Support for Classic Tesla Model S

[zax123]

Contains RX and TX safety hooks for Classic (non-AP) Tesla Model S

Also contains forwarding code to bypass the EPAS kill message sent from the gateway.

Requires the harness as designed by @kalud and @zax123 and the Tesla giraffe.

[rbiasini]

@zax123 let me know if this is up to date. If yes, then it can probably be merged as is, even though the safety code will need some changes before the Tesla support can be upstreamed to openpilot.

Some questions/comments:

• I don't see a steering angle rate limit. Is it enforced by the EPS? If yes, is it speed dependent? Is it well tuned?
• Max angle should be function of speed. 20 deg seems quite low at low speed and too high at high speeds.

[jeankalud]

We want and will add those safety in Panda code.

• EPS internal firmware already limits angle rate quite and its speed dependant
• Absolute max angle is limited in EON's code, its not fixed 20 degreee but a function of speed:

https://github.com/jeankalud/openpilot/blob/tesla/selfdrive/car/tesla/carcontroller.py#L119-L129

But now that we have some more people helping us, the progress is going well and we will support the code without issues.

[rbiasini]

can you make all those shared variables starting with tesla_?

[zax123]

Hi @rbiasini,

Absolutely, I will rename those shared variables. We are working on solidifying all the safety parameters on Thursday evening and will send new cleaned-up code on Friday.

Thanks for looking into this!

[rbiasini]

superseded by #132