Merge branch 'devel' of https://github.com/commaai/openpilot into dam…

…pen-mpc-interp

.gitignore

@@ -25,6 +25,7 @@ clcache
 
 board/obj/
 selfdrive/boardd/boardd
+selfdrive/visiond/visiond
 selfdrive/logcatd/logcatd
 selfdrive/proclogd/proclogd
 selfdrive/ui/ui

README.md

@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/UetIFyH.jpg)](#)
+[![](https://i.imgur.com/xY2gdHv.png)](#)
 
 Welcome to openpilot
 ======
@@ -66,7 +66,8 @@ Supported Cars
 | 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>|
 | Cadillac<sup>3</sup> | ATS 2018                 | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
-| Chrysler             | Pacifica Hybrid 2017     | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica 2018            | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
+| Chrysler             | Pacifica Hybrid 2017-18  | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | 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             |
@@ -82,6 +83,7 @@ Supported Cars
 | 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 2017-19   | Adaptive Cruise      | Yes     | Stock          | 0mph             | 9mph           | FCA               |
 | Kia                  | Optima 2019              | SCC + LKAS           | Yes     | Stock          | 0mph             | 0mph           | 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>|

RELEASES.md

@@ -8,6 +8,7 @@ Version 0.5.9 (2019-02-10)
  * Kia Optima support thanks to emmertex!
  * Buick Regal 2018 support thanks to HOYS!
  * Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
+ * Chrysler Pacifica and Jeep Grand Cherokee suppor thanks to adhintz!
 
 Version 0.5.8 (2019-01-17)
 ========================

opendbc/chrysler_pacifica_2017_hybrid.dbc

@@ -122,6 +122,7 @@ BO_ 678 LKAS_HUD: 8 XXX
  SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX
  SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX
  SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX
 
 BO_ 705 AUTO_PARK_BUTTON: 8 XXX
  SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX

selfdrive/car/chrysler/carcontroller.py

@@ -25,6 +25,7 @@ def __init__(self, dbc_name, car_fingerprint, enable_camera):
     self.apply_steer_last = 0
     self.ccframe = 0
     self.prev_frame = -1
+    self.hud_count = 0
     self.car_fingerprint = car_fingerprint
     self.alert_active = False
     self.send_chime = False
@@ -39,7 +40,7 @@ def __init__(self, dbc_name, car_fingerprint, enable_camera):
   def update(self, sendcan, enabled, CS, frame, actuators,
              pcm_cancel_cmd, hud_alert, audible_alert):
 
-    # this seems needed to avoid steerign faults and to force the sync with the EPS counter
+    # this seems needed to avoid steering faults and to force the sync with the EPS counter
     if self.prev_frame == frame:
       return
 
@@ -81,8 +82,10 @@ def update(self, sendcan, enabled, CS, frame, actuators,
       can_sends.append(new_msg)
 
     if (self.ccframe % 25 == 0):  # 0.25s period
-      new_msg = create_lkas_hud(CS.gear_shifter, lkas_active, hud_alert, self.car_fingerprint)
+      new_msg = create_lkas_hud(self.packer, CS.gear_shifter, lkas_active, hud_alert, self.car_fingerprint,
+                                self.hud_count)
       can_sends.append(new_msg)
+      self.hud_count += 1
 
     new_msg = create_lkas_command(self.packer, int(apply_steer), frame)
     can_sends.append(new_msg)

selfdrive/car/chrysler/carstate.py

@@ -13,6 +13,8 @@ def parse_gear_shifter(can_gear):
     return "neutral"
   elif can_gear == 0x4:
     return "drive"
+  elif can_gear == 0x5:
+    return "low"
   return "unknown"
 
 

selfdrive/car/chrysler/chryslercan.py

@@ -5,6 +5,13 @@
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
+MODEL_TO_CONSTANT = {
+  CAR.PACIFICA_2017_HYBRID: 0,
+  CAR.PACIFICA_2018: 0x64,
+  CAR.PACIFICA_2018_HYBRID: 0xa8,
+  CAR.PACIFICA_2019_HYBRID: 0x68,
+  CAR.JEEP_CHEROKEE: 0xa4,
+  }
 
 def calc_checksum(data):
   """This function does not want the checksum byte in the input data.
@@ -51,40 +58,41 @@ def create_lkas_heartbit(car_fingerprint):
   msg = '0000000820'.decode('hex')  # 2017
   return make_can_msg(0x2d9, msg)
 
-def create_lkas_hud(gear, lkas_active, hud_alert, car_fingerprint):
-  # LKAS_HUD (678) Controls what lane-keeping icon is displayed.
+def create_lkas_hud(packer, gear, lkas_active, hud_alert, car_fingerprint, hud_count):
+  # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
 
   if hud_alert == VisualAlert.steerRequired:
     msg = '0000000300000000'.decode('hex')
     return make_can_msg(0x2a6, msg)
 
-  # TODO: use can packer
-  msg = '0000000000000000'.decode('hex')  # park or neutral
-  if car_fingerprint == CAR.PACIFICA_2018:
-    msg = '0064000000000000'.decode('hex')  # Have not verified 2018 park with a real car.
-  elif car_fingerprint == CAR.JEEP_CHEROKEE:
-    msg = '00a4000000000000'.decode('hex')  # Have not verified 2018 park with a real car.
-  elif car_fingerprint == CAR.PACIFICA_2018_HYBRID:
-    msg = '01a8010000000000'.decode('hex')
-  if (gear == 'drive' or gear == 'reverse'):
+  color = 0  # default values are for park or neutral
+  lines = 0
+  alerts = 0
+
+  if hud_count < (3 *4):  # first 3 seconds, 4Hz
+    lines = 1
+    alerts = 1
+  elif hud_count < (6 * 4):  # next 3 seconds, 4Hz
+    lines = 1
+    alerts = 0
+  # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
+  # had color = 1 and lines = 1 but trying 2017 hybrid style for now.
+  if gear in ('drive', 'reverse', 'low'):
     if lkas_active:
-      msg = '0200060000000000'.decode('hex') # control active, display green.
-      if car_fingerprint == CAR.PACIFICA_2018:
-        msg = '0264060000000000'.decode('hex')
-      elif car_fingerprint == CAR.JEEP_CHEROKEE:
-        msg = '02a4060000000000'.decode('hex')
-      elif car_fingerprint == CAR.PACIFICA_2018_HYBRID:
-        msg = '02a8060000000000'.decode('hex')
+      color = 2  # control active, display green.
+      lines = 6
     else:
-      msg = '0100010000000000'.decode('hex') # control off, display white.
-      if car_fingerprint == CAR.PACIFICA_2018:
-        msg = '0164010000000000'.decode('hex')
-      elif car_fingerprint == CAR.JEEP_CHEROKEE:
-        msg = '01a4010000000000'.decode('hex')
-      elif car_fingerprint == CAR.PACIFICA_2018_HYBRID:
-        msg = '01a8010000000000'.decode('hex')
-
-  return make_can_msg(0x2a6, msg)
+      color = 1  # control off, display white.
+      lines = 1
+
+  values = {
+    "LKAS_ICON_COLOR": color,  # byte 0, last 2 bits
+    "CAR_MODEL": MODEL_TO_CONSTANT[car_fingerprint],  # byte 1
+    "LKAS_LANE_LINES": lines,  # byte 2, last 4 bits
+    "LKAS_ALERTS": alerts,  # byte 3, last 4 bits
+    }
+
+  return packer.make_can_msg("LKAS_HUD", 0, values)  # 0x2a6
 
 
 def create_lkas_command(packer, apply_steer, frame):

selfdrive/car/chrysler/chryslercan_test.py

@@ -0,0 +1,48 @@
+import chryslercan
+from values import CAR
+from carcontroller import CarController
+from selfdrive.can.packer import CANPacker
+
+from cereal import car
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+AudibleAlert = car.CarControl.HUDControl.AudibleAlert
+
+import unittest
+
+
+class TestChryslerCan(unittest.TestCase):
+
+  def test_checksum(self):
+    self.assertEqual(0x75, chryslercan.calc_checksum([0x01, 0x20]))
+    self.assertEqual(0xcc, chryslercan.calc_checksum([0x14, 0, 0, 0, 0x20]))
+
+  def test_heartbit(self):
+    self.assertEqual(
+        [0x2d9, 0, '0000000820'.decode('hex'), 0],
+        chryslercan.create_lkas_heartbit(CAR.PACIFICA_2017_HYBRID))
+
+  def test_hud(self):
+    packer = CANPacker('chrysler_pacifica_2017_hybrid')
+    self.assertEqual(
+        [0x2a6, 0, '0000010100000000'.decode('hex'), 0],
+        chryslercan.create_lkas_hud(packer,
+            'park', False, False, CAR.PACIFICA_2017_HYBRID, 1))
+    self.assertEqual(
+        [0x2a6, 0, '0000010000000000'.decode('hex'), 0],
+        chryslercan.create_lkas_hud(packer,
+            'park', False, False, CAR.PACIFICA_2017_HYBRID, 5*4))
+    self.assertEqual(
+        [0x2a6, 0, '0000000000000000'.decode('hex'), 0],
+        chryslercan.create_lkas_hud(packer,
+            'park', False, False, CAR.PACIFICA_2017_HYBRID, 99999))
+    self.assertEqual(
+        [0x2a6, 0, '0200060000000000'.decode('hex'), 0],
+        chryslercan.create_lkas_hud(packer,
+            'drive', True, False, CAR.PACIFICA_2017_HYBRID, 99999))
+    self.assertEqual(
+        [0x2a6, 0, '0264060000000000'.decode('hex'), 0],
+        chryslercan.create_lkas_hud(packer,
+            'drive', True, False, CAR.PACIFICA_2018, 99999))
+
+if __name__ == '__main__':
+  unittest.main()

selfdrive/car/chrysler/interface.py

@@ -220,7 +220,7 @@ def update(self, c):
         events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     else:
       self.can_invalid_count = 0
-    if not ret.gearShifter == 'drive':
+    if not (ret.gearShifter in ('drive', 'low')):
       events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
     if ret.doorOpen:
       events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

selfdrive/car/chrysler/run_tests.sh

@@ -0,0 +1 @@
+PYTHONPATH=`realpath ../../../` python chryslercan_test.py