139 lines
4.4 KiB
Python
139 lines
4.4 KiB
Python
from dataclasses import dataclass, field
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from enum import StrEnum, IntFlag
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from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
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from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts, Device
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from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
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from opendbc.car.vin import Vin
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class WMI(StrEnum):
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RIVIAN_TRUCK = "7FC"
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RIVIAN_MPV = "7PD"
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class ModelLine(StrEnum):
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R1T = "T" # R1T 4-door Pickup Truck
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R1S = "S" # R1S 4-door MPV
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class ModelYear(StrEnum):
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N_2022 = "N"
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P_2023 = "P"
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R_2024 = "R"
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S_2025 = "S"
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@dataclass
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class RivianCarDocs(CarDocs):
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package: str = "All"
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car_parts: CarParts = field(default_factory=CarParts([Device.threex_angled_mount, CarHarness.rivian]))
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setup_video_link: str = "https://youtu.be/uaISd1j7Z4U"
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@dataclass
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class RivianPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: 'rivian_primary_actuator', Bus.radar: 'rivian_mando_front_radar_generated'})
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wmis: set[WMI] = field(default_factory=set)
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lines: set[ModelLine] = field(default_factory=set)
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years: set[ModelYear] = field(default_factory=set)
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class CAR(Platforms):
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RIVIAN_R1_GEN1 = RivianPlatformConfig(
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# TODO: verify this
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[
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RivianCarDocs("Rivian R1S 2022-24"),
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RivianCarDocs("Rivian R1T 2022-24"),
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],
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CarSpecs(mass=3206., wheelbase=3.08, steerRatio=15.2),
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wmis={WMI.RIVIAN_TRUCK, WMI.RIVIAN_MPV},
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lines={ModelLine.R1T, ModelLine.R1S},
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years={ModelYear.N_2022, ModelYear.P_2023, ModelYear.R_2024},
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)
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def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
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# Rivian VIN reference: https://www.rivianforums.com/forum/threads/rivian-vin-decoder.1546
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vin_obj = Vin(vin)
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line = vin_obj.vds[:1]
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year = vin_obj.vis[:1]
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candidates = set()
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for platform in CAR:
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if vin_obj.wmi in platform.config.wmis and line in platform.config.lines and year in platform.config.years:
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candidates.add(platform)
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return {str(c) for c in candidates}
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RIVIAN_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
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p16(0xf1a0)
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RIVIAN_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
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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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rx_offset=0x40,
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bus=0,
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),
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_ECU_HARDWARE_NUMBER_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_ECU_HARDWARE_NUMBER_RESPONSE],
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rx_offset=0x40,
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bus=0,
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logging=True,
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),
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Request(
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[StdQueries.TESTER_PRESENT_REQUEST, RIVIAN_VERSION_REQUEST],
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[StdQueries.TESTER_PRESENT_RESPONSE, RIVIAN_VERSION_RESPONSE],
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rx_offset=0x40,
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bus=0,
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logging=True,
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),
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],
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match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
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)
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GEAR_MAP = {
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0: structs.CarState.GearShifter.unknown,
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1: structs.CarState.GearShifter.park,
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2: structs.CarState.GearShifter.reverse,
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3: structs.CarState.GearShifter.neutral,
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4: structs.CarState.GearShifter.drive,
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}
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class CarControllerParams:
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# The R1T 2023 and R1S 2023 we tested on achieves slightly more lateral acceleration going left vs. right
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# and lateral acceleration falls linearly as speed decreases from 38 mph to 20 mph. These values are set
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# conservatively to reach a maximum of 3.0 m/s^2 turning left at 80 mph
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# These refer to turning left:
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# 250 is ~2.8 m/s^2 above 17 m/s, then linearly ramps to ~1.6 m/s^2 from 17 m/s to 9 m/s
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# TODO: it is theorized older models have different steering racks and achieve down to half the
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# lateral acceleration referenced here at all speeds. detect this and ship a torque increase for those models
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STEER_MAX = 250 # 350 is intended to maintain lateral accel, not increase it
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STEER_MAX_LOOKUP = [9, 17], [350, 250]
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STEER_STEP = 1
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STEER_DELTA_UP = 3 # torque increase per refresh
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STEER_DELTA_DOWN = 5 # torque decrease per refresh
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STEER_DRIVER_ALLOWANCE = 100 # allowed driver torque before start limiting
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STEER_DRIVER_MULTIPLIER = 2 # weight driver torque
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STEER_DRIVER_FACTOR = 100
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ACCEL_MIN = -3.5 # m/s^2
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ACCEL_MAX = 2.0 # m/s^2
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def __init__(self, CP):
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pass
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class RivianSafetyFlags(IntFlag):
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LONG_CONTROL = 1
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DBC = CAR.create_dbc_map()
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