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Merge pull request commaai#63 from wocsor/devel
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icmma authored Jan 28, 2019
2 parents b94d598 + f9d031c commit 71e09c2
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79 changes: 41 additions & 38 deletions README.md
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Expand Up @@ -15,9 +15,9 @@ Table of Contents
* [Supported Cars](#supported-cars)
* [Community Maintained Cars](#community-maintained-cars)
* [In Progress Cars](#in-progress-cars)
* [How can I add support for my car?](#how-can-i-add-support-for-my-car-)
* [How can I add support for my car?](#how-can-i-add-support-for-my-car)
* [Directory structure](#directory-structure)
* [User Data / chffr Account / Crash Reporting](#user-data-chffr-account-crash-reporting)
* [User Data / chffr Account / Crash Reporting](#user-data--chffr-account--crash-reporting)
* [Testing on PC](#testing-on-pc)
* [Contributing](#contributing)
* [Licensing](#licensing)
Expand All @@ -35,7 +35,7 @@ Also, we have a several thousand people community on [slack](https://slack.comma

<table>
<tr>
<td><a href="https://www.youtube.com/watch?v=9TDi0BHgXyo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=ICOIin4p70w" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gBTo7yB.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=1zCtj3ckGFo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gNhhcep.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=Qd2mjkBIRx0" title="YouTube" rel="noopener"><img src="https://i.imgur.com/tFnSexp.png"></a></td>
<td><a href="https://www.youtube.com/watch?v=ju12vlBm59E" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3BKiJVy.png"></a></td>
Expand All @@ -51,53 +51,56 @@ Also, we have a several thousand people community on [slack](https://slack.comma
Hardware
------

Right now openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). We'd like to support other platforms as well.
At the moment openpilot supports the [EON Dashcam DevKit](https://comma.ai/shop/products/eon-dashcam-devkit). A [panda](https://shop.comma.ai/products/panda-obd-ii-dongle) and a [giraffe](https://comma.ai/shop/products/giraffe/) are recommended tools to interface the EON with the car. We'd like to support other platforms as well.

Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.

Supported Cars
------

| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| ------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic 2017-18 *(Hatch)* | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup>| All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Make | Model | Supported Package | Lateral | Longitudinal | No Accel Below | No Steer Below | Giraffe |
| ---------------------| -------------------------| ---------------------| --------| ---------------| -----------------| ---------------|-------------------|
| Acura | ILX 2016-17 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 25mph | Nidec |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| GMC<sup>3</sup> | Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic Sedan/Coupe 2016-18| Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
| Honda | Civic Hatchback 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | CR-V 2015-16 | Touring | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | CR-V 2017-18 | Honda Sensing | Yes | Stock | 0mph | 12mph | Bosch |
| Honda | Odyssey 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 0mph | Inverted Nidec |
| Honda | Pilot 2016-18 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Honda | Pilot 2019 | All | Yes | Yes | 25mph<sup>1</sup>| 12mph | Inverted Nidec |
| Honda | Ridgeline 2017-19 | Honda Sensing | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Hyundai | Santa Fe 2019 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Hyundai | Elantra 2017 | SCC + LKAS | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Hyundai | Genesis 2018 | All | Yes | Stock | 19mph | 34mph | Custom<sup>6</sup>|
| Kia | Sorento 2018 | All | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Kia | Stinger 2018 | SCC + LKAS | Yes | Stock | 0mph | 0mph | Custom<sup>6</sup>|
| Lexus | RX Hybrid 2016-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Camry 2018<sup>4</sup> | All | Yes | Stock | 0mph<sup>5</sup> | 0mph | Toyota |
| Toyota | C-HR 2017-18<sup>4</sup> | All | Yes | Stock | 0mph | 0mph | Toyota |
| Toyota | Corolla 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Highlander 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Highlander Hybrid 2018 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2016 | TSS-P | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Prius Prime 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |
| Toyota | Rav4 2016 | TSS-P | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 2017-18 | All | Yes | Yes<sup>2</sup>| 20mph | 0mph | Toyota |
| Toyota | Rav4 Hybrid 2017-18 | All | Yes | Yes<sup>2</sup>| 0mph | 0mph | Toyota |

<sup>1</sup>[Comma Pedal](https://community.comma.ai/wiki/index.php/Comma_Pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. Here is how to [build a Comma Pedal](https://medium.com/@jfrux/comma-pedal-building-with-macrofab-6328bea791e8). ***NOTE: The Comma Pedal is not officially supported by [comma.ai](https://comma.ai)***
<sup>2</sup>When disconnecting the Driver Support Unit (DSU), otherwise longitudinal control is stock ACC. For DSU locations, see [Toyota Wiki page](https://community.comma.ai/wiki/index.php/Toyota)
<sup>3</sup>[GM installation guide](https://zoneos.com/volt/).
<sup>4</sup>It needs an extra 120Ohm resistor ([pic1](https://i.imgur.com/CmdKtTP.jpg), [pic2](https://i.imgur.com/s2etUo6.jpg)) on bus 3 and giraffe switches set to 01X1 (11X1 for stock LKAS), where X depends on if you have the [comma power](https://comma.ai/shop/products/power/).
<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais. <br />
<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/) <br />
<sup>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed ofor the 2019 Sante Fe; pinout may differ for other Hyundais.
<sup>7</sup>Community built Giraffe, find more information here, [GM Giraffe](https://zoneos.com/shop/).

Community Maintained Cars
------
Expand Down
11 changes: 11 additions & 0 deletions RELEASES.md
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@@ -1,3 +1,13 @@
Version 0.5.7 (2018-12-06)
========================
* Speed limit from OpenStreetMap added to UI
* Highlight speed limit when speed exceeds road speed limit plus a delta
* Option to limit openpilot max speed to road speed limit plus a delta
* Cadillac ATS support thanks to vntarasov!
* GMC Acadia support thanks to CryptoKylan!
* Decrease GPU power consumption
* NEOSv8 autoupdate

Version 0.5.6 (2018-11-16)
========================
* Refresh settings layout and add feature descriptions
Expand All @@ -7,6 +17,7 @@ Version 0.5.6 (2018-11-16)
* More tuning to Honda positive accelerations
* Reduce brake pump use on Hondas
* Chevrolet Malibu support thanks to tylergets!
* Holden Astra support thanks to AlexHill!

Version 0.5.5 (2018-10-20)
========================
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7 changes: 5 additions & 2 deletions cereal/Makefile
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Expand Up @@ -6,13 +6,16 @@ GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
JS := gen/js/car.capnp.js gen/js/log.capnp.js

UNAME_M ?= $(shell uname -m)

# only generate C++ for docker tests
ifneq ($(OPTEST),1)
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h

ifeq ($(UNAME_M),x86_64)
GENS += gen/java/Car.java gen/java/Log.java
ifneq (, $(shell which capnpc-java))
GENS += gen/java/Car.java gen/java/Log.java
else
$(warning capnpc-java not found, skipping java build)
endif
endif

endif
Expand Down
1 change: 1 addition & 0 deletions cereal/car.capnp
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Expand Up @@ -355,6 +355,7 @@ struct CarParams {
radarOffCan @47 :Bool; # True when radar objects aren't visible on CAN

steerActuatorDelay @48 :Float32; # Steering wheel actuator delay in seconds
openpilotLongitudinalControl @50 :Bool; # is openpilot doing the longitudinal control?

enum SteerControlType {
torque @0;
Expand Down
19 changes: 17 additions & 2 deletions cereal/log.capnp
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Expand Up @@ -276,7 +276,8 @@ struct ThermalData {
startedTs @13 :UInt64;

thermalStatus @14 :ThermalStatus;
chargerDisabled @17 :Bool;
chargingError @17 :Bool;
chargingDisabled @18 :Bool;

enum ThermalStatus {
green @0; # all processes run
Expand Down Expand Up @@ -344,6 +345,7 @@ struct LiveCalibrationData {
warpMatrix @0 :List(Float32);
# camera_frame_from_model_frame
warpMatrix2 @5 :List(Float32);
warpMatrixBig @6 :List(Float32);
calStatus @1 :Int8;
calCycle @2 :Int32;
calPerc @3 :Int8;
Expand Down Expand Up @@ -562,6 +564,10 @@ struct Plan {

gpsPlannerActive @19 :Bool;

# maps
vCurvature @21 :Float32;
decelForTurn @22 :Bool;

struct GpsTrajectory {
x @0 :List(Float32);
y @1 :List(Float32);
Expand Down Expand Up @@ -1567,8 +1573,17 @@ struct LiveParametersData {
}

struct LiveMapData {
valid @0 :Bool;
speedLimitValid @0 :Bool;
speedLimit @1 :Float32;
curvatureValid @2 :Bool;
curvature @3 :Float32;
wayId @4 :UInt64;
roadX @5 :List(Float32);
roadY @6 :List(Float32);
lastGps @7: GpsLocationData;
roadCurvatureX @8 :List(Float32);
roadCurvature @9 :List(Float32);
distToTurn @10 :Float32;
}


Expand Down
3 changes: 3 additions & 0 deletions common/params.py
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Expand Up @@ -63,6 +63,7 @@ class UnknownKeyName(Exception):
"IsUploadVideoOverCellularEnabled": TxType.PERSISTENT,
"IsDriverMonitoringEnabled": TxType.PERSISTENT,
"IsGeofenceEnabled": TxType.PERSISTENT,
"SpeedLimitOffset": TxType.PERSISTENT,
# written: visiond
# read: visiond, controlsd
"CalibrationParams": TxType.PERSISTENT,
Expand All @@ -74,6 +75,8 @@ class UnknownKeyName(Exception):
"DoUninstall": TxType.CLEAR_ON_MANAGER_START,
"ShouldDoUpdate": TxType.CLEAR_ON_MANAGER_START,
"IsUpdateAvailable": TxType.PERSISTENT,
"LongitudinalControl": TxType.PERSISTENT,
"LimitSetSpeed": TxType.PERSISTENT,

"RecordFront": TxType.PERSISTENT,
}
Expand Down
2 changes: 1 addition & 1 deletion common/transformations/model.py
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Expand Up @@ -83,7 +83,7 @@ def get_model_height_transform(camera_frame_from_road_frame, height):

# camera_frame_from_model_frame aka 'warp matrix'
# was: calibration.h/CalibrationTransform
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height):
def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height):
vp = vp_from_ke(camera_frame_from_road_frame)

model_camera_from_model_frame = np.array([
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44 changes: 44 additions & 0 deletions opendbc/generator/honda/honda_insight_ex_2019_can.dbc
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@@ -0,0 +1,44 @@
CM_ "IMPORT _bosch_2018.dbc"

BO_ 419 GEARBOX: 8 PCM
SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON

BO_ 432 STANDSTILL: 7 VSA
SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON
SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

BO_ 927 RADAR_HUD: 8 RADAR
SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY
SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY
SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY
SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX
SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX
SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY
SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX
SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX
SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX
SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX
SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX
SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

BO_ 1029 DOORS_STATUS: 8 BDY
SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON

VAL_ 419 GEAR 10 "R" 1 "D" 0 "P";
VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" ;

CM_ "CHFFR_METRIC 330 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
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