Merge pull request #176 from commaai/devel

openpilot v0.4.0.2
commaai · Jan 22, 2018 · 675d9fe · 675d9fe
2 parents c2e120c + 36bef17
commit 675d9fe
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Showing 46 changed files with 4,904 additions and 1,076 deletions.
diff --git a/RELEASES.md b/RELEASES.md
@@ -1,3 +1,8 @@
+Version 0.4.0.2 (2018-01-18)
+==========================
+ * Add focus adjustment slider
+ * Minor bugfixes
+
 Version 0.4.0.1 (2017-12-21)
 ==========================
  * New UI to match chffrplus

diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
diff --git a/cereal/log.capnp b/cereal/log.capnp
@@ -33,6 +33,7 @@ struct InitData {
   androidBuildInfo @5 :AndroidBuildInfo;
   androidSensors @6 :List(AndroidSensor);
   chffrAndroidExtra @7 :ChffrAndroidExtra;
+  iosBuildInfo @14 :IosBuildInfo;
 
   pandaInfo @8 :PandaInfo;
 
@@ -43,6 +44,7 @@ struct InitData {
     unknown @0;
     neo @1;
     chffrAndroid @2;
+    chffrIos @3;
   }
 
   struct AndroidBuildInfo {
@@ -93,6 +95,13 @@ struct InitData {
     allCameraCharacteristics @0 :Map(Text, Text);
   }
 
+  struct IosBuildInfo {
+    appVersion @0 :Text;
+    appBuild @1 :UInt32;
+    osVersion @2 :Text;
+    deviceModel @3 :Text;
+  }
+
   struct PandaInfo {
     hasPanda @0 :Bool;
     dongleId @1 :Text;
@@ -222,6 +231,7 @@ struct GpsLocationData {
     fusion @4;
     external @5;
     ublox @6;
+    trimble @7;
   }
 }
 
@@ -374,6 +384,8 @@ struct Live100Data {
 
   angleOffset @27 :Float32;
 
+  gpsPlannerActive @40 :Bool;
+
   enum ControlState {
     disabled @0;
     preEnabled @1;
@@ -514,6 +526,8 @@ struct Plan {
   # gps trajectory in car frame
   gpsTrajectory @12 :GpsTrajectory;
 
+  gpsPlannerActive @19 :Bool;
+
   struct GpsTrajectory {
     x @0 :List(Float32);
     y @1 :List(Float32);
@@ -1298,6 +1312,27 @@ struct LiveLongitudinalMpcData {
   calculationTime @9 :UInt64;
 }
 
+
+struct ECEFPoint {
+  x @0 :Float32;
+  y @1 :Float32;
+  z @2 :Float32;
+}
+
+struct GPSPlannerPoints {
+  curPos @0 :ECEFPoint;
+  points @1 :List(ECEFPoint);
+  valid @2 :Bool;
+  trackName @3 :Text;
+  instructionProgress @4 :Float32;
+}
+
+struct GPSPlannerPlan {
+  valid @0 :Bool;
+  poly @1 :List(Float32);
+  trackName @2 :Text;
+}
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -1341,5 +1376,8 @@ struct Event {
     liveMpc @36 :LiveMpcData;
     liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
     navStatus @38 :NavStatus;
+    ubloxRaw @39 :Data;
+    gpsPlannerPoints @40 :GPSPlannerPoints;
+    gpsPlannerPlan @41 :GPSPlannerPlan;
   }
 }
diff --git a/common/fingerprints.py b/common/fingerprints.py
@@ -16,6 +16,9 @@
     # sent messages
     0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
   },
+  "HONDA ODYSSEY 2018 EX-L": {
+    57L: 3, 148L: 8, 228L: 5, 229L: 4, 316L: 8, 342L: 6, 344L: 8, 380L: 8, 399L: 7, 411L: 5, 419L: 8, 420L: 8, 427L: 3, 432L: 7, 450L: 8, 463L: 8, 464L: 8, 476L: 4, 490L: 8, 506L: 8, 542L: 7, 545L: 6, 597L: 8, 662L: 4, 773L: 7, 777L: 8, 780L: 8, 795L: 8, 800L: 8, 804L: 8, 806L: 8, 808L: 8, 817L: 4, 819L: 7, 821L: 5, 825L: 4, 829L: 5, 837L: 5, 856L: 7, 862L: 8, 871L: 8, 881L: 8, 882L: 4, 884L: 8, 891L: 8, 892L: 8, 905L: 8, 923L: 2, 927L: 8, 929L: 8, 963L: 8, 965L: 8, 966L: 8, 967L: 8, 983L: 8, 985L: 3, 1029L: 8, 1036L: 8, 1052L: 8, 1064L: 7, 1088L: 8, 1089L: 8, 1092L: 1, 1108L: 8, 1110L: 8, 1125L: 8, 1296L: 8, 1302L: 8, 1600L: 5, 1601L: 8, 1612L: 5, 1613L: 5, 1614L: 5, 1615L: 8, 1616L: 5, 1619L: 5, 1623L: 5, 1668L: 5
+  },
   "TOYOTA RAV4 2017": {
     36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
   },
@@ -59,4 +62,3 @@ def eliminate_incompatible_cars(msg, candidate_cars):
 def all_known_cars():
   """Returns a list of all known car strings."""
   return _FINGERPRINTS.keys()
-
diff --git a/opendbc/gm_global_a_chassis.dbc b/opendbc/gm_global_a_chassis.dbc
@@ -52,7 +52,7 @@ BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM
  SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
  SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
  SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] ""  NEO
- SG_ FirctionBrakeCmd : 3|12@0+ (1,0) [0|0] ""  NEO
+ SG_ FirctionBrakeCmd : 3|12@0- (1,0) [0|0] ""  NEO
 
 BO_TX_BU_ 823 : K43_PSCM,NEO;
 BO_TX_BU_ 789 : NEO,K17_EBCM;

diff --git a/opendbc/gm_global_a_powertrain.dbc b/opendbc/gm_global_a_powertrain.dbc
@@ -101,7 +101,7 @@ BO_ 384 ASCMLKASteeringCmd: 4 NEO
  SG_ RollingCounter : 5|2@0+ (1,0) [0|0] ""  NEO
  SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] ""  NEO
  SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] ""  NEO
- SG_ LKASteeringCmd : 2|11@0+ (1,0) [0|0] ""  NEO
+ SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] ""  NEO
 
 BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
  SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -155,7 +155,8 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
  SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
  SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmd : 23|16@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
 
 BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
  SG_ FLWheelSpd : 7|16@0+ (0.0305,0) [0|255] "km/h"  NEO