openpilot v0.3.8.2

Dockerfile.openpilot

@@ -16,4 +16,4 @@ COPY ./selfdrive /tmp/openpilot/selfdrive
 COPY ./phonelibs /tmp/openpilot/phonelibs
 COPY ./pyextra /tmp/openpilot/pyextra
 
-RUN mkdir /tmp/openpilot/selfdrive/test/out
+RUN mkdir -p /tmp/openpilot/selfdrive/test/out

Makefile

@@ -1,6 +1,9 @@
-.PHONY: all
 
-# TODO: Add a global build system to openpilot
+code_dir := $(shell pwd)
+
+# TODO: Add a global build system
+
+.PHONY: all
 all:
-	cd /data/openpilot/selfdrive && PYTHONPATH=/data/openpilot PREPAREONLY=1 /data/openpilot/selfdrive/manager.py
+	cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
 

README.md

@@ -12,7 +12,7 @@ Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://ww
 Hardware
 ------
 
-Right now openpilot supports the [neo research platform](http://github.com/commaai/neo) for vehicle control. We'd like to support other platforms as well.
+Right now openpilot supports the [NEO research platform](http://github.com/commaai/neo) and the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
 
 Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
 
@@ -26,15 +26,25 @@ Supported Cars
   - Due to limitations in steering firmware, steering is disabled below 12 mph
   - Note that the hatchback model is not supported
 
-- Honda CR-V Touring 2015-2016 (very alpha!)
+- Honda CR-V Touring 2015-2016
   - Can only be enabled above 25 mph
 
+- Toyota RAV-4 2016+ with TSS-P (alpha!)
+  - Can only be enabled above 20 mph
+
 In Progress Cars
 ------
 
+- Toyota Prius 2017
+
+- Probably all TSS-P Toyota
+
+Community Ported Cars
+------
+
 - Chevy Volt 2016-2018 Premier with Driver Confidence II
 
-- All 2017 Toyota Prius, Corolla, and RAV4
+- Classic Tesla Model S (pre-AP)
 
 Directory structure
 ------

RELEASES.md

@@ -1,3 +1,10 @@
+Version 0.3.8.2 (2017-10-30)
+==========================
+ * Add alpha support for 2017 Toyota RAV4
+ * Smoother lateral control
+ * Stay silent if stock system is connected through giraffe
+ * Minor bug fixes
+
 Version 0.3.7 (2017-09-30)
 ==========================
  * Improved lateral control using model predictive control

SAFETY.md

@@ -1,36 +1,73 @@
 openpilot Safety
 ======
 
-openpilot is an Adaptive Cruise Control and Lane Keeping Assist System. Like
-other ACC and LKAS systems, openpilot requires the driver to be alert and to pay
-attention at all times. We repeat, **driver alertness is necessary, but not
+openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system. 
+Like other ACC and LKA systems, openpilot requires the driver to be alert and to 
+pay attention at all times. We repeat, **driver alertness is necessary, but not 
 sufficient, for openpilot to be used safely**.
 
 Even with an attentive driver, we must make further efforts for the system to be
 safe. We have designed openpilot with two other safety considerations.
 
-1. The vehicle must always be controllable by the driver.
+1. The driver must always be capable to immediately retake manual control of the vehicle, 
+   by stepping on either pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
-   react.
+   react. This means that while the system is engaged, the actuators are constrained
+   to operate within reasonable limits.
 
-To address these, we came up with two safety principles.
+Following are details of the car specific safety implementations:
 
-1. Enforced disengagements. Step on either pedal or press the cancel button to
-   retake manual control of the car immediately.
-  - These are hard enforced by the board, and soft enforced by the software. The
-    green led on the board signifies if the board is allowing control messages.
-  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
-    replay of the same message.
+Honda/Acura
+------
+
+  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+    the stock system.
+
+  - Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM). 
+    The PCM limits acceleration to what is reasonable for a cruise control system.  With an
+    interceptor, the gas is clipped to 60%.
 
-2. Actuation limits. While the system is engaged, the actuators are constrained
-   to operate within reasonable limits; the same limits used by the stock system on
-   the Honda.
-  - Without an interceptor, the gas is controlled by the PCM. The PCM limits
-    acceleration to what is reasonable for a cruise control system.  With an
-    interceptor, the gas is clipped to 60% in longcontrol.py
   - The brake is controlled by the 0x1FA CAN message. This message allows full
     braking, although the board and the software clip it to 1/4th of the max.
     This is around .3g of braking.
-  - Steering is controlled by the 0xE4 CAN message. The EPS controller in the
-    car limits the torque to a very small amount, so regardless of the message,
-    the controller cannot jerk the wheel.
+
+  - Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS) 
+    controller in the car limits the torque to a very small amount, so regardless of the 
+    message, the controller cannot jerk the wheel.
+
+  - Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
+    either signal triggers a disengagement, which is enforced by the board and in software. The
+    green led on the board signifies if the board is allowing control messages.
+
+  - Honda CAN uses both a counter and a checksum to ensure integrity and prevent
+    replay of the same message.
+
+Toyota
+------
+
+  - While the system is engaged, gas, brake and steer limits are subject to the same limits used by
+    the stock system.
+
+  - With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled 
+    by the stock system and is subject to the stock adaptive cruise control limits. Without the
+    stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
+    value is limited by the board and the software to between .3g of deceleration and .15g of
+    acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
+    cruise control system is disengaged.
+
+  - Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
+    software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
+    commands outside these limits.  A steering torque rate limit is enforced by the board and in
+    software so that the commanded steering torque must rise from 0 to max value no faster than
+    1.5s. Commanded steering torque is limited by the board and in software to be no more than 500
+    units above the actual EPS generated motor torque to ensure limited differences between
+    commanded and actual torques.
+
+  - Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
+    respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
+    board and in software. Additionally, the cruise control system disengages on the rising edge of
+    the brake pedal pressed signal.
+
+  - The cruise control system state is contained in the 0x1D2 message. No control messages are
+    allowed if the cruise control system is not active. This is enforced by the software and the
+    board. The green led on the board signifies if the board is allowing control messages.

cereal/Makefile

@@ -1,8 +1,9 @@
+PWD := $(shell pwd)
+
 SRCS := log.capnp car.capnp
 
 GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
 
-
 UNAME_M ?= $(shell uname -m)
 
 # only generate C++ for docker tests
@@ -16,6 +17,12 @@ endif
 
 endif
 
+ifeq ($(UNAME_M),aarch64)
+CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
+else
+CAPNPC=capnpc
+endif
+
 .PHONY: all
 all: $(GENS)
 
@@ -26,17 +33,17 @@ clean:
 gen/c/%.capnp.c: %.capnp
 	@echo "[ CAPNPC C ] $@"
 	mkdir -p gen/c/
-	capnpc '$<' -o c:gen/c/
+	$(CAPNPC) '$<' -o c:gen/c/
 
 gen/cpp/%.capnp.c++: %.capnp
 	@echo "[ CAPNPC C++ ] $@"
 	mkdir -p gen/cpp/
-	capnpc '$<' -o c++:gen/cpp/
+	$(CAPNPC) '$<' -o c++:gen/cpp/
 
 gen/java/Car.java gen/java/Log.java: $(SRCS)
 	@echo "[ CAPNPC java ] $@"
 	mkdir -p gen/java/
-	capnpc $^ -o java:gen/java
+	$(CAPNPC) $^ -o java:gen/java
 
 # c-capnproto needs some empty headers
 gen/c/c++.capnp.h gen/c/java.capnp.h:

cereal/car.capnp

@@ -51,6 +51,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     modelCommIssue @27;
     brakeHold @28;
     parkBrake @29;
+    manualRestart @30;
+    lowSpeedLockout @31;
   }
 }
 
@@ -63,6 +65,9 @@ struct CarState {
 
   # car speed
   vEgo @1 :Float32;       # best estimate of speed
+  aEgo @16 :Float32;       # best estimate of acceleration
+  vEgoRaw @17 :Float32;       # unfiltered speed
+  standstill @18 :Bool;
   wheelSpeeds @2 :WheelSpeeds;
 
   # gas pedal, 0.0-1.0
@@ -75,6 +80,7 @@ struct CarState {
 
   # steering wheel
   steeringAngle @7 :Float32;   # deg
+  steeringRate @15 :Float32;   # deg/s
   steeringTorque @8 :Float32;  # TODO: standardize units
   steeringPressed @9 :Bool;    # if the user is using the steering wheel
 
@@ -242,6 +248,9 @@ struct CarParams {
   enableGas @4 :Bool;
   enableBrake @5 :Bool;
   enableCruise @6 :Bool;
+  enableCamera @27 :Bool;
+  enableDsu @28 :Bool; # driving support unit
+  enableApgs @29 :Bool; # advanced parking guidance system
 
   minEnableSpeed @18 :Float32;
   safetyModel @19 :Int16;
@@ -253,11 +262,15 @@ struct CarParams {
   brakeMaxBP @24 :List(Float32);
   brakeMaxV @25 :List(Float32);
 
+  longPidDeadzoneBP @33 :List(Float32);
+  longPidDeadzoneV @34 :List(Float32);
+
   enum SafetyModels {
-    # from board
-    default @0;
+    # does NOT match board setting
+    noOutput @0;
     honda @1;
     toyota @2;
+    elm327 @3;
   }
 
   # things about the car in the manual
@@ -276,7 +289,12 @@ struct CarParams {
   # Kp and Ki for the lateral control
   steerKp @16 :Float32;
   steerKi @17 :Float32;
+  steerKf @26 :Float32;
+
+  steerLimitAlert @30 :Bool;
+
+  vEgoStopping @31 :Float32; # Speed at which the car goes into stopping state
+  directAccelControl @32 :Bool; # Does the car have direct accel control or just gas/brake
 
   # TODO: Kp and Ki for long control, perhaps not needed?
 }
-