merge update

RELEASES.md

@@ -1,14 +1,21 @@
-Version 0.9.1 (2022-12-XX)
+Version 0.9.1 (2023-2-23)
 ========================
-* Adjust alert volume using ambient noise level
-* Removed driver monitoring timer resetting on interaction if face detected and distracted
-* New German translation thanks to Vrabetz and CzokNorris!
+* New driving model
+  * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+  * Adjust alert volume using ambient noise level
+  * Driver monitoring icon shows driver's head pose
+  * German translation thanks to Vrabetz and CzokNorris!
 * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
 * Genesis GV60 2023 support thanks to sunnyhaibin!
 * Hyundai Tucson 2022-23 support
 * Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
 * Kia Sorento 2022-23 support thanks to sunnyhaibin!
 * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
 * Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
 
 Version 0.9.0 (2022-11-21)

selfdrive/boardd/spi.cc

@@ -316,7 +316,10 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
     goto transfer_fail;
   }
   rx_data_len = *(uint16_t *)(rx_buf+1);
-  assert(rx_data_len < SPI_BUF_SIZE);
+  if (rx_data_len >= SPI_BUF_SIZE) {
+    LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
+    goto transfer_fail;
+  }
 
   // Read data
   transfer.len = rx_data_len + 1;

selfdrive/car/body/carcontroller.py

@@ -35,7 +35,7 @@ def deadband_filter(torque, deadband):
       torque -= deadband
     return torque
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
 
     torque_l = 0
     torque_r = 0

selfdrive/car/body/interface.py

@@ -43,5 +43,5 @@ def _update(self, c):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/chrysler/carcontroller.py

@@ -19,7 +19,7 @@ def __init__(self, dbc_name, CP, VM):
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     can_sends = []
 
     lkas_active = CC.latActive and self.lkas_control_bit_prev

selfdrive/car/chrysler/carstate.py

@@ -81,8 +81,9 @@ def update(self, cp, cp_cam):
 
     if self.CP.carFingerprint in RAM_CARS:
       self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
-      ret.steerFaultTemporary  = cp.vl["EPS_3"]["DASM_FAULT"] == 1
+      ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
     else:
+      ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
       ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
 
     # blindspot sensors
@@ -135,6 +136,7 @@ def get_can_parser(CP):
       ("COUNTER", "EPS_2",),
       ("COLUMN_TORQUE", "EPS_2"),
       ("EPS_TORQUE_MOTOR", "EPS_2"),
+      ("LKAS_TEMPORARY_FAULT", "EPS_2"),
       ("LKAS_STATE", "EPS_2"),
       ("COUNTER", "CRUISE_BUTTONS"),
     ]

selfdrive/car/chrysler/interface.py

@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
+from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, CHRYSLER_OLD_TUNING_BLACKLIST, ChryslerFlags
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -23,7 +23,11 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     elif candidate in RAM_DT:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
+    if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_LOWER_RATE
+
     ret.minSteerSpeed = 3.8  # m/s
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
       new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019)
@@ -36,27 +40,32 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
       ret.mass = 2242. + STD_CARGO_KG
       ret.wheelbase = 3.089
       ret.steerRatio = 16.2  # Pacifica Hybrid 2017
-      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
-      ret.lateralTuning.pid.kf = 0.00006
+
+      if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
+        ret.lateralTuning.init('pid')
+        ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
+        ret.lateralTuning.pid.kf = 0.00006
 
     # Jeep
     elif candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
       ret.mass = 1778 + STD_CARGO_KG
       ret.wheelbase = 2.71
       ret.steerRatio = 16.7
       ret.steerActuatorDelay = 0.2
-      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
-      ret.lateralTuning.pid.kf = 0.00006
+
+      if candidate in CHRYSLER_OLD_TUNING_BLACKLIST:
+        ret.lateralTuning.init('pid')
+        ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
+        ret.lateralTuning.pid.kf = 0.00006
 
     # Ram
     elif candidate == CAR.RAM_1500:
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
       ret.mass = 2493. + STD_CARGO_KG
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       ret.minSteerSpeed = 14.5
       # Older EPS FW allow steer to zero
       if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
@@ -100,5 +109,5 @@ def _update(self, c):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/chrysler/values.py

@@ -46,8 +46,12 @@ def __init__(self, CP):
       self.STEER_DELTA_DOWN = 6
       self.STEER_MAX = 261  # EPS allows more, up to 350?
     else:
-      self.STEER_DELTA_UP = 3
-      self.STEER_DELTA_DOWN = 3
+      if CP.carFingerprint in CHRYSLER_OLD_TUNING_BLACKLIST:
+        self.STEER_DELTA_UP = 3
+        self.STEER_DELTA_DOWN = 3
+      else:
+        self.STEER_DELTA_UP = 6
+        self.STEER_DELTA_DOWN = 6
       self.STEER_MAX = 261  # higher than this faults the EPS
 
 STEER_THRESHOLD = 120
@@ -56,6 +60,10 @@ def __init__(self, CP):
 RAM_HD = {CAR.RAM_HD, }
 RAM_CARS = RAM_DT | RAM_HD
 
+# the increased steer rate hasn't been verified on these cars.
+# remove from this list once it's been tested and confirmed to not fault
+CHRYSLER_OLD_TUNING_BLACKLIST = {CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE}
+
 @dataclass
 class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC)"

selfdrive/car/ford/carcontroller.py

@@ -21,7 +21,7 @@ def __init__(self, dbc_name, CP, VM):
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     can_sends = []
 
     actuators = CC.actuators

selfdrive/car/ford/interface.py

@@ -78,5 +78,5 @@ def _update(self, c):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/gm/carcontroller.py

@@ -13,6 +13,8 @@
 
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
+# Enforce a minimum interval between steering messages to avoid a fault
+MIN_STEER_MSG_INTERVAL_MS = 15
 
 
 class CarController:
@@ -37,7 +39,7 @@ def __init__(self, dbc_name, CP, VM):
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     hud_alert = hud_control.visualAlert
@@ -56,17 +58,18 @@ def update(self, CC, CS):
       # - on startup, first few msgs are blocked
       # - until we're in sync with camera so counters align when relay closes, preventing a fault.
       #   openpilot can subtly drift, so this is activated throughout a drive to stay synced
-      out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.camera_lka_steering_cmd_counter + 1) % 4
+      out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
       if not self.sent_lka_steering_cmd or out_of_sync:
         steer_step = self.params.STEER_STEP
 
     if CS.loopback_lka_steering_cmd_updated:
       self.lka_steering_cmd_counter += 1
       self.sent_lka_steering_cmd = True
 
-    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just
-    # received the ASCMLKASteeringCmd loopback confirmation in the current CS frame
-    if (self.frame - self.last_steer_frame) >= steer_step and not CS.loopback_lka_steering_cmd_updated:
+    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
+    # received the ASCMLKASteeringCmd loopback confirmation too recently
+    last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
+    if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
       # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
       if not self.sent_lka_steering_cmd:
         self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1

selfdrive/car/gm/carstate.py

@@ -17,9 +17,13 @@ def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
+    self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
+    self.cluster_min_speed = CV.KPH_TO_MS / 2.
+
     self.loopback_lka_steering_cmd_updated = False
+    self.loopback_lka_steering_cmd_ts_nanos = 0
     self.pt_lka_steering_cmd_counter = 0
-    self.camera_lka_steering_cmd_counter = 0
+    self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
@@ -33,9 +37,10 @@ def update(self, pt_cp, cam_cp, loopback_cp):
 
     # Variables used for avoiding LKAS faults
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
+    self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
-      self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+      self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -95,7 +100,8 @@ def update(self, pt_cp, cam_cp, loopback_cp):
     ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
-    ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
+    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
+                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -150,6 +156,7 @@ def get_can_parser(CP):
       ("RLWheelSpd", "EBCMWheelSpdRear"),
       ("RRWheelSpd", "EBCMWheelSpdRear"),
       ("MovingBackward", "EBCMWheelSpdRear"),
+      ("FrictionBrakeUnavailable", "EBCMFrictionBrakeStatus"),
       ("PRNDL2", "ECMPRDNL2"),
       ("ManualMode", "ECMPRDNL2"),
       ("LKADriverAppldTrq", "PSCMStatus"),
@@ -175,6 +182,7 @@ def get_can_parser(CP):
       ("VehicleIgnitionAlt", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
+      ("EBCMFrictionBrakeStatus", 20),
       ("AcceleratorPedal2", 33),
       ("ASCMSteeringButton", 33),
       ("ECMEngineStatus", 100),

selfdrive/car/gm/interface.py

@@ -67,6 +67,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
       ret.pcmCruise = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
       # Tuning for experimental long
       ret.longitudinalTuning.kpV = [2.0, 1.5]
@@ -89,6 +90,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
       # supports stop and go, but initial engage must (conservatively) be above 18mph
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
       ret.longitudinalTuning.kpV = [2.4, 1.5]
@@ -100,8 +102,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
     ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX}
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
-    # Some GMs need some tolerance above 10 kph to avoid a fault
-    ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
@@ -236,5 +236,5 @@ def _update(self, c):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/honda/carcontroller.py

@@ -124,7 +124,7 @@ def __init__(self, dbc_name, CP, VM):
     self.brake = 0.0
     self.last_steer = 0.0
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255

selfdrive/car/honda/interface.py

@@ -348,5 +348,5 @@ def _update(self, c):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)

selfdrive/car/hyundai/carcontroller.py

@@ -54,7 +54,7 @@ def __init__(self, dbc_name, CP, VM):
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
 

selfdrive/car/hyundai/carstate.py

@@ -6,6 +6,7 @@
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
+from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
 from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
@@ -21,7 +22,9 @@ def __init__(self, CP):
     self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
-    self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
+    self.gear_msg_canfd = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
+                          "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
+                          "GEAR_SHIFTER"
     if CP.carFingerprint in CANFD_CAR:
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
     elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
@@ -425,7 +428,9 @@ def get_cam_can_parser(CP):
   def get_can_parser_canfd(CP):
 
     cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
-    gear_msg = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
+    gear_msg = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
+               "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
+               "GEAR_SHIFTER"
     signals = [
       ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
       ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
@@ -511,8 +516,7 @@ def get_can_parser_canfd(CP):
         ("ACCELERATOR_BRAKE_ALT", 100),
       ]
 
-    bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP))
 
   @staticmethod
   def get_cam_can_parser_canfd(CP):