STEER_ERROR_MAX = 80
class CAR:
PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
PACIFICA_2018 = "CHRYSLER PACIFICA 2018" # includes 2017 Pacifica
PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018" # includes 2017 Trailhawk
JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.PACIFICA_2017_HYBRID:
CarInfo("Chrysler Pacifica Hybrid 2017-18", "Adaptive Cruise"),
CAR.PACIFICA_2019_HYBRID:
CarInfo("Chrysler Pacifica Hybrid 2019-21", "Adaptive Cruise"),
CAR.PACIFICA_2018:
CarInfo("Chrysler Pacifica 2017-18", "Adaptive Cruise"),
CAR.PACIFICA_2020:
CarInfo("Chrysler Pacifica 2020", "Adaptive Cruise"),
CAR.JEEP_CHEROKEE:
CarInfo("Jeep Grand Cherokee 2016-18", "Adaptive Cruise",
"https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019:
CarInfo("Jeep Grand Cherokee 2019-20", "Adaptive Cruise",
"https://www.youtube.com/watch?v=jBe4lWnRSu4"),
}
# Unique CAN messages:
class CarControllerParams:
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0
class CAR:
BODY = "COMMA BODY"
CAR_INFO: Dict[str, CarInfo] = {
CAR.BODY: CarInfo("comma body", package="All"),
}
FW_VERSIONS = {
CAR.BODY: {
(Ecu.engine, 0x720, None): [b'0.0.01', b'02/27/2022'],
(Ecu.debug, 0x721, None): [
b'166bd860' # git hash of the firmware used
],
},
}
DBC = {
CAR.BODY: dbc_dict('comma_body', None),
}
self.STEER_DRIVER_FACTOR = 1 # from dbc
class CAR:
ASCENT = "SUBARU ASCENT LIMITED 2019"
IMPREZA = "SUBARU IMPREZA LIMITED 2019"
IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
FORESTER = "SUBARU FORESTER 2019"
FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.ASCENT: CarInfo("Subaru Ascent 2019", "EyeSight"),
CAR.IMPREZA: [
CarInfo("Subaru Impreza 2017-19", "EyeSight"),
CarInfo("Subaru Crosstrek 2018-20", "EyeSight"),
],
CAR.FORESTER: CarInfo("Subaru Forester 2019-21", "EyeSight"),
CAR.FORESTER_PREGLOBAL: CarInfo("Subaru Forester 2017-18", "EyeSight"),
CAR.LEGACY_PREGLOBAL: CarInfo("Subaru Legacy 2015-18", "EyeSight"),
CAR.OUTBACK_PREGLOBAL: CarInfo("Subaru Outback 2015-17", "EyeSight"),
CAR.OUTBACK_PREGLOBAL_2018: CarInfo("Subaru Outback 2018-19", "EyeSight"),
}
FINGERPRINTS = {
CAR.IMPREZA_2020: [{
2: 8, 64: 8, 65: 8, 72: 8, 73: 8, 280: 8, 281: 8, 282: 8, 290: 8, 312: 8, 313: 8, 314: 8, 315: 8, 316: 8, 326: 8, 372: 8, 544: 8, 545: 8, 546: 8, 552: 8, 554: 8, 557: 8, 576: 8, 577: 8, 722: 8, 801: 8, 802: 8, 803: 8, 805: 8, 808: 8, 816: 8, 826: 8, 837: 8, 838: 8, 839: 8, 842: 8, 912: 8, 915: 8, 940: 8, 1617: 8, 1632: 8, 1650: 8, 1677: 8, 1697: 8, 1722: 8, 1743: 8, 1759: 8, 1786: 5, 1787: 5, 1788: 8, 1809: 8, 1813: 8, 1817: 8, 1821: 8, 1840: 8, 1848: 8, 1924: 8, 1932: 8, 1952: 8, 1960: 8, 1968: 8, 1976: 8, 2015: 8, 2016: 8, 2024: 8
DELPHI_MRR = 'FORD_CADS'
class CANBUS:
main = 0
radar = 1
camera = 2
class CAR:
ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
FOCUS_MK4 = "FORD FOCUS 4TH GEN"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.ESCAPE_MK4: CarInfo("Ford Escape", "NA"),
CAR.FOCUS_MK4: CarInfo("Ford Focus", "NA"),
}
FW_VERSIONS = {
CAR.ESCAPE_MK4: {
(Ecu.eps, 0x730, None): [
b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.esp, 0x760, None): [
b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
class Footnote(Enum):
OBD_II = CarFootnote(
'Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and '
+
'<a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. '
+
'<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
Column.MODEL)
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.HOLDEN_ASTRA:
CarInfo("Holden Astra 2017", "Adaptive Cruise"),
CAR.VOLT:
CarInfo("Chevrolet Volt 2017-18",
"Adaptive Cruise",
footnotes=[Footnote.OBD_II],
min_enable_speed=0),
CAR.CADILLAC_ATS:
CarInfo("Cadillac ATS Premium Performance 2018", "Adaptive Cruise"),
CAR.MALIBU:
CarInfo("Chevrolet Malibu Premier 2017", "Adaptive Cruise"),
CAR.ACADIA:
CarInfo("GMC Acadia 2018",
"Adaptive Cruise",
video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo",
footnotes=[Footnote.OBD_II]),
CAR.BUICK_REGAL:
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0
class CAR:
XTRAIL = "NISSAN X-TRAIL 2017"
LEAF = "NISSAN LEAF 2018"
# Leaf with ADAS ECU found behind instrument cluster instead of glovebox
# Currently the only known difference between them is the inverted seatbelt signal.
LEAF_IC = "NISSAN LEAF 2018 Instrument Cluster"
ROGUE = "NISSAN ROGUE 2019"
ALTIMA = "NISSAN ALTIMA 2020"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.XTRAIL: CarInfo("Nissan X-Trail 2017", "ProPILOT"),
CAR.LEAF: CarInfo("Nissan Leaf 2018-22", "ProPILOT"),
CAR.ROGUE: CarInfo("Nissan Rogue 2018-20", "ProPILOT"),
CAR.ALTIMA: CarInfo("Nissan Altima 2019-20", "ProPILOT"),
}
FINGERPRINTS = {
CAR.XTRAIL: [
{
2: 5,
42: 6,
346: 6,
347: 5,
348: 8,
349: 7,
361: 8,
class CarControllerParams:
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0
class CAR:
BODY = "COMMA BODY"
CAR_INFO: Dict[str, CarInfo] = {
CAR.BODY: CarInfo("comma body", package="All", harness=Harness.none),
}
FW_VERSIONS = {
CAR.BODY: {
(Ecu.engine, 0x720, None): [b'0.0.01', b'02/27/2022'],
(Ecu.debug, 0x721, None): [
b'166bd860' # git hash of the firmware used
],
},
}
DBC = {
CAR.BODY: dbc_dict('comma_body', None),
}
from selfdrive.car import dbc_dict
from selfdrive.car.docs_definitions import CarInfo
from cereal import car
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
AngleRateLimit = namedtuple('AngleRateLimit',
['speed_points', 'max_angle_diff_points'])
class CAR:
AP1_MODELS = 'TESLA AP1 MODEL S'
AP2_MODELS = 'TESLA AP2 MODEL S'
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"),
CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"),
}
FINGERPRINTS = {
CAR.AP2_MODELS: [
{
1: 8,
3: 8,
14: 8,
21: 4,
69: 8,
109: 4,
257: 3,
264: 8,
277: 6,
STEER_DRIVER_MULTIPLIER = 1 # weight driver torque
STEER_DRIVER_FACTOR = 1 # from dbc
STEER_ERROR_MAX = 350 # max delta between torque cmd and torque motor
class CAR:
CX5 = "MAZDA CX-5"
CX9 = "MAZDA CX-9"
MAZDA3 = "MAZDA 3"
MAZDA6 = "MAZDA 6"
CX9_2021 = "MAZDA CX-9 2021"
CX5_2022 = "MAZDA CX-5 2022"
CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
CAR.CX5: CarInfo("Mazda CX-5 2017, 2019", "All"), # TODO: verify years and torque for first 4
CAR.CX9: CarInfo("Mazda CX-9 2016-17", "All"),
CAR.MAZDA3: CarInfo("Mazda 3 2017", "All"),
CAR.MAZDA6: CarInfo("Mazda 6 2017", "All"),
CAR.CX9_2021: CarInfo("Mazda CX-9 2021", "All", good_torque=True),
CAR.CX5_2022: CarInfo("Mazda CX-5 2022", "All", good_torque=True),
}
class LKAS_LIMITS:
STEER_THRESHOLD = 15
DISABLE_SPEED = 45 # kph
ENABLE_SPEED = 52 # kph
class Buttons:
NONE = 0
class CarControllerParams:
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0
class CAR:
BODY = "COMMA BODY"
CAR_INFO: Dict[str, CarInfo] = {
CAR.BODY: CarInfo("comma body", package="All", good_torque=True),
}
FW_VERSIONS = {
CAR.BODY: {
(Ecu.engine, 0x720, None): [b'0.0.01', b'02/27/2022'],
(Ecu.debug, 0x721, None): [
b'166bd860' # git hash of the firmware used
],
},
}
DBC = {
CAR.BODY: dbc_dict('comma_body', None),
}
class CarControllerParams:
ANGLE_DELTA_BP = [0., 5., 15.]
ANGLE_DELTA_V = [5., .8, .15] # windup limit
ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit
LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower
STEER_THRESHOLD = 1.0
class CAR:
BODY = "COMMA BODY"
CAR_INFO: Dict[str, CarInfo] = {
CAR.BODY:
CarInfo("comma body",
package="All",
good_torque=True,
harness=Harness.none),
}
FW_VERSIONS = {
CAR.BODY: {
(Ecu.engine, 0x720, None): [b'0.0.01', b'02/27/2022'],
(Ecu.debug, 0x721, None): [
b'166bd860' # git hash of the firmware used
],
},
}
DBC = {
CAR.BODY: dbc_dict('comma_body', None),
}