From 8c17e039be7650f3db9b95e90141acc7f9681664 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 24 Sep 2024 13:41:39 -0400 Subject: [PATCH 1/3] VW MQB: Temporarily remove 2024 Volkswagen Jetta (#1272) --- opendbc/car/volkswagen/values.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc/car/volkswagen/values.py b/opendbc/car/volkswagen/values.py index fa98efb814..0d64d3a15b 100644 --- a/opendbc/car/volkswagen/values.py +++ b/opendbc/car/volkswagen/values.py @@ -277,8 +277,8 @@ class CAR(Platforms): ) VOLKSWAGEN_JETTA_MK7 = VolkswagenMQBPlatformConfig( [ - VWCarDocs("Volkswagen Jetta 2018-24"), - VWCarDocs("Volkswagen Jetta GLI 2021-24"), + VWCarDocs("Volkswagen Jetta 2018-23"), + VWCarDocs("Volkswagen Jetta GLI 2021-23"), ], VolkswagenCarSpecs(mass=1328, wheelbase=2.71), chassis_codes={"BU"}, From bda4ad475aaf7a92f677ac2d50b6b7af0ffdf5fc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 24 Sep 2024 19:27:40 -0700 Subject: [PATCH 2/3] Toyota: prevent lagged gas after heavy braking (#1279) fix --- opendbc/car/toyota/carcontroller.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py index d2ab902faf..b45c79a547 100644 --- a/opendbc/car/toyota/carcontroller.py +++ b/opendbc/car/toyota/carcontroller.py @@ -14,7 +14,9 @@ SteerControlType = structs.CarParams.SteerControlType VisualAlert = structs.CarControl.HUDControl.VisualAlert -ACCELERATION_DUE_TO_GRAVITY = 9.81 +ACCELERATION_DUE_TO_GRAVITY = 9.81 # m/s^2 + +ACCEL_WINDUP_LIMIT = 0.5 # m/s^2 / frame # LKA limits # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long @@ -158,6 +160,9 @@ def update(self, CC, CS, now_nanos): if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: can_sends.append(toyotacan.create_acc_cancel_command(self.packer)) elif self.CP.openpilotLongitudinalControl: + # internal PCM gas command can get stuck unwinding from negative accel so we apply a generous rate limit + pcm_accel_cmd = min(pcm_accel_cmd, self.accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0 + can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert, self.distance_button)) self.accel = pcm_accel_cmd From 521d8ff7d617466c0efc11cbaa2febc9f0069dda Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 24 Sep 2024 23:09:42 -0400 Subject: [PATCH 3/3] Hyundai: DBC updates for FCEV support (#1281) * Hyundai CAN: gear shifter and accelerator pedal signals for FCEV * Different name --- opendbc/dbc/hyundai_kia_generic.dbc | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/opendbc/dbc/hyundai_kia_generic.dbc b/opendbc/dbc/hyundai_kia_generic.dbc index fc4d14f4fe..c828d33c2f 100644 --- a/opendbc/dbc/hyundai_kia_generic.dbc +++ b/opendbc/dbc/hyundai_kia_generic.dbc @@ -442,6 +442,9 @@ BO_ 129 EMS_DCT12: 8 EMS SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU +BO_ 145 FCEV_ACCELERATOR: 8 XXX + SG_ ACCELERATOR_PEDAL : 48|8@1+ (1,0) [0|255] "" XXX + BO_ 897 MDPS11: 8 MDPS SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,EMS,IBOX,SPAS SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS @@ -1429,7 +1432,7 @@ BO_ 1280 ACU14: 1 ACU SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU BO_ 512 EMS20: 6 EMS - SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX + SG_ HYDROGEN_GEAR_SHIFTER : 11|3@1+ (1,0) [0|7] "" XXX SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" FPCM,IBOX SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] "" FPCM @@ -1648,11 +1651,14 @@ BO_ 1348 Navi_HU: 8 XXX SG_ SpeedLim_Nav_Cam : 30|1@0+ (1,0) [0|1] "" XXX CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list"; +CM_ 145 "Contains signal with accelerator pedal press. Used by fuel cell hydrogen-powered (FCEV) cars such as the 2021 Hyundai Nexo."; +CM_ 512 "Contains signal with gear shifter. Used by fuel cell hydrogen-powered (FCEV) cars such as the 2021 Hyundai Nexo."; CM_ SG_ 871 CF_Lvr_IsgState "Idle Stop and Go"; CM_ SG_ 1056 SCCInfoDisplay "Goes to 1 for a second while transitioning from Cruise Control to No Message"; CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD"; VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P"; +VAL_ 512 HYDROGEN_GEAR_SHIFTER 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled"; VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P"; VAL_ 882 Elect_Gear_Shifter 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";