73 lines
2.0 KiB
Python
73 lines
2.0 KiB
Python
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from dataclasses import dataclass, field
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from enum import IntFlag
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from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, AngleRateLimit
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from opendbc.car.structs import CarParams, CarState
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from opendbc.car.docs_definitions import CarDocs
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from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = CarParams.Ecu
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@dataclass
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class TeslaCarDocs(CarDocs):
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package: str = "Traffic Aware Cruise Control"
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@dataclass
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class TeslaPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: {Bus.party: 'tesla_model3_party'})
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class CAR(Platforms):
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TESLA_MODEL_3 = TeslaPlatformConfig(
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[TeslaCarDocs("Tesla Model 3 2019-24")],
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CarSpecs(mass=1899., wheelbase=2.875, steerRatio=12.0),
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)
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TESLA_MODEL_Y = TeslaPlatformConfig(
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[TeslaCarDocs("Tesla Model Y 2020-24")],
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CarSpecs(mass=2072., wheelbase=2.890, steerRatio=12.0),
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)
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
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whitelist_ecus=[Ecu.eps],
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rx_offset=0x08,
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bus=0,
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)
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]
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)
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class CANBUS:
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party = 0
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vehicle = 1
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autopilot_party = 2
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GEAR_MAP = {
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"DI_GEAR_INVALID": CarState.GearShifter.unknown,
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"DI_GEAR_P": CarState.GearShifter.park,
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"DI_GEAR_R": CarState.GearShifter.reverse,
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"DI_GEAR_N": CarState.GearShifter.neutral,
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"DI_GEAR_D": CarState.GearShifter.drive,
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"DI_GEAR_SNA": CarState.GearShifter.unknown,
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}
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class CarControllerParams:
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ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
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ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
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ACCEL_MIN = -3.48 # m/s^2
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ACCEL_MAX = 2.0 # m/s^2
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JERK_LIMIT_MAX = 4.9 # m/s^3, ACC faults at 5.0
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JERK_LIMIT_MIN = -4.9 # m/s^3, ACC faults at 5.0
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class TeslaFlags(IntFlag):
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FLAG_TESLA_LONG_CONTROL = 1
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DBC = CAR.create_dbc_map()
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