2024-01-29 commits

README.md

@@ -22,9 +22,9 @@ I recommend using the openpilot [commatwo_master](https://github.com/commaai/ope
 
 I have decided to make this side project open source for users who wish to:
 
-* Port unsupported vehicles
-* Evaluate end-to-end lateral and longitudinal control on previously unsupported vehicles
-* Understand the limitations of legacy devices
+* Port unsupported vehicles using cheaper devices.
+* Evaluate end-to-end lateral and longitudinal control on previously unsupported vehicles.
+* Understand the limitations of legacy devices.
 * Experience pure openpilot (without the modifications of dragonpilot)
 * Make their own EON/C2 fork without spending hundreds of hours reverting and testing code.
 
@@ -36,7 +36,7 @@ I encourage users to consider purchasing a [comma 3x](https://shop.comma.ai) for
 ## Limitations
 
 * On-road tests are conducted exclusively in a 2021 Toyota C-HR; other models may not perform properly.
-* CAN-FD and BODY features are not supported due to outdated libraries in EON/C2 firmware.
+* ~~CAN-FD and BODY features are not supported due to outdated libraries in EON/C2 firmware.~~
 * The driving AI model remains in version 0.8.16, as porting TinyGrad/PyOpenCL requires significant effort.
 * The driver monitoring AI model remains in version 0.8.13.
 * Navigation On Openpilot (NOO) is not supported, as it requires a newer driving model that is not currently available in legacypilot.
@@ -52,6 +52,15 @@ I encourage users to consider purchasing a [comma 3x](https://shop.comma.ai) for
 
 * For research purposes, the INDI and LQR lateral controllers have been restored. Please use the `dp_lat_controller` parameter to override the default controller (0 = DEFAULT, 1 = INDI, 2 = LQR).
 * If you are not a Comma Two device, you can use the `dp_no_fan_ctrl` parameter to disable fan-related detection and control.
+* The BODY has been tested and is working; however, I personally haven't tried it, so I'm not sure what steps are needed to get it to work.
+
+
+## Red Panda (a.k.a. CAN-FD support)
+The EON + Red Panda configuration has been tested and worked on [my Toyota](https://youtu.be/KgrI2Ley_Nk) (CAN), so technically it should work on CAN-FD vehicles. However, there are a couple of considerations:
+* C2 will not function without hardware modification. You cannot connect the Red Panda directly to the C2 USB port.
+* If any changes are made to the Red Panda firmware, the firmware needs to be pre-compiled on a PC and then uploaded to `/data/openpilot/panda/board/obj/`.
+* Please be aware that you may encounter **CANBUS disconnection errors**. If this occurs, simply **power cycle BOTH your device and Red Panda**.
+
 
 =======================
 

launch_chffrplus.sh

@@ -125,6 +125,12 @@ function two_init {
   LIB_PATH="/data/openpilot/system/hardware/eon/libs"
   PY_LIB_DEST="/system/comma/usr/lib/python3.8/site-packages"
   mount -o remount,rw /system
+  # tomli
+  MODULE="tomli"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
   # libgfortran
   if [ ! -f "/system/comma/usr/lib/libgfortran.so.5.0.0" ]; then
     echo "Installing libgfortran..."

selfdrive/boardd/boardd.cc

@@ -589,9 +589,11 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
 void peripheral_control_thread(Panda *panda, bool no_fan_control) {
   util::set_thread_name("boardd_peripheral_control");
-  // rick - a device with black panda = EON / LEON / clone 1.5
+  // rick - a device with black/red panda = EON / LEON / clone 1.5
   if (!Params().getBool("dp_no_fan_ctrl")) {
-    no_fan_control = panda->hw_type == cereal::PandaState::PandaType::BLACK_PANDA;
+    no_fan_control = panda->hw_type == cereal::PandaState::PandaType::BLACK_PANDA ||
+        panda->hw_type == cereal::PandaState::PandaType::RED_PANDA ||
+        panda->hw_type == cereal::PandaState::PandaType::RED_PANDA_V2;
     Params().putBool("dp_no_fan_ctrl", no_fan_control);
   }
 

selfdrive/boardd/panda.cc

@@ -32,6 +32,10 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
     has_gps = hw_type == cereal::PandaState::PandaType::GREY_PANDA;
     hw_type = cereal::PandaState::PandaType::BLACK_PANDA;
   }
+  // rick - do it in defined(QCOM) only, otherwise has_gps is unused
+  if (hw_type == cereal::PandaState::PandaType::RED_PANDA || hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) {
+    has_gps = false;
+  }
   #endif
 
   has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||

selfdrive/car/README.md

@@ -0,0 +1,19 @@
+## Car port structure
+
+### interface.py
+Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)
+
+### fingerprints.py
+Fingerprints for matching to a specific car
+
+### carcontroller.py
+Builds CAN messages to send to car
+
+##### carstate.py
+Reads CAN from car and builds openpilot CarState message
+
+##### values.py
+Limits for actuation, general constants for cars, and supported car documentation
+
+##### radar_interface.py
+Interface for parsing radar points from the car

selfdrive/car/body/fingerprints.py

@@ -0,0 +1,28 @@
+# ruff: noqa: E501
+from cereal import car
+from openpilot.selfdrive.car.body.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+# debug ecu fw version is the git hash of the firmware
+
+
+FINGERPRINTS = {
+  CAR.BODY: [{
+    513: 8, 516: 8, 514: 3, 515: 4
+  }],
+}
+
+FW_VERSIONS = {
+  CAR.BODY: {
+    (Ecu.engine, 0x720, None): [
+      b'0.0.01',
+      b'0.3.00a',
+      b'02/27/2022',
+    ],
+    (Ecu.debug, 0x721, None): [
+      b'166bd860',
+      b'dc780f85',
+    ],
+  },
+}

selfdrive/car/body/values.py

@@ -1,4 +1,4 @@
-from strenum import StrEnum
+from enum import StrEnum
 from typing import Dict
 
 from cereal import car
@@ -30,11 +30,6 @@ class CAR(StrEnum):
   CAR.BODY: CarInfo("comma body", package="All"),
 }
 
-FINGERPRINTS = {
-  CAR.BODY: [{
-    513: 8, 516: 8, 514: 3, 515: 4,
-  }],
-}
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -46,20 +41,6 @@ class CAR(StrEnum):
   ],
 )
 
-FW_VERSIONS = {
-  CAR.BODY: {
-    (Ecu.engine, 0x720, None): [
-      b'0.0.01',
-      b'02/27/2022',
-      b'0.3.00a',
-    ],
-    # git hash of the firmware used
-    (Ecu.debug, 0x721, None): [
-      b'166bd860',
-      b'dc780f85',
-    ],
-  },
-}
 
 DBC = {
   CAR.BODY: dbc_dict('comma_body', None),

selfdrive/car/car_helpers.py

@@ -127,9 +127,6 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   start_time = time.monotonic()
   if not skip_fw_query:
-    # Vin query only reliably works through OBDII
-    bus = 1
-
     cached_params = params.get("CarParamsCache")
     if cached_params is not None:
       # with car.CarParams.from_bytes(cached_params) as cached_params:
@@ -140,20 +137,22 @@ def fingerprint(logcan, sendcan, num_pandas):
     if cached_params is not None and len(cached_params.carFw) > 0 and \
        cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
       cloudlog.warning("Using cached CarParams")
-      vin, vin_rx_addr = cached_params.carVin, 0
+      vin_rx_addr, vin_rx_bus, vin = -1, -1, cached_params.carVin
       car_fw = list(cached_params.carFw)
       cached = True
     else:
       cloudlog.warning("Getting VIN & FW versions")
+      # enable OBD multiplexing for Vin query, also allows time for sendcan subscriber to connect
       set_obd_multiplexing(params, True)
-      vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
+      # Vin query only reliably works through OBDII
+      vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
-    vin, vin_rx_addr = VIN_UNKNOWN, 0
+    vin_rx_addr, vin_rx_bus, vin = -1, -1, VIN_UNKNOWN
     exact_fw_match, fw_candidates, car_fw = True, set(), []
     cached = False
 
@@ -188,8 +187,8 @@ def fingerprint(logcan, sendcan, num_pandas):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger,
-                 fw_query_time=fw_query_time, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
+                 fingerprints=finger, fw_query_time=fw_query_time, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
@@ -208,3 +207,15 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   CP.fuzzyFingerprint = not exact_match
 
   return CarInterface(CP, CarController, CarState), CP
+
+def write_car_param(fingerprint="mock"):
+  params = Params()
+  CarInterface, _, _ = interfaces[fingerprint]
+  CP = CarInterface.get_non_essential_params(fingerprint)
+  params.put("CarParams", CP.to_bytes())
+
+def get_demo_car_params():
+  fingerprint="mock"
+  CarInterface, _, _ = interfaces[fingerprint]
+  CP = CarInterface.get_non_essential_params(fingerprint)
+  return CP