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0.5.7 & Jeep Grand Cherokee 2017 support (#7)
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* GM: remove refactor leftovers (commaai#440)

* Move calibration values (commaai#441)

* initial commit

* moved constants

* Keep steering on radar fault (commaai#442)

* Add initial support for Holden/Opel Astra BK (commaai#431)

* Added Astra support to README and RELEASE notes (commaai#443)

* Honda Nidec: avoid giraffe setting alert when car is turned off (commaai#449)

* Adding support for 2018 GMC Acadia Denali (commaai#453)

* added acadia

* adding acadia

* adding acadia

* Update radar_interface.py

* adding acadia

* refactored

* fixed tuning

* Adding acadia

* Update interface.py

* fixed whitespace

* fixed whitespace

* ACC cancel button

* GM: Cadillac ATS Coupe 2018 support (commaai#445)

* GM: Cadillac ATS Coupe 2018 support

* Missed adding Cadillac ATS

* Fixed Capitalization + Made CT6 Comment Cleaner (commaai#456)

* Update README.md

* Updated CT6 comment

* Add Lexus RX450HL as sub to RX450H (commaai#458)

Add Lexus RX450HL as sub to RX450H

* on gas pedal press, send cancel ACC button to cancel OpenPilot

* try sending +1 counter so our message isn't a duplicate

* only do the accel pedal for specific cars

* do accel pedal for all models

* try always sending 1 for cancel acc frame

* clean up comments and remove unused moving_fast

* remove unused make can msg parameters

* try incrementing wheel button counter by 2 to see if that works better for cancel

* Squashed 'opendbc/' changes from 3f6cd74..e108b6b

e108b6b Add more Sign recognitions (commaai#126)
6e8a363 Add GM FCW Alert (Take 2) (commaai#125)
368701a Revert "Add GM FCW dashboard alert (commaai#123)" (commaai#124)
98b5f66 Add GM FCW dashboard alert (commaai#123)
71b7588 Adds dbc for 2019 Honda Insight (commaai#122)

git-subtree-dir: opendbc
git-subtree-split: e108b6b

* Squashed 'pyextra/' changes from fb152de..8cc1594

8cc1594 update overpy
2c18997 switch to forked version of overpy

git-subtree-dir: pyextra
git-subtree-split: 8cc1594238fcae6acb8bcd825ac73bbca586b1be

* openpilot v0.5.7 release

* try to simplify message logic

* clean up code

* move Chrylser into main table in readme

* 0.5.7 hotfixes

* On pedal press, if in steer error state, do not send ACC cancel button message.
Sending the ACC cancel button message in this state causes the car to display warnings.

* set the new ret.openpilotLongitudinalControl = False

* hotfix: wait longer in CDP mode before switching to fast charge, so EON can boot (commaai#469)

* generalize jeep fingerprint to also cover 2017 Jeep Grand Cherokee Trailhawk

* disable pedal_gas for now to do a devel release. Sending 23b might fault other cars.

* add jeep grand cherokee 2017 to readme car list
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@adhintz
adhintz committed Dec 18, 2018
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79 changes: 42 additions & 37 deletions README.md
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Expand Up @@ -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 +51,60 @@ 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 |
| Cadillac<sup>3</sup> | ATS 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| 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>|
| Chrysler | Pacifica 2018 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | Custom<sup>8</sup>|
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | Custom<sup>8</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 2017-18 | 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>|
| Jeep | Grand Cherokee 2017-18 | Adaptive Cruise | Yes | Stock | 0mph | 9mph | Custom<sup>8</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>6</sup>Open sourced [Hyundai Giraffe](https://github.com/commaai/neo/tree/master/giraffe/hyundai) is designed for 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>8</sup>Community built Giraffe, find more information here, [Chrysler Jeep Giraffe](https://github.com/adhintz/openpilot/wiki) <br />

Community Maintained Cars
------
Expand Down Expand Up @@ -137,8 +144,6 @@ We've written guides for [Brand](https://medium.com/@comma_ai/how-to-write-a-car
- We put time into a Ford port, but the steering has a 10 second cutout limitation that makes it unusable.
- The 2016-2017 Honda Accord uses a custom signaling protocol for steering that's unlikely to ever be upstreamed.

- Chrysler Pacifica Hybrid 2017

Directory structure
------
.
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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
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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;
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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;
}


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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,
}
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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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Expand Up @@ -206,6 +206,7 @@ BO_ 571 WHEEL_BUTTONS: 3 XXX
SG_ ACC_SPEED_INC : 2|1@0+ (1,0) [0|255] "" XXX
SG_ ACC_SPEED_DEC : 3|1@1+ (1,0) [0|3] "" XXX
SG_ ACC_FOLLOW_INC : 8|1@1+ (1,0) [0|15] "" XXX
SG_ ACC_CANCEL : 0|1@0+ (1,0) [0|15] "" XXX
SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX

BO_ 669 NEW_MSG_29d: 3 XXX
Expand Down Expand Up @@ -402,6 +403,7 @@ CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in.";
CM_ SG_ 288 UNKNOWN_CHECKSUM_120 "not the LKAS checksum";
CM_ SG_ 288 GAS_ENGINE_RPM_MAYBE "lags acceleration, perhaps gas engine";
CM_ SG_ 257 ENERGY_OR_RPM "perhaps energy consumption or RPMs";
CM_ SG_ 571 CHECKSUM_23B "standard checksum";
CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use";
CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is";
CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unusre what it is, but smoother";
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