Fix pedal timeout message when no pedal is installed (commaai#138)

* fixed EON on screen warning about pedal interceptor timeout when no pedal was installed
* removed faulty and unnecessary button state checks/calls. PCC button auto switches to ACC mode and back, so PCCState.OFF effectively never happens
* pedal dbc cleanup

opendbc/tesla_can.dbc

@@ -356,20 +356,6 @@ BO_ 840 GTW_status: 8 GTW
  SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
  SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] ""  NEO
 
-BO_ 1361 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.0507968128,-22.85856576) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.1015936256,-22.85856576) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ IDX : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
-
-BO_ 1362 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0507968128,-22.85856576) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.1015936256,-22.85856576) [0|1] "" EON
- SG_ STATE : 35|4@0+ (1,0) [0|15] "" EON
- SG_ IDX : 39|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
-
 BO_ 920 GTW_carConfig: 8 GTW
  SG_ GTW_performanceConfig : 2|3@0+ (1,0) [0|0] "" NEO
  SG_ GTW_fourWheelDrive : 4|2@0+ (1,0) [0|0] ""  NEO
@@ -734,7 +720,6 @@ VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
-VAL_ 1362 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 
 CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";

opendbc/tesla_can1916.dbc

@@ -356,20 +356,6 @@ BO_ 840 GTW_status: 8 GTW
  SG_ GTW_statusChecksum : 63|8@0+ (1,0) [0|255] ""  NEO
  SG_ GTW_statusCounter : 51|4@0+ (1,0) [0|15] ""  NEO
 
-BO_ 1361 GAS_COMMAND: 6 EON
- SG_ GAS_COMMAND : 7|16@0+ (0.0507968128,-22.85856576) [0|1] "" INTERCEPTOR
- SG_ GAS_COMMAND2 : 23|16@0+ (0.1015936256,-22.85856576) [0|1] "" INTERCEPTOR
- SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
- SG_ IDX : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" INTERCEPTOR
-
-BO_ 1362 GAS_SENSOR: 6 INTERCEPTOR
- SG_ INTERCEPTOR_GAS : 7|16@0+ (0.0507968128,-22.85856576) [0|1] "" EON
- SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.1015936256,-22.85856576) [0|1] "" EON
- SG_ STATE : 35|4@0+ (1,0) [0|15] "" EON
- SG_ IDX : 39|4@0+ (1,0) [0|15] "" EON
- SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
-
 BO_ 920 GTW_carConfig: 8 GTW
  SG_ GTW_performanceConfig : 2|3@0+ (1,0) [0|0] "" NEO
  SG_ GTW_fourWheelDrive : 4|2@0+ (1,0) [0|0] ""  NEO
@@ -734,7 +720,6 @@ VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
 VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
 VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
 VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
-VAL_ 1362 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
 
 
 CM_ "CHFFR_METRIC 1160 DAS_steeringAngleRequest STEER_ANGLE 0.1098666 180; CHFFR_METRIC 264 DI_motorRPM ENGINE_RPM 1 0";

opendbc/tesla_can_pedal.dbc

@@ -58,4 +58,5 @@ BO_ 1362 GAS_SENSOR: 6 INTERCEPTOR
  SG_ STATE : 35|4@0+ (1,0) [0|15] "" EON
  SG_ IDX : 39|4@0+ (1,0) [0|15] "" EON
  SG_ CHECKSUM : 47|8@0+ (1,0) [0|3] "" EON
-
+
+VAL_ 1362 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;

selfdrive/car/tesla/PCC_module.py

@@ -110,10 +110,9 @@ def max_v_in_mapped_curve_ms(map_data, pedal_set_speed_kph):
 
 
 class PCCState():
-  # Possible state of the ACC system, following the DI_cruiseState naming
-  # scheme.
-  OFF = 0         # Disabled by UI.
-  STANDBY = 1     # Ready to be enaged.
+  # Possible state of the PCC system, following the DI_cruiseState naming scheme.
+  OFF = 0         # Disabled by UI (effectively never happens since button switches over to ACC mode).
+  STANDBY = 1     # Ready to be engaged.
   ENABLED = 2     # Engaged.
   NOT_READY = 9   # Not ready to be engaged due to the state of the car.
 
@@ -235,19 +234,16 @@ def update_stat(self, CS, frame):
     self._update_pedal_state(CS, frame)
 
     can_sends = []
-    if self.pcc_available and CS.cstm_btns.get_button_status(PCCModes.BUTTON_NAME) == PCCState.OFF:
-      CS.cstm_btns.set_button_status(PCCModes.BUTTON_NAME, PCCState.STANDBY)
-    elif not self.pcc_available:
-      if CS.cstm_btns.get_button_status(PCCModes.BUTTON_NAME) != PCCState.OFF:
-        CS.cstm_btns.set_button_status(PCCModes.BUTTON_NAME, PCCState.OFF)
-        if CS.pedal_interceptor_state > 0:
-          CS.UE.custom_alert_message(4, "Pedal Interceptor fault (state %s)" % CS.pedal_interceptor_state, 200, 4)
-        elif frame >= self.pedal_timeout_frame:
-          CS.UE.custom_alert_message(4, "Pedal Interceptor timed out", 200, 4)
-        # send reset command
-        idx = self.pedal_idx
-        self.pedal_idx = (self.pedal_idx + 1) % 16
-        can_sends.append(teslacan.create_pedal_command_msg(0, 0, idx))
+    if not self.pcc_available:
+      timed_out = frame >= self.pedal_timeout_frame
+      if timed_out or CS.pedal_interceptor_state > 0:
+        if self.prev_pcc_available:
+          CS.UE.custom_alert_message(4, "Pedal Interceptor %s" % ("timed out" if timed_out else "fault (state %s)" % CS.pedal_interceptor_state), 200, 4)
+        if frame % 50 == 0:
+          # send reset command
+          idx = self.pedal_idx
+          self.pedal_idx = (self.pedal_idx + 1) % 16
+          can_sends.append(teslacan.create_pedal_command_msg(0, 0, idx))
       return can_sends
 
     # disable on brake