Merge branch 'commaai:master' into master

Author: leonunix

opendbc/car/rivian/interface.py

@@ -24,7 +24,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
     ret.steerControlType = structs.CarParams.SteerControlType.torque
     ret.radarUnavailable = True
 
-    # TODO: pending finding/handling missing set speed and fixing up radar parser
+    # TODO: pending finding/handling missing set speed
     ret.alphaLongitudinalAvailable = False
     if alpha_long:
       ret.openpilotLongitudinalControl = True

opendbc/car/rivian/radar_interface.py

@@ -50,22 +50,27 @@ def _update(self, updated_messages):
     for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
       msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
 
-      if addr not in self.pts:
-        self.pts[addr] = structs.RadarData.RadarPoint()
-        self.pts[addr].trackId = self.track_id
-        self.track_id += 1
+      # STATE: 1=New, 2=New_updated, 3=Updated, 4=Coasting, 7=New_coasting
+      valid = msg['STATE'] in (1, 2, 3, 4, 7)
+
+      # Rivian's Short Range Radar (SSR) detects close stationary objects like guardrails, which cause phantom braking.
+      # MODE: 1=SRR, 2=LRR, 3=SRR_and_LRR
+      valid = valid and msg['MODE'] in (2, 3)
 
-      valid = msg['STATE'] in (3, 4) and msg['STATE_2'] == 1
       if valid:
+        if addr not in self.pts or msg['STATE'] in (1, 2, 7):
+          self.pts[addr] = structs.RadarData.RadarPoint()
+          self.pts[addr].trackId = self.track_id
+          self.track_id += 1
+
+        self.pts[addr].measured = msg['STATE'] in (2, 3)
         azimuth = math.radians(msg['AZIMUTH'])
-        self.pts[addr].measured = True
         self.pts[addr].dRel = math.cos(azimuth) * msg['LONG_DIST']
         self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
         self.pts[addr].vRel = msg['REL_SPEED']
         self.pts[addr].aRel = float('nan')
         self.pts[addr].yvRel = float('nan')
-
-      else:
+      elif addr in self.pts:
         del self.pts[addr]
 
     ret.points = list(self.pts.values())

opendbc/car/tesla/fingerprints.py

@@ -34,7 +34,6 @@
       b'TeMYG4_Legacy3Y_0.0.0 (2),Y4P003.02.0',
       b'TeMYG4_Legacy3Y_0.0.0 (5),Y4003.03.2',
       b'TeMYG4_Legacy3Y_0.0.0 (5),Y4P003.03.2',
-      b'TeMYG4_Main_0.0.0 (77),Y4003.05.4',
       b'TeMYG4_SingleECU_0.0.0 (28),Y4S002.23.0',
       b'TeMYG4_SingleECU_0.0.0 (33),Y4S002.26',
     ],

opendbc/car/toyota/carcontroller.py

@@ -170,12 +170,25 @@ def update(self, CC, CS, now_nanos):
 
     # *** gas and brake ***
 
-    # on entering standstill, send standstill request
-    if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
-      self.standstill_req = True
-    if CS.pcm_acc_status != 8:
-      # pcm entered standstill or it's disabled
-      self.standstill_req = False
+    # on entering standstill, send standstill request for older TSS-P cars that aren't designed to stay engaged at a stop
+    if self.CP.carFingerprint not in NO_STOP_TIMER_CAR:
+      if CS.out.standstill and not self.last_standstill:
+        self.standstill_req = True
+      if CS.pcm_acc_status != 8:
+        # pcm entered standstill or it's disabled
+        self.standstill_req = False
+
+    else:
+      # if user engages at a stop with foot on brake, PCM starts in a special cruise standstill mode. on resume press,
+      # brakes can take a while to ramp up causing a lurch forward. prevent resume press until planner wants to move.
+      # don't use CC.cruiseControl.resume since it is gated on CS.cruiseState.standstill which goes false for 3s after resume press
+      # TODO: hybrids do not have this issue and can stay stopped after resume press, whitelist them
+      should_resume = actuators.accel > 0
+      if should_resume:
+        self.standstill_req = False
+
+      if not should_resume and CS.out.cruiseState.standstill:
+        self.standstill_req = True
 
     self.last_standstill = CS.out.standstill
 

opendbc/dbc/generator/rivian/rivian_mando_front_radar.py

@@ -44,16 +44,21 @@
 BU_: XXX
     """)
 
-    # note: 0x501/0x502 seem to be special in 0x5XX range
     for a in range(0x500, 0x500 + 32):
         f.write(f"""
 BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 11|4@0+ (1,0) [0|15] "" XXX
  SG_ UNKNOWN_1 : 23|8@0- (1,0) [-128|127] "" XXX
- SG_ AZIMUTH : 28|10@0- (0.1,0) [-61.2|62.1] "" XXX
+ SG_ AZIMUTH : 28|10@0- (0.1,0) [-51.2|51.1] "" XXX
  SG_ STATE : 31|3@0+ (1,0) [0|7] "" XXX
  SG_ LONG_DIST : 34|11@0+ (0.1,0) [0|204.7] "" XXX
- SG_ STATE_2 : 55|1@0+ (1,0) [0|1] "" XXX
- SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
+ SG_ MODE : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "m/s" XXX
+    """)
+
+    for a in range(0x500, 0x500 + 32):
+        f.write(f"""
+VAL_ {a} STATE 0 "Empty" 1 "New" 2 "New_updated" 3 "Updated" 4 "Coasting" 7 "New_coasting" ;
+VAL_ {a} MODE 0 "None" 1 "SRR" 2 "LRR" 3 "SRR_and_LRR" ;
     """)

opendbc/safety/modes/gm.h

@@ -198,13 +198,12 @@ static safety_config gm_init(uint16_t param) {
   static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true},  // pt bus
                                           {0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}};  // camera bus
 
-  gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
-
-  if (gm_hw == GM_ASCM) {
-    gm_long_limits = &GM_ASCM_LONG_LIMITS;
-  } else if (gm_hw == GM_CAM) {
+  if (GET_FLAG(param, GM_PARAM_HW_CAM)) {
+    gm_hw = GM_CAM;
     gm_long_limits = &GM_CAM_LONG_LIMITS;
   } else {
+    gm_hw = GM_ASCM;
+    gm_long_limits = &GM_ASCM_LONG_LIMITS;
   }
 
   bool gm_cam_long = false;

opendbc/safety/modes/psa.h

@@ -27,14 +27,7 @@ static uint8_t psa_get_counter(const CANPacket_t *msg) {
 }
 
 static uint32_t psa_get_checksum(const CANPacket_t *msg) {
-  uint8_t chksum = 0;
-  if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
-    chksum = msg->data[5] & 0xFU;
-  } else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
-    chksum = msg->data[5] & 0xFU;
-  } else {
-  }
-  return chksum;
+  return msg->data[5] & 0xFU;
 }
 
 static uint8_t _psa_compute_checksum(const CANPacket_t *msg, uint8_t chk_ini, int chk_pos) {

opendbc/safety/modes/rivian.h

@@ -3,22 +3,13 @@
 #include "opendbc/safety/declarations.h"
 
 static uint8_t rivian_get_counter(const CANPacket_t *msg) {
-  uint8_t cnt = 0;
-  if ((msg->addr == 0x208U) || (msg->addr == 0x150U)) {
-    // Signal: ESP_Status_Counter, VDM_PropStatus_Counter
-    cnt = msg->data[1] & 0xFU;
-  }
-  return cnt;
+  // Signal: ESP_Status_Counter, VDM_PropStatus_Counter
+  return msg->data[1] & 0xFU;
 }
 
 static uint32_t rivian_get_checksum(const CANPacket_t *msg) {
-  uint8_t chksum = 0;
-  if ((msg->addr == 0x208U) || (msg->addr == 0x150U)) {
-    // Signal: ESP_Status_Checksum, VDM_PropStatus_Checksum
-    chksum = msg->data[0];
-  } else {
-  }
-  return chksum;
+  // Signal: ESP_Status_Checksum, VDM_PropStatus_Checksum
+  return msg->data[0];
 }
 
 static uint8_t _rivian_compute_checksum(const CANPacket_t *msg, uint8_t poly, uint8_t xor_output) {

opendbc/safety/modes/toyota.h

@@ -77,12 +77,7 @@ static uint32_t toyota_get_checksum(const CANPacket_t *msg) {
 }
 
 static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
-
-  bool valid = false;
-  if (msg->addr == 0x260U) {
-    valid = !GET_BIT(msg, 3U);  // STEER_ANGLE_INITIALIZING
-  }
-  return valid;
+  return !GET_BIT(msg, 3U);  // STEER_ANGLE_INITIALIZING
 }
 
 static void toyota_rx_hook(const CANPacket_t *msg) {

pyproject.toml

@@ -5,7 +5,7 @@ description = "CAN bus databases and tools"
 license = { file = "LICENSE" }
 authors = [{ name = "Vehicle Researcher", email = "user@comma.ai" }]
 readme = "README.md"
-requires-python = ">=3.9,<3.13"  # pycapnp doesn't work with 3.13
+requires-python = ">=3.11,<3.13"  # pycapnp doesn't work with 3.13
 
 urls = { "homepage" = "https://github.com/commaai/opendbc" }