {0x5e1c, 0x00}, + {0x5e1d, 0x00}, {0x5e1e, 0x00}, {0x5e1f, 0x00}, {0x5e20, 0x00}, + {0x5e21, 0x00}, + + {0x5e22, 0x00}, {0x5e23, 0x0f}, {0x5e24, 0xFF},*/ + + {0x4001, 0x2b}, // BLC_CTRL_1 + {0x4008, 0x02}, {0x4009, 0x03}, + {0x4018, 0x12}, + {0x4022, 0x40}, + {0x4023, 0x20}, + + // all black level targets are 0x40 + {0x4026, 0x00}, {0x4027, 0x40}, + {0x4028, 0x00}, {0x4029, 0x40}, + {0x402a, 0x00}, {0x402b, 0x40}, + {0x402c, 0x00}, {0x402d, 0x40}, + + {0x407e, 0xcc}, + {0x407f, 0x18}, + {0x4080, 0xff}, + {0x4081, 0xff}, + {0x4082, 0x01}, + {0x4083, 0x53}, + {0x4084, 0x01}, + {0x4085, 0x2b}, + {0x4086, 0x00}, + {0x4087, 0xb3}, + + {0x4640, 0x40}, + {0x4641, 0x11}, + {0x4642, 0x0e}, + {0x4643, 0xee}, + {0x4646, 0x0f}, + {0x4648, 0x00}, + {0x4649, 0x03}, + + {0x4f00, 0x00}, + {0x4f01, 0x00}, + {0x4f02, 0x80}, + {0x4f03, 0x2c}, + {0x4f04, 0xf8}, + + {0x4d09, 0xff}, + {0x4d09, 0xdf}, + + {0x5003, 0x7a}, + {0x5b80, 0x08}, + {0x5c00, 0x08}, + {0x5c80, 0x00}, + {0x5bbe, 0x12}, + {0x5c3e, 0x12}, + {0x5cbe, 0x12}, + {0x5b8a, 0x80}, + {0x5b8b, 0x80}, + {0x5b8c, 0x80}, + {0x5b8d, 0x80}, + {0x5b8e, 0x60}, + {0x5b8f, 0x80}, + {0x5b90, 0x80}, + {0x5b91, 0x80}, + {0x5b92, 0x80}, + {0x5b93, 0x20}, + {0x5b94, 0x80}, + {0x5b95, 0x80}, + {0x5b96, 0x80}, + {0x5b97, 0x20}, + {0x5b98, 0x00}, + {0x5b99, 0x80}, + {0x5b9a, 0x40}, + {0x5b9b, 0x20}, + {0x5b9c, 0x00}, + {0x5b9d, 0x00}, + {0x5b9e, 0x80}, + {0x5b9f, 0x00}, + {0x5ba0, 0x00}, + {0x5ba1, 0x00}, + {0x5ba2, 0x00}, + {0x5ba3, 0x00}, + {0x5ba4, 0x00}, + {0x5ba5, 0x00}, + {0x5ba6, 0x00}, + {0x5ba7, 0x00}, + {0x5ba8, 0x02}, + {0x5ba9, 0x00}, + {0x5baa, 0x02}, + {0x5bab, 0x76}, + {0x5bac, 0x03}, + {0x5bad, 0x08}, + {0x5bae, 0x00}, + {0x5baf, 0x80}, + {0x5bb0, 0x00}, + {0x5bb1, 0xc0}, + {0x5bb2, 0x01}, + {0x5bb3, 0x00}, + + // m_nNormCombineWeight + {0x5c0a, 0x80}, {0x5c0b, 0x80}, {0x5c0c, 0x80}, {0x5c0d, 0x80}, {0x5c0e, 0x60}, + {0x5c0f, 0x80}, {0x5c10, 0x80}, {0x5c11, 0x80}, {0x5c12, 0x60}, {0x5c13, 0x20}, + {0x5c14, 0x80}, {0x5c15, 0x80}, {0x5c16, 0x80}, {0x5c17, 0x20}, {0x5c18, 0x00}, + {0x5c19, 0x80}, {0x5c1a, 0x40}, {0x5c1b, 0x20}, {0x5c1c, 0x00}, {0x5c1d, 0x00}, + {0x5c1e, 0x80}, {0x5c1f, 0x00}, {0x5c20, 0x00}, {0x5c21, 0x00}, {0x5c22, 0x00}, + {0x5c23, 0x00}, {0x5c24, 0x00}, {0x5c25, 0x00}, {0x5c26, 0x00}, {0x5c27, 0x00}, + + // m_nCombinThreL + {0x5c28, 0x02}, {0x5c29, 0x00}, + {0x5c2a, 0x02}, {0x5c2b, 0x76}, + {0x5c2c, 0x03}, {0x5c2d, 0x08}, + + // m_nCombinThreS + {0x5c2e, 0x00}, {0x5c2f, 0x80}, + {0x5c30, 0x00}, {0x5c31, 0xc0}, + {0x5c32, 0x01}, {0x5c33, 0x00}, + + // m_nNormCombineWeight + {0x5c8a, 0x80}, {0x5c8b, 0x80}, {0x5c8c, 0x80}, {0x5c8d, 0x80}, {0x5c8e, 0x80}, + {0x5c8f, 0x80}, {0x5c90, 0x80}, {0x5c91, 0x80}, {0x5c92, 0x80}, {0x5c93, 0x60}, + {0x5c94, 0x80}, {0x5c95, 0x80}, {0x5c96, 0x80}, {0x5c97, 0x60}, {0x5c98, 0x40}, + {0x5c99, 0x80}, {0x5c9a, 0x80}, {0x5c9b, 0x80}, {0x5c9c, 0x40}, {0x5c9d, 0x00}, + {0x5c9e, 0x80}, {0x5c9f, 0x80}, {0x5ca0, 0x80}, {0x5ca1, 0x20}, {0x5ca2, 0x00}, + {0x5ca3, 0x80}, {0x5ca4, 0x80}, {0x5ca5, 0x00}, {0x5ca6, 0x00}, {0x5ca7, 0x00}, + + {0x5ca8, 0x01}, {0x5ca9, 0x00}, + {0x5caa, 0x02}, {0x5cab, 0x00}, + {0x5cac, 0x03}, {0x5cad, 0x08}, + + {0x5cae, 0x01}, {0x5caf, 0x00}, + {0x5cb0, 0x02}, {0x5cb1, 0x00}, + {0x5cb2, 0x03}, {0x5cb3, 0x08}, + + // combine ISP + {0x5be7, 0x80}, + {0x5bc9, 0x80}, + {0x5bca, 0x80}, + {0x5bcb, 0x80}, + {0x5bcc, 0x80}, + {0x5bcd, 0x80}, + {0x5bce, 0x80}, + {0x5bcf, 0x80}, + {0x5bd0, 0x80}, + {0x5bd1, 0x80}, + {0x5bd2, 0x20}, + {0x5bd3, 0x80}, + {0x5bd4, 0x40}, + {0x5bd5, 0x20}, + {0x5bd6, 0x00}, + {0x5bd7, 0x00}, + {0x5bd8, 0x00}, + {0x5bd9, 0x00}, + {0x5bda, 0x00}, + {0x5bdb, 0x00}, + {0x5bdc, 0x00}, + {0x5bdd, 0x00}, + {0x5bde, 0x00}, + {0x5bdf, 0x00}, + {0x5be0, 0x00}, + {0x5be1, 0x00}, + {0x5be2, 0x00}, + {0x5be3, 0x00}, + {0x5be4, 0x00}, + {0x5be5, 0x00}, + {0x5be6, 0x00}, + + // m_nSPDCombineWeight + {0x5c49, 0x80}, {0x5c4a, 0x80}, {0x5c4b, 0x80}, {0x5c4c, 0x80}, {0x5c4d, 0x40}, + {0x5c4e, 0x80}, {0x5c4f, 0x80}, {0x5c50, 0x80}, {0x5c51, 0x60}, {0x5c52, 0x20}, + {0x5c53, 0x80}, {0x5c54, 0x80}, {0x5c55, 0x80}, {0x5c56, 0x20}, {0x5c57, 0x00}, + {0x5c58, 0x80}, {0x5c59, 0x40}, {0x5c5a, 0x20}, {0x5c5b, 0x00}, {0x5c5c, 0x00}, + {0x5c5d, 0x80}, {0x5c5e, 0x00}, {0x5c5f, 0x00}, {0x5c60, 0x00}, {0x5c61, 0x00}, + {0x5c62, 0x00}, {0x5c63, 0x00}, {0x5c64, 0x00}, {0x5c65, 0x00}, {0x5c66, 0x00}, + + // m_nSPDCombineWeight + {0x5cc9, 0x80}, {0x5cca, 0x80}, {0x5ccb, 0x80}, {0x5ccc, 0x80}, {0x5ccd, 0x80}, + {0x5cce, 0x80}, {0x5ccf, 0x80}, {0x5cd0, 0x80}, {0x5cd1, 0x80}, {0x5cd2, 0x60}, + {0x5cd3, 0x80}, {0x5cd4, 0x80}, {0x5cd5, 0x80}, {0x5cd6, 0x60}, {0x5cd7, 0x40}, + {0x5cd8, 0x80}, {0x5cd9, 0x80}, {0x5cda, 0x80}, {0x5cdb, 0x40}, {0x5cdc, 0x20}, + {0x5cdd, 0x80}, {0x5cde, 0x80}, {0x5cdf, 0x80}, {0x5ce0, 0x20}, {0x5ce1, 0x00}, + {0x5ce2, 0x80}, {0x5ce3, 0x80}, {0x5ce4, 0x80}, {0x5ce5, 0x00}, {0x5ce6, 0x00}, + + {0x5d74, 0x01}, + {0x5d75, 0x00}, + + {0x5d1f, 0x81}, + {0x5d11, 0x00}, + {0x5d12, 0x10}, + {0x5d13, 0x10}, + {0x5d15, 0x05}, + {0x5d16, 0x05}, + {0x5d17, 0x05}, + {0x5d08, 0x03}, + {0x5d09, 0xb6}, + {0x5d0a, 0x03}, + {0x5d0b, 0xb6}, + {0x5d18, 0x03}, + {0x5d19, 0xb6}, + {0x5d62, 0x01}, + {0x5d40, 0x02}, + {0x5d41, 0x01}, + {0x5d63, 0x1f}, + {0x5d64, 0x00}, + {0x5d65, 0x80}, + {0x5d56, 0x00}, + {0x5d57, 0x20}, + {0x5d58, 0x00}, + {0x5d59, 0x20}, + {0x5d5a, 0x00}, + {0x5d5b, 0x0c}, + {0x5d5c, 0x02}, + {0x5d5d, 0x40}, + {0x5d5e, 0x02}, + {0x5d5f, 0x40}, + {0x5d60, 0x03}, + {0x5d61, 0x40}, + {0x5d4a, 0x02}, + {0x5d4b, 0x40}, + {0x5d4c, 0x02}, + {0x5d4d, 0x40}, + {0x5d4e, 0x02}, + {0x5d4f, 0x40}, + {0x5d50, 0x18}, + {0x5d51, 0x80}, + {0x5d52, 0x18}, + {0x5d53, 0x80}, + {0x5d54, 0x18}, + {0x5d55, 0x80}, + {0x5d46, 0x20}, + {0x5d47, 0x00}, + {0x5d48, 0x22}, + {0x5d49, 0x00}, + {0x5d42, 0x20}, + {0x5d43, 0x00}, + {0x5d44, 0x22}, + {0x5d45, 0x00}, + + {0x5004, 0x1e}, + {0x4221, 0x03}, // this is changed from 1 -> 3 + + // DCG exposure coarse + {0x3501, 0x01}, {0x3502, 0xc8}, + // SPD exposure coarse + {0x3541, 0x01}, {0x3542, 0xc8}, + // VS exposure coarse + {0x35c1, 0x00}, {0x35c2, 0x01}, + + // crc reference + {0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55}, + // crc stat check + {0x507a, 0x5f}, {0x507b, 0x46}, + + // watchdog control + {0x4f00, 0x00}, {0x4f01, 0x01}, {0x4f02, 0x80}, {0x4f04, 0x2c}, + + // color balance gains + // blue + {0x5280, 0x06}, {0x5281, 0x4A}, // hcg + {0x5480, 0x06}, {0x5481, 0x4A}, // lcg + {0x5680, 0x07}, {0x5681, 0xDD}, // spd + {0x5880, 0x06}, {0x5881, 0x4A}, // vs + + // green(blue) + {0x5282, 0x04}, {0x5283, 0x00}, + {0x5482, 0x04}, {0x5483, 0x00}, + {0x5682, 0x04}, {0x5683, 0x00}, + {0x5882, 0x04}, {0x5883, 0x00}, + + // green(red) + {0x5284, 0x04}, {0x5285, 0x00}, + {0x5484, 0x04}, {0x5485, 0x00}, + {0x5684, 0x04}, {0x5685, 0x00}, + {0x5884, 0x04}, {0x5885, 0x00}, + + // red + {0x5286, 0x08}, {0x5287, 0x6C}, + {0x5486, 0x08}, {0x5487, 0x6C}, + {0x5686, 0x08}, {0x5687, 0xAA}, + {0x5886, 0x08}, {0x5887, 0x6C}, }; struct i2c_random_wr_payload init_array_ar0231[] = { diff --git a/third_party/SConscript b/third_party/SConscript index 5a7a62ae5ada06..e5bbfaa07a8d67 100644 --- a/third_party/SConscript +++ b/third_party/SConscript @@ -1,6 +1,6 @@ Import('env') -env.Library('json11', ['json11/json11.cpp']) +env.Library('json11', ['json11/json11.cpp'], CCFLAGS=env['CCFLAGS'] + ['-Wno-unqualified-std-cast-call']) env.Append(CPPPATH=[Dir('json11')]) env.Library('kaitai', ['kaitai/kaitaistream.cpp'], CPPDEFINES=['KS_STR_ENCODING_NONE']) diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 6b419ca9d80908..5f165ac31226d6 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -18,7 +18,10 @@ const std::initializer_list> keyboard_shortc {"space", "Pause/Resume"}, {"e", "Next Engagement"}, {"d", "Next Disengagement"}, - {"t", "Next User Tag"} + {"t", "Next User Tag"}, + {"i", "Next Info"}, + {"w", "Next Warning"}, + {"c", "Next Critical"}, }, { {"enter", "Enter seek request"}, @@ -344,6 +347,12 @@ void ConsoleUI::handleKey(char c) { replay->seekToFlag(FindFlag::nextDisEngagement); } else if (c == 't') { replay->seekToFlag(FindFlag::nextUserFlag); + } else if (c == 'i') { + replay->seekToFlag(FindFlag::nextInfo); + } else if (c == 'w') { + replay->seekToFlag(FindFlag::nextWarning); + } else if (c == 'c') { + replay->seekToFlag(FindFlag::nextCritical); } else if (c == 'm') { replay->seekTo(+60, true); } else if (c == 'M') { diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 4b983fff85969d..9dc1f03fc71cb2 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -166,8 +166,11 @@ std::optional Replay::find(FindFlag flag) { } else if (flag == FindFlag::nextDisEngagement && end_ts > cur_ts) { return end_ts; } - } else if (type == TimelineType::UserFlag) { - if (flag == FindFlag::nextUserFlag && start_ts > cur_ts) { + } else if (start_ts > cur_ts) { + if ((flag == FindFlag::nextUserFlag && type == TimelineType::UserFlag) || + (flag == FindFlag::nextInfo && type == TimelineType::AlertInfo) || + (flag == FindFlag::nextWarning && type == TimelineType::AlertWarning) || + (flag == FindFlag::nextCritical && type == TimelineType::AlertCritical)) { return start_ts; } } diff --git a/tools/replay/replay.h b/tools/replay/replay.h index e4217736d57c8d..e86c453f7e83d1 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -26,6 +26,9 @@ enum class FindFlag { nextEngagement, nextDisEngagement, nextUserFlag, + nextInfo, + nextWarning, + nextCritical }; enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };