clearpilot: initial commit of full source

2026-04-11 06:25:25 +00:00
commit e2a0c1894a
3383 changed files with 834683 additions and 0 deletions
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -0,0 +1,101 @@
+from collections import namedtuple
+
+from cereal import car
+from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarDocs
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Ecu = car.CarParams.Ecu
+
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+
+class CAR(Platforms):
+  AP1_MODELS = PlatformConfig(
+    'TESLA AP1 MODEL S',
+    [CarDocs("Tesla AP1 Model S", "All")],
+    CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0),
+    dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can')
+  )
+  AP2_MODELS = PlatformConfig(
+    'TESLA AP2 MODEL S',
+    [CarDocs("Tesla AP2 Model S", "All")],
+    AP1_MODELS.specs,
+    AP1_MODELS.dbc_dict
+  )
+  MODELS_RAVEN = PlatformConfig(
+    'TESLA MODEL S RAVEN',
+    [CarDocs("Tesla Model S Raven", "All")],
+    AP1_MODELS.specs,
+    dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can')
+  )
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.eps],
+      rx_offset=0x08,
+      bus=0,
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.eps],
+      rx_offset=0x08,
+      bus=0,
+    ),
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar],
+      rx_offset=0x10,
+      bus=0,
+    ),
+  ]
+)
+
+class CANBUS:
+  # Lateral harness
+  chassis = 0
+  radar = 1
+  autopilot_chassis = 2
+
+  # Longitudinal harness
+  powertrain = 4
+  private = 5
+  autopilot_powertrain = 6
+
+GEAR_MAP = {
+  "DI_GEAR_INVALID": car.CarState.GearShifter.unknown,
+  "DI_GEAR_P": car.CarState.GearShifter.park,
+  "DI_GEAR_R": car.CarState.GearShifter.reverse,
+  "DI_GEAR_N": car.CarState.GearShifter.neutral,
+  "DI_GEAR_D": car.CarState.GearShifter.drive,
+  "DI_GEAR_SNA": car.CarState.GearShifter.unknown,
+}
+
+DOORS = ["DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE"]
+
+# Make sure the message and addr is also in the CAN parser!
+BUTTONS = [
+  Button(car.CarState.ButtonEvent.Type.leftBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [1]),
+  Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]),
+  Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]),
+  Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]),
+]
+
+class CarControllerParams:
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
+  JERK_LIMIT_MAX = 8
+  JERK_LIMIT_MIN = -8
+  ACCEL_TO_SPEED_MULTIPLIER = 3
+
+  def __init__(self, CP):
+    pass
+
+
+DBC = CAR.create_dbc_map()