openpilot v0.5.6 release

RELEASES.md

@@ -1,3 +1,13 @@
+Version 0.5.6 (2018-11-16)
+========================
+ * Refresh settings layout and add feature descriptions
+ * In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
+ * In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
+ * Improve camera calibration stability
+ * More tuning to Honda positive accelerations
+ * Reduce brake pump use on Hondas
+ * Chevrolet Malibu support thanks to tylergets!
+
 Version 0.5.5 (2018-10-20)
 ========================
  * Increase allowed Honda positive accelerations

cereal/car.capnp

@@ -71,6 +71,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     belowSteerSpeed @46;
     calibrationProgress @47;
     lowBattery @48;
+    invalidGiraffeHonda @49;
   }
 }
 
@@ -260,13 +261,13 @@ struct CarControl {
       # these are the choices from the Honda
       # map as good as you can for your car
       none @0;
-      beepSingle @1;
-      beepTriple @2;
-      beepRepeated @3;
-      chimeSingle @4;
-      chimeDouble @5;
-      chimeRepeated @6;
-      chimeContinuous @7;
+      chimeEngage @1;
+      chimeDisengage @2;
+      chimeError @3;
+      chimeWarning1 @4;
+      chimeWarning2 @5;
+      chimeWarningRepeat @6;
+      chimePrompt @7;
     }
   }
 }

cereal/log.capnp

@@ -411,6 +411,7 @@ struct Live100Data {
   alertSize @39 :AlertSize;
   alertBlinkingRate @42 :Float32;
   alertType @44 :Text;
+  alertSound @45 :Text;
   awarenessStatus @26 :Float32;
   angleOffset @27 :Float32;
   gpsPlannerActive @40 :Bool;
@@ -1565,6 +1566,11 @@ struct LiveParametersData {
   angleOffset @2 :Float32;
 }
 
+struct LiveMapData {
+  valid @0 :Bool;
+  speedLimit @1 :Float32;
+}
+
 
 struct Event {
   # in nanoseconds?
@@ -1632,5 +1638,6 @@ struct Event {
     driverMonitoring @59 :DriverMonitoring;
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
+    liveMapData @62 :LiveMapData;
   }
 }

selfdrive/boardd/boardd.py

@@ -1,4 +1,8 @@
 #!/usr/bin/env python
+
+# TODO: merge the extra functionalities of this file (like MOCK) in boardd.c and
+# delete this python version of boardd
+
 import os
 import struct
 import zmq
@@ -16,8 +20,6 @@
 except Exception:
   pass
 
-# TODO: rewrite in C to save CPU
-
 SAFETY_NOOUTPUT = 0
 SAFETY_HONDA = 1
 SAFETY_TOYOTA = 2

selfdrive/car/gm/carcontroller.py

@@ -10,7 +10,7 @@
 
 class CarControllerParams():
   def __init__(self, car_fingerprint):
-    if car_fingerprint == CAR.VOLT:
+    if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
       self.STEER_MAX = 300
       self.STEER_STEP = 2              # how often we update the steer cmd
       self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
@@ -104,7 +104,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       self.apply_steer_last = apply_steer
       idx = (frame / P.STEER_STEP) % 4
 
-      if self.car_fingerprint == CAR.VOLT:
+      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
         can_sends.append(gmcan.create_steering_control(self.packer_pt,
           canbus.powertrain, apply_steer, idx, lkas_enabled))
       if self.car_fingerprint == CAR.CADILLAC_CT6:
@@ -113,7 +113,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
 
     ### GAS/BRAKE ###
 
-    if self.car_fingerprint == CAR.VOLT:
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
       # no output if not enabled, but keep sending keepalive messages
       # treat pedals as one
       final_pedal = actuators.gas - actuators.brake

selfdrive/car/gm/carstate.py

@@ -31,7 +31,7 @@ def get_powertrain_can_parser(CP, canbus):
     ("LKATorqueDeliveredStatus", "PSCMStatus", 0),
   ]
 
-  if CP.carFingerprint == CAR.VOLT:
+  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU):
     signals += [
       ("RegenPaddle", "EBCMRegenPaddle", 0),
       ("TractionControlOn", "ESPStatus", 0),
@@ -117,14 +117,14 @@ def update(self, pt_cp):
     self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
     self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
 
-    if self.car_fingerprint == CAR.VOLT:
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
       self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
       self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
       self.acc_active = False
       self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
       self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
       self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
-    else: 
+    else:
       self.park_brake = False
       self.main_on = False
       self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']
@@ -141,4 +141,3 @@ def update(self, pt_cp):
     self.brake_pressed = self.user_brake > 10 or self.regen_pressed
 
     self.gear_shifter_valid = self.gear_shifter == car.CarState.GearShifter.drive
-

selfdrive/car/gm/interface.py

@@ -4,7 +4,7 @@
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS
+from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
 
 try:
@@ -85,6 +85,16 @@ def get_params(candidate, fingerprint):
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4 # wild guess
 
+    elif candidate == CAR.MALIBU:
+      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.mass = 1496 + std_cargo
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.wheelbase = 2.83
+      ret.steerRatio = 15.8
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.4 # wild guess
+
     elif candidate == CAR.CADILLAC_CT6:
       # engage speed is decided by pcm
       ret.minEnableSpeed = -1
@@ -254,7 +264,7 @@ def update(self, c):
     if ret.seatbeltUnlatched:
       events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
-    if self.CS.car_fingerprint == CAR.VOLT:
+    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
 
       if self.CS.brake_error:
         events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
@@ -312,15 +322,7 @@ def apply(self, c, perception_state=log.Live20Data.new_message()):
     if hud_v_cruise > 70:
       hud_v_cruise = 0
 
-    chime, chime_count = {
-      "none": (0, 0),
-      "beepSingle": (CM.HIGH_CHIME, 1),
-      "beepTriple": (CM.HIGH_CHIME, 3),
-      "beepRepeated": (CM.LOW_CHIME, -1),
-      "chimeSingle": (CM.LOW_CHIME, 1),
-      "chimeDouble": (CM.LOW_CHIME, 2),
-      "chimeRepeated": (CM.LOW_CHIME, -1),
-      "chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)]
+    chime, chime_count = AUDIO_HUD[c.hudControl.audibleAlert.raw]
 
     # For Openpilot, "enabled" includes pre-enable.
     # In GM, PCM faults out if ACC command overlaps user gas.

selfdrive/car/gm/radar_interface.py

@@ -22,7 +22,7 @@
 def create_radard_can_parser(canbus, car_fingerprint):
 
   dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint == CAR.VOLT:
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
     # C1A-ARS3-A by Continental
     radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
     signals = zip(['FLRRNumValidTargets',
@@ -125,5 +125,3 @@ def update(self):
     ret = RI.update()
     print(chr(27) + "[2J")
     print ret
-
-

selfdrive/car/gm/values.py

@@ -1,9 +1,12 @@
 from cereal import car
 from selfdrive.car import dbc_dict
 
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
 class CAR:
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
+  MALIBU = "CHEVROLET MALIBU PREMIER 2017"
 
 class CruiseButtons:
   UNPRESS     = 1
@@ -12,9 +15,28 @@ class CruiseButtons:
   MAIN        = 5
   CANCEL      = 6
 
+# Car chimes, beeps, blinker sounds etc
+class CM:
+  TOCK = 0x81
+  TICK = 0x82
+  LOW_BEEP = 0x84
+  HIGH_BEEP = 0x85
+  LOW_CHIME = 0x86
+  HIGH_CHIME = 0x87
+
+AUDIO_HUD = {
+  AudibleAlert.none: (0, 0),
+  AudibleAlert.chimeEngage: (CM.HIGH_CHIME, 1),
+  AudibleAlert.chimeDisengage: (CM.HIGH_CHIME, 1),
+  AudibleAlert.chimeError: (CM.LOW_CHIME, 2),
+  AudibleAlert.chimePrompt: (CM.LOW_CHIME, 1),
+  AudibleAlert.chimeWarning1: (CM.LOW_CHIME, 2),
+  AudibleAlert.chimeWarning2: (CM.LOW_CHIME, -1),
+  AudibleAlert.chimeWarningRepeat: (CM.LOW_CHIME, -1)}
+
 def is_eps_status_ok(eps_status, car_fingerprint):
   valid_eps_status = []
-  if car_fingerprint == CAR.VOLT:
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
     valid_eps_status += [0, 1]
   elif car_fingerprint == CAR.CADILLAC_CT6:
     valid_eps_status += [0, 1, 4, 5, 6]
@@ -45,16 +67,23 @@ def parse_gear_shifter(can_gear):
   CAR.CADILLAC_CT6: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
   }],
+  CAR.MALIBU: [
+  # Malibu Premier w/ ACC 2017
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
+  }],
 }
 
 STEER_THRESHOLD = 1.0
 
 STOCK_CONTROL_MSGS = {
   CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
   CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
 }
 
 DBC = {
   CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
 }

selfdrive/car/honda/carcontroller.py

@@ -1,5 +1,5 @@
-from cereal import car
 from collections import namedtuple
+from common.realtime import sec_since_boot
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.controls.lib.drive_helpers import rate_limit
 from common.numpy_fast import clip
@@ -8,7 +8,7 @@
 from selfdrive.can.packer import CANPacker
 
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
-  # hyst params... TODO: move these to VehicleParams
+  # hyst params
   brake_hyst_on = 0.02     # to activate brakes exceed this value
   brake_hyst_off = 0.005                     # to deactivate brakes below this value
   brake_hyst_gap = 0.01                      # don't change brake command for small ocilalitons within this value
@@ -33,6 +33,24 @@ def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   return brake, braking, brake_steady
 
 
+def brake_pump_hysteresys(apply_brake, apply_brake_last, last_pump_ts):
+  ts = sec_since_boot()
+  pump_on = False
+
+  # reset pump timer if:
+  # - there is an increment in brake request
+  # - we are applying steady state brakes and we haven't been running the pump
+  #   for more than 20s (to prevent pressure bleeding)
+  if apply_brake > apply_brake_last or (ts - last_pump_ts > 20 and apply_brake > 0):
+    last_pump_ts = ts
+
+  # once the pump is on, run it for at least 0.2s
+  if ts - last_pump_ts < 0.2 and apply_brake > 0:
+    pump_on = True
+
+  return pump_on, last_pump_ts
+
+
 def process_hud_alert(hud_alert):
   # initialize to no alert
   fcw_display = 0
@@ -60,6 +78,8 @@ def __init__(self, dbc_name, enable_camera=True):
     self.braking = False
     self.brake_steady = 0.
     self.brake_last = 0.
+    self.apply_brake_last = 0
+    self.last_pump_ts = 0
     self.enable_camera = enable_camera
     self.packer = CANPacker(dbc_name)
     self.new_radar_config = False
@@ -109,9 +129,6 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
     hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
                   0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)
 
-    if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
-      hud = HUDData(0xc6, 255, 64, 0xc0, 209, 0x40, 0, 0, 0, 0)
-
     # **** process the car messages ****
 
     # *** compute control surfaces ***
@@ -128,15 +145,15 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
     apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
     apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
 
-    # any other cp.vl[0x18F]['STEER_STATUS'] is common and can happen during user override. sending 0 torque to avoid EPS sending error 5
     lkas_active = enabled and not CS.steer_not_allowed
 
     # Send CAN commands.
     can_sends = []
 
     # Send steering command.
     idx = frame % 4
-    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, lkas_active, CS.CP.carFingerprint, idx))
+    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
+      lkas_active, CS.CP.carFingerprint, idx))
 
     # Send dashboard UI commands.
     if (frame % 10) == 0:
@@ -149,28 +166,19 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx))
       elif CS.stopped:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx))
+
     else:
       # Send gas and brake commands.
       if (frame % 2) == 0:
         idx = (frame / 2) % 4
-        can_sends.append(
-          hondacan.create_brake_command(self.packer, apply_brake, pcm_override,
-                                      pcm_cancel_cmd, hud.chime, hud.fcw, idx))
+        pump_on, self.last_pump_ts = brake_pump_hysteresys(apply_brake, self.apply_brake_last, self.last_pump_ts)
+        can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
+          pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx))
+        self.apply_brake_last = apply_brake
+
         if CS.CP.enableGasInterceptor:
           # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
           # This prevents unexpected pedal range rescaling
           can_sends.append(hondacan.create_gas_command(self.packer, apply_gas, idx))
 
-      # radar at 20Hz, but these msgs need to be sent at 50Hz on ilx (seems like an Acura bug)
-      if CS.CP.carFingerprint == CAR.ACURA_ILX:
-        radar_send_step = 2
-      else:
-        radar_send_step = 5
-
-      if (frame % radar_send_step) == 0:
-        idx = (frame/radar_send_step) % 4
-        if not self.new_radar_config:  # only change state once
-          self.new_radar_config = car.RadarState.Error.wrongConfig in radar_error
-        can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.CP.carFingerprint, self.new_radar_config, idx))
-
     sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())