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Chrysler: fill cruiseState.available #24907

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Merged
merged 15 commits into from
Jun 22, 2022
Merged

Chrysler: fill cruiseState.available #24907

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991ccd1
Update some signals to unified names and definitions
sshane Jun 18, 2022
056df7d
steering looks good
sshane Jun 18, 2022
a69035b
Fix cp signals
sshane Jun 18, 2022
4c45df6
Do steering signal changes separately
sshane Jun 18, 2022
e6ff0e2
bump opendbc to master
sshane Jun 19, 2022
d791135
fix
sshane Jun 19, 2022
a145eeb
check available is true if enabled is true
sshane Jun 20, 2022
f000ebb
fix
sshane Jun 20, 2022
179b719
Merge remote-tracking branch 'upstream/master' into chrysler-signal-u…
sshane Jun 21, 2022
c2b5c05
already added
sshane Jun 21, 2022
7f688a3
Merge remote-tracking branch 'upstream/master' into chrysler-signal-u…
sshane Jun 22, 2022
1f11cae
bump opendbc, better cruise status names
sshane Jun 22, 2022
0c0582e
bump opendbc
sshane Jun 22, 2022
51f0359
bump opendbc to master
sshane Jun 22, 2022
1f269bc
bump panda
sshane Jun 22, 2022
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2 changes: 1 addition & 1 deletion opendbc
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Submodule opendbc updated 1 files
+12 −11 chrysler_pacifica_2017_hybrid.dbc
2 changes: 1 addition & 1 deletion panda
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Submodule panda updated 4 files
+7 −1 Dockerfile.panda
+1 −1 board/safety/safety_chrysler.h
+1 −1 board/safety/safety_honda.h
+2 −2 tests/safety/test_chrysler.py
31 changes: 16 additions & 15 deletions selfdrive/car/chrysler/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,10 +18,10 @@ def update(self, cp, cp_cam):

self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])

ret.doorOpen = any([cp.vl["DOORS"]["DOOR_OPEN_FL"],
cp.vl["DOORS"]["DOOR_OPEN_FR"],
cp.vl["DOORS"]["DOOR_OPEN_RL"],
cp.vl["DOORS"]["DOOR_OPEN_RR"]])
ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
cp.vl["BCM_1"]["DOOR_OPEN_FR"],
cp.vl["BCM_1"]["DOOR_OPEN_RL"],
cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1

# brake pedal
Expand Down Expand Up @@ -51,12 +51,12 @@ def update(self, cp, cp_cam):
ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))

ret.cruiseState.enabled = cp.vl["ACC_2"]["ACC_STATUS_2"] == 7 # ACC is green.
ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled
ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white
ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1 # ACC is green
ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
# CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
ret.accFaulted = cp.vl["ACC_2"]["ACC_FAULTED"] != 0
ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0

ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
Expand All @@ -82,10 +82,10 @@ def get_can_parser(CP):
signals = [
# sig_name, sig_address
("PRNDL", "GEAR"),
("DOOR_OPEN_FL", "DOORS"),
("DOOR_OPEN_FR", "DOORS"),
("DOOR_OPEN_RL", "DOORS"),
("DOOR_OPEN_RR", "DOORS"),
("DOOR_OPEN_FL", "BCM_1"),
("DOOR_OPEN_FR", "BCM_1"),
("DOOR_OPEN_RL", "BCM_1"),
("DOOR_OPEN_RR", "BCM_1"),
("Brake_Pedal_State", "ESP_1"),
("Accelerator_Position", "ECM_5"),
("SPEED_LEFT", "SPEED_1"),
Expand All @@ -97,8 +97,9 @@ def get_can_parser(CP):
("STEER_ANGLE", "STEERING"),
("STEERING_RATE", "STEERING"),
("TURN_SIGNALS", "STEERING_LEVERS"),
("ACC_STATUS_2", "ACC_2"),
("ACC_FAULTED", "ACC_2"),
("ACC_AVAILABLE", "DAS_3"),
("ACC_ACTIVE", "DAS_3"),
("ACC_FAULTED", "DAS_3"),
("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
("CRUISE_STATE", "DASHBOARD"),
Expand All @@ -118,14 +119,14 @@ def get_can_parser(CP):
("SPEED_1", 100),
("WHEEL_SPEEDS", 50),
("STEERING", 100),
("ACC_2", 50),
("DAS_3", 50),
("GEAR", 50),
("ECM_5", 50),
("WHEEL_BUTTONS", 50),
("DASHBOARD", 15),
("STEERING_LEVERS", 10),
("SEATBELT_STATUS", 2),
("DOORS", 1),
("BCM_1", 1),
("TRACTION_BUTTON", 1),
]

Expand Down