Merge branch 'master' of ssh://github.com/commaai/opendbc into 2019-y…

…ukon-port

.github/workflows/stale.yml

@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 2
-  DAYS_BEFORE_PR_STALE: 9
+  DAYS_BEFORE_PR_CLOSE: 7
+  DAYS_BEFORE_PR_STALE: 60
 
 jobs:
   stale:

README.md

@@ -83,7 +83,7 @@ The entirery of a car port lives in `opendbc/car/<brand>/`:
 
 ### Reverse Engineer CAN messages
 
-Start off by recording a route with lots of interesting events: enable LKAS and ACC, turn the steering weel both extremes, etc. Then, load up that route in [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
+Start off by recording a route with lots of interesting events: enable LKAS and ACC, turn the steering wheel both extremes, etc. Then, load up that route in [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana).
 
 ### Tuning
 

opendbc/car/chrysler/fingerprints.py

@@ -498,6 +498,7 @@
       b'68320950AL',
       b'68320950AM',
       b'68454268AB',
+      b'68454268AC',
       b'68475160AE',
       b'68475160AF',
       b'68475160AG',
@@ -577,6 +578,7 @@
       b'68448165AK',
       b'68455111AC ',
       b'68455119AC ',
+      b'68455137AC ',
       b'68455145AC ',
       b'68455145AE ',
       b'68455146AC ',
@@ -631,6 +633,7 @@
       b'68384328AD',
       b'68384332AD',
       b'68445531AC',
+      b'68445532AB',
       b'68445533AB',
       b'68445536AB',
       b'68445537AB',

opendbc/car/honda/fingerprints.py

@@ -800,22 +800,26 @@
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-3M0-K840\x00\x00',
       b'77959-3V0-A820\x00\x00',
+      b'77959-3V0-A910\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'8S102-3M6-P030\x00\x00',
       b'8S102-3W0-A060\x00\x00',
       b'8S102-3W0-AB10\x00\x00',
+      b'8S102-3W0-AB20\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-3M6-M010\x00\x00',
       b'57114-3W0-A040\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-6EH-A010\x00\x00',
+      b'28101-6EH-A110\x00\x00',
       b'28101-6JC-M310\x00\x00',
     ],
     (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'46114-3W0-A020\x00\x00',
+      b'46114-3W0-A050\x00\x00',
     ],
   },
   CAR.ACURA_ILX: {

opendbc/car/hyundai/carcontroller.py

@@ -90,7 +90,7 @@ def update(self, CC, CS, now_nanos):
     # *** common hyundai stuff ***
 
     # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
+    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) and self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
@@ -147,15 +147,15 @@ def update(self, CC, CS, now_nanos):
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca))
+                                                        CC.cruiseControl.override, use_fca, self.CP))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaican.create_acc_opt(self.packer))
+        can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))
 
       # 2 Hz front radar options
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:

opendbc/car/hyundai/carstate.py

@@ -153,7 +153,7 @@ def update(self, can_parsers) -> structs.CarState:
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if not self.CP.openpilotLongitudinalControl:
+    if not self.CP.openpilotLongitudinalControl or self.CP.flags & HyundaiFlags.CAMERA_SCC:
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -372,7 +372,7 @@ def get_can_parsers(self, CP):
       ("LKAS11", 100)
     ]
 
-    if not CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CAMERA_SCC:
+    if CP.flags & HyundaiFlags.CAMERA_SCC:
       cam_messages += [
         ("SCC11", 50),
         ("SCC12", 50),

opendbc/car/hyundai/fingerprints.py

@@ -576,6 +576,7 @@
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
       b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
+      b'\xf1\x00DL3 MDPS C 1.00 1.01 56310L3220\x00 4DLAC101',
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310L3220\x00 4DLAC102',
       b'\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
@@ -637,6 +638,7 @@
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310/K4550 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
+      b'\xf1\x00OS  MDPS C 1.00 1.05 56310K4000\x00 4OEDC105',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4000         ',
@@ -1004,12 +1006,14 @@
   CAR.HYUNDAI_IONIQ_6: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
+      b'\xf1\x00CE__ RDR -----      1.00 1.02 99110-KL000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CE  MFC  AT CAN LHD 1.00 1.04 99211-KL000 221213',
       b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
       b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.04 99211-KL000 221213',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
+      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.06 99211-KL000 230915',
     ],
   },
   CAR.HYUNDAI_TUCSON_4TH_GEN: {

opendbc/car/hyundai/hyundaican.py

@@ -123,7 +123,7 @@ def create_lfahda_mfc(packer, enabled):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
   commands = []
 
   scc11_values = {
@@ -169,7 +169,8 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
   # Only send FCA11 on cars where it exists on the bus
-  if use_fca:
+  # On Camera SCC cars, FCA11 is not disabled, so we forward stock FCA11 back to the car forward hooks
+  if use_fca and not (CP.flags & HyundaiFlags.CAMERA_SCC):
     # note that some vehicles most likely have an alternate checksum/counter definition
     # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
     fca11_values = {
@@ -184,7 +185,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
 
   return commands
 
-def create_acc_opt(packer):
+def create_acc_opt(packer, CP):
   commands = []
 
   scc13_values = {
@@ -195,11 +196,13 @@ def create_acc_opt(packer):
   commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
 
   # TODO: this needs to be detected and conditionally sent on unsupported long cars
-  fca12_values = {
-    "FCA_DrvSetState": 2,
-    "FCA_USM": 1, # AEB disabled
-  }
-  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
+  # On Camera SCC cars, FCA12 is not disabled, so we forward stock FCA12 back to the car forward hooks
+  if not (CP.flags & HyundaiFlags.CAMERA_SCC):
+    fca12_values = {
+      "FCA_DrvSetState": 2,
+      "FCA_USM": 1, # AEB disabled
+    }
+    commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
 
   return commands
 

opendbc/car/hyundai/interface.py

@@ -1,7 +1,7 @@
 from panda import Panda
 from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
+from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
@@ -68,7 +68,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     else:
       # Shared configuration for non CAN-FD cars
-      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
       ret.enableBsm = 0x58b in fingerprint[0]
 
       # Send LFA message on cars with HDA
@@ -128,7 +128,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
   @staticmethod
   def init(CP, can_recv, can_send):
-    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
+    if CP.openpilotLongitudinalControl and not (CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN

opendbc/car/mazda/values.py

@@ -71,7 +71,7 @@ class CAR(Platforms):
     MAZDA_CX9.specs
   )
   MAZDA_CX5_2022 = MazdaPlatformConfig(
-    [MazdaCarDocs("Mazda CX-5 2022-24")],
+    [MazdaCarDocs("Mazda CX-5 2022-25")],
     MAZDA_CX5.specs,
   )
 

opendbc/car/toyota/carcontroller.py

@@ -20,7 +20,7 @@
 
 # The up limit allows the brakes/gas to unwind quickly leaving a stop,
 # the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
-ACCEL_WINDUP_LIMIT = 6.0 * DT_CTRL * 3  # m/s^2 / frame
+ACCEL_WINDUP_LIMIT = 4.0 * DT_CTRL * 3  # m/s^2 / frame
 ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3  # m/s^2 / frame
 
 # LKA limits
@@ -42,12 +42,9 @@ def get_long_tune(CP, params):
   kdBP = [0.]
   kdV = [0.]
   if CP.carFingerprint in TSS2_CAR:
-    kiV = [0.5]
+    kiV = [0.25]
     kdV = [0.25 / 4]
 
-    # Since we compensate for imprecise acceleration in carcontroller and error correct on aEgo, we can avoid using gains
-    if CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
-      kiV = [0.0]
   else:
     kiBP = [0., 5., 35.]
     kiV = [3.6, 2.4, 1.5]
@@ -70,34 +67,21 @@ def __init__(self, dbc_names, CP):
     self.steer_rate_counter = 0
     self.distance_button = 0
 
+    # *** start long control state ***
     self.long_pid = get_long_tune(self.CP, self.params)
 
     self.error_rate = FirstOrderFilter(0.0, 0.5, DT_CTRL * 3)
     self.prev_error = 0.0
 
-    # *** start PCM compensation state ***
-    self.pitch = FirstOrderFilter(0, 0.5, DT_CTRL)
-
-    # FIXME: rate isn't set properly
-    self.pcm_pid = PIDController(2.0, 0.5, 1 / (DT_CTRL * 3))
-    self.pcm_accel_compensation = FirstOrderFilter(0, 0.5, DT_CTRL * 3)
+    self.aego = FirstOrderFilter(0.0, 0.25, DT_CTRL * 3)
 
-    # the PCM's reported acceleration request can sometimes mismatch aEgo, close the loop
-    self.pcm_accel_net_offset = FirstOrderFilter(0, 1.0, DT_CTRL * 3)
-
-    # aEgo also often lags behind the PCM request due to physical brake lag which varies by car,
-    # so we error correct on the filtered PCM acceleration request using the actuator delay.
-    # TODO: move the delay into the interface
-    self.pcm_accel_net = FirstOrderFilter(0, self.CP.longitudinalActuatorDelay, DT_CTRL * 3)
-    self.net_acceleration_request = FirstOrderFilter(0, 0.15, DT_CTRL * 3)
-    if not any(fw.ecu == Ecu.hybrid for fw in self.CP.carFw):
-      self.pcm_accel_net.update_alpha(self.CP.longitudinalActuatorDelay + 0.2)
-      self.net_acceleration_request.update_alpha(self.CP.longitudinalActuatorDelay + 0.2)
-    # *** end PCM compensation state ***
+    self.pitch = FirstOrderFilter(0, 0.5, DT_CTRL)
 
-    self.packer = CANPacker(dbc_names[Bus.pt])
     self.accel = 0
     self.prev_accel = 0
+    # *** end long control state ***
+
+    self.packer = CANPacker(dbc_names[Bus.pt])
 
     self.secoc_lka_message_counter = 0
     self.secoc_lta_message_counter = 0
@@ -230,68 +214,41 @@ def update(self, CC, CS, now_nanos):
 
         # calculate amount of acceleration PCM should apply to reach target, given pitch
         accel_due_to_pitch = math.sin(self.pitch.x) * ACCELERATION_DUE_TO_GRAVITY
+        # TODO: on uphills this sometimes sets PERMIT_BRAKING low not considering the creep force
         net_acceleration_request = pcm_accel_cmd + accel_due_to_pitch
-        self.net_acceleration_request.update(net_acceleration_request)
-
-        # For cars where we allow a higher max acceleration of 2.0 m/s^2, compensate for PCM request overshoot and imprecise braking
-        if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT and CC.longActive and not CS.out.cruiseState.standstill:
-          # filter ACCEL_NET so it more closely matches aEgo delay for error correction
-          self.pcm_accel_net.update(CS.pcm_accel_net)
-
-          # Our model of the PCM's acceleration request isn't perfect, so we learn the offset when moving
-          new_pcm_accel_net = CS.pcm_accel_net
-          if stopping or CS.out.standstill:
-            # TODO: check if maintaining the offset from before stopping is beneficial
-            self.pcm_accel_net_offset.x = 0.0
-          else:
-            new_pcm_accel_net -= self.pcm_accel_net_offset.update((self.pcm_accel_net.x - accel_due_to_pitch) - CS.out.aEgo)
-
-          # let PCM handle stopping for now, error correct on a delayed acceleration request
-          pcm_accel_compensation = 0.0
-          if not stopping:
-            # prevent compensation windup
-            self.pcm_pid.neg_limit = pcm_accel_cmd - self.params.ACCEL_MAX
-            self.pcm_pid.pos_limit = pcm_accel_cmd - self.params.ACCEL_MIN
-            pcm_accel_compensation = self.pcm_pid.update(new_pcm_accel_net - self.net_acceleration_request.x)
-          else:
-            self.pcm_pid.reset()
-
-          pcm_accel_cmd = pcm_accel_cmd - self.pcm_accel_compensation.update(pcm_accel_compensation)
 
+        # GVC does not overshoot ego acceleration when starting from stop, but still has a similar delay
+        if not self.CP.flags & ToyotaFlags.SECOC.value:
+          a_ego_blended = interp(CS.out.vEgo, [1.0, 2.0], [CS.gvc, CS.out.aEgo])
         else:
-          self.pcm_accel_compensation.x = 0.0
-          self.pcm_accel_net_offset.x = 0.0
-          self.net_acceleration_request.x = 0.0
-          self.pcm_accel_net.x = CS.pcm_accel_net
-          self.pcm_pid.reset()
-          self.permit_braking = True
-
-        if not (self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT):
-          if actuators.longControlState == LongCtrlState.pid:
-            # GVC does not overshoot ego acceleration when starting from stop, but still has a similar delay
-            if not self.CP.flags & ToyotaFlags.SECOC.value:
-              a_ego_blended = interp(CS.out.vEgo, [1.0, 2.0], [CS.gvc, CS.out.aEgo])
-            else:
-              a_ego_blended = CS.out.aEgo
-
-            error = pcm_accel_cmd - a_ego_blended
-            self.error_rate.update((error - self.prev_error) / (DT_CTRL * 3))
-            self.prev_error = error
-
-            pcm_accel_cmd = self.long_pid.update(error, error_rate=self.error_rate.x,
-                                                 speed=CS.out.vEgo,
-                                                 feedforward=pcm_accel_cmd)
-          else:
-            self.long_pid.reset()
-            self.error_rate.x = 0.0
-            self.prev_error = 0.0
+          a_ego_blended = CS.out.aEgo
+
+        # wind down integral when approaching target for step changes and smooth ramps to reduce overshoot
+        prev_aego = self.aego.x
+        self.aego.update(a_ego_blended)
+        j_ego = (self.aego.x - prev_aego) / (DT_CTRL * 3)
+        a_ego_future = a_ego_blended + j_ego * 0.5
+
+        if actuators.longControlState == LongCtrlState.pid:
+          error = pcm_accel_cmd - a_ego_blended
+          self.error_rate.update((error - self.prev_error) / (DT_CTRL * 3))
+          self.prev_error = error
+
+          error_future = pcm_accel_cmd - a_ego_future
+          pcm_accel_cmd = self.long_pid.update(error_future, error_rate=self.error_rate.x,
+                                               speed=CS.out.vEgo,
+                                               feedforward=pcm_accel_cmd)
+        else:
+          self.long_pid.reset()
+          self.error_rate.x = 0.0
+          self.prev_error = 0.0
 
         # Along with rate limiting positive jerk above, this greatly improves gas response time
         # Consider the net acceleration request that the PCM should be applying (pitch included)
         net_acceleration_request_min = min(actuators.accel + accel_due_to_pitch, net_acceleration_request)
-        if net_acceleration_request_min < 0.1 or stopping or not CC.longActive:
+        if net_acceleration_request_min < 0.2 or stopping or not CC.longActive:
           self.permit_braking = True
-        elif net_acceleration_request_min > 0.2:
+        elif net_acceleration_request_min > 0.3:
           self.permit_braking = False
 
         pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX)