FCA Giorgio: Alfa Romeo Stelvio

cereal/car.capnp

@@ -610,6 +610,7 @@ struct CarParams {
     volkswagenMqbEvo @29;
     chryslerCusw @30;
     psa @31;
+    fcaGiorgio @32;  # certain FCA/Stellantis vehicles including Jeep, Alfa Romeo, and Maserati
   }
 
   enum SteerControlType {

docs/CARS.md

@@ -4,13 +4,14 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 287 Supported Cars
+# 288 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Alfa|Romeo Stelvio 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 VW A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Alfa&model=Romeo Stelvio 2017-24">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||

launch_env.sh

@@ -11,3 +11,5 @@ if [ -z "$AGNOS_VERSION" ]; then
 fi
 
 export STAGING_ROOT="/data/safe_staging"
+
+export FINGERPRINT="ALFA_ROMEO_STELVIO_1ST_GEN"

selfdrive/car/fca_giorgio/carcontroller.py

@@ -0,0 +1,46 @@
+from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.interfaces import CarControllerBase
+
+from openpilot.selfdrive.car.fca_giorgio import fca_giorgiocan
+from openpilot.selfdrive.car.fca_giorgio.values import CANBUS, CarControllerParams
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
+    self.CCP = CarControllerParams(CP)
+    self.packer_pt = CANPacker(dbc_name)
+
+    self.apply_steer_last = 0
+    self.frame = 0
+
+  def update(self, CC, CS, now_nanos):
+    actuators = CC.actuators
+    can_sends = []
+
+    # **** Steering Controls ************************************************ #
+
+    if self.frame % self.CCP.STEER_STEP == 0:
+      if CC.latActive:
+        new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
+      else:
+        apply_steer = 0
+
+      self.apply_steer_last = apply_steer
+      can_sends.append(fca_giorgiocan.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, CC.latActive))
+
+    # **** HUD Controls ***************************************************** #
+
+    if self.frame % self.CCP.HUD_1_STEP == 0:
+      can_sends.append(fca_giorgiocan.create_lka_hud_1_control(self.packer_pt, CANBUS.pt, CC.latActive))
+    if self.frame % self.CCP.HUD_2_STEP == 0:
+      can_sends.append(fca_giorgiocan.create_lka_hud_2_control(self.packer_pt, CANBUS.pt, CC.latActive))
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
+
+    self.frame += 1
+    return new_actuators, can_sends

selfdrive/car/fca_giorgio/carstate.py

@@ -0,0 +1,88 @@
+import numpy as np
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car.fca_giorgio.values import DBC, CANBUS, CarControllerParams
+
+
+GearShifter = car.CarState.GearShifter
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.frame = 0
+    self.CCP = CarControllerParams(CP)
+
+  def update(self, pt_cp, cam_cp):
+    ret = car.CarState.new_message()
+    # Update vehicle speed and acceleration from ABS wheel speeds.
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      pt_cp.vl["ABS_1"]["WHEEL_SPEED_FL"],
+      pt_cp.vl["ABS_1"]["WHEEL_SPEED_FR"],
+      pt_cp.vl["ABS_1"]["WHEEL_SPEED_RL"],
+      pt_cp.vl["ABS_1"]["WHEEL_SPEED_RR"],
+      unit=1.0
+    )
+
+    ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgoRaw == 0
+
+    ret.steeringAngleDeg = pt_cp.vl["EPS_1"]["STEERING_ANGLE"]
+    ret.steeringRateDeg = pt_cp.vl["EPS_1"]["STEERING_RATE"]
+    ret.steeringTorque = pt_cp.vl["EPS_2"]["DRIVER_TORQUE"]
+    ret.steeringTorqueEps = pt_cp.vl["EPS_3"]["EPS_TORQUE"]
+    ret.steeringPressed = ret.steeringTorque > 80
+    ret.yawRate = pt_cp.vl["ABS_2"]["YAW_RATE"]
+    ret.steerFaultPermanent = bool(pt_cp.vl["EPS_2"]["LKA_FAULT"])
+
+    # TODO: unsure if this is accel pedal or engine throttle
+    #ret.gas = pt_cp.vl["ENGINE_1"]["ACCEL_PEDAL"]
+    ret.gasPressed = ret.gas > 0
+    ret.brake = pt_cp.vl["ABS_4"]["BRAKE_PRESSURE"]
+    ret.brakePressed = bool(pt_cp.vl["ABS_3"]["BRAKE_PEDAL_SWITCH"])
+    #ret.parkingBrake = TODO
+
+    if bool(pt_cp.vl["ENGINE_1"]["REVERSE"]):
+      ret.gearShifter = GearShifter.reverse
+    else:
+      ret.gearShifter = GearShifter.drive
+
+    ret.cruiseState.available = pt_cp.vl["ACC_1"]["CRUISE_STATUS"] in (1, 2, 3)
+    ret.cruiseState.enabled = pt_cp.vl["ACC_1"]["CRUISE_STATUS"] in (2, 3)
+    ret.cruiseState.speed = pt_cp.vl["ACC_1"]["HUD_SPEED"] * CV.KPH_TO_MS
+
+    ret.leftBlinker = bool(pt_cp.vl["BCM_1"]["LEFT_TURN_STALK"])
+    ret.rightBlinker = bool(pt_cp.vl["BCM_1"]["RIGHT_TURN_STALK"])
+    # ret.buttonEvents = TODO
+    # ret.espDisabled = TODO
+
+    self.frame += 1
+    return ret
+
+
+  @staticmethod
+  def get_can_parser(CP):
+    messages = [
+      # sig_address, frequency
+      ("ABS_1", 100),
+      ("ABS_2", 100),
+      ("ABS_3", 100),
+      ("ABS_4", 100),
+      ("ENGINE_1", 100),
+      ("EPS_1", 100),
+      ("EPS_2", 100),
+      ("EPS_3", 100),
+      ("ACC_1", 12),  # 12hz inactive / 50hz active
+      ("BCM_1", 4),  # 4Hz plus triggered updates
+    ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
+
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    messages = []
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)

selfdrive/car/fca_giorgio/fca_giorgiocan.py

@@ -0,0 +1,24 @@
+def create_steering_control(packer, bus, apply_steer, lkas_enabled):
+  values = {
+    "LKA_ACTIVE": lkas_enabled,
+    "LKA_TORQUE": apply_steer,
+  }
+
+  return packer.make_can_msg("LKA_COMMAND", bus, values)
+
+
+def create_lka_hud_1_control(packer, bus, lat_active):
+  values = {
+    "NEW_SIGNAL_5": 1,
+    "NEW_SIGNAL_4": 6,
+  }
+
+  return packer.make_can_msg("LKA_HUD_1", bus, values)
+
+
+def create_lka_hud_2_control(packer, bus, lat_active):
+  values = {
+    "NEW_SIGNAL_1": 1,
+  }
+
+  return packer.make_can_msg("LKA_HUD_2", bus, values)

selfdrive/car/fca_giorgio/fingerprints.py

@@ -0,0 +1,12 @@
+from cereal import car
+from openpilot.selfdrive.car.fca_giorgio.values import CAR
+
+Ecu = car.CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.ALFA_ROMEO_STELVIO_1ST_GEN: {
+    (Ecu.engine, 0x7e0, None): [
+      b'PLACEHOLDER',
+    ],
+  }
+}

selfdrive/car/fca_giorgio/interface.py

@@ -0,0 +1,37 @@
+from cereal import car
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.fca_giorgio.values import CAR
+
+
+class CarInterface(CarInterfaceBase):
+  @staticmethod
+  def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
+    ret.carName = "fca_giorgio"
+    ret.radarUnavailable = True
+
+    # Set global parameters
+
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.fcaGiorgio)]
+
+    # Global lateral tuning defaults, can be overridden per-vehicle
+
+    ret.steerLimitTimer = 1.0
+    ret.steerActuatorDelay = 0.1
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    # Global longitudinal tuning defaults, can be overridden per-vehicle
+
+    ret.pcmCruise = not ret.openpilotLongitudinalControl
+
+    return ret
+
+  # returns a car.CarState
+  def _update(self, c):
+    ret = self.CS.update(self.cp, self.cp_cam)
+
+    events = self.create_common_events(ret, pcm_enable=not self.CS.CP.openpilotLongitudinalControl)
+
+    ret.events = events.to_msg()
+    return ret
+

selfdrive/car/fca_giorgio/radar_interface.py

@@ -0,0 +1,4 @@
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+
+class RadarInterface(RadarInterfaceBase):
+  pass

selfdrive/car/fca_giorgio/values.py

@@ -0,0 +1,67 @@
+from dataclasses import dataclass, field
+
+from openpilot.selfdrive.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+
+class CarControllerParams:
+  STEER_STEP = 1
+  HUD_1_STEP = 50
+  HUD_2_STEP = 25
+
+  STEER_MAX = 300
+  STEER_DRIVER_ALLOWANCE = 80
+  STEER_DRIVER_MULTIPLIER = 3  # weight driver torque heavily
+  STEER_DRIVER_FACTOR = 1  # from dbc
+  STEER_DELTA_UP = 4
+  STEER_DELTA_DOWN = 4
+
+  def __init__(self, CP):
+    pass
+
+
+class CANBUS:
+  pt = 0
+  cam = 2
+
+
+@dataclass
+class FcaGiorgioPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('fca_giorgio', None))
+
+
+@dataclass(frozen=True, kw_only=True)
+class FcaGiorgioCarSpecs(CarSpecs):
+  centerToFrontRatio: float = 0.45
+  steerRatio: float = 14.2
+
+
+@dataclass
+class FcaGiorgioCarDocs(CarDocs):
+  package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_a]))
+
+
+class CAR(Platforms):
+  config: FcaGiorgioPlatformConfig
+
+  ALFA_ROMEO_STELVIO_1ST_GEN = FcaGiorgioPlatformConfig(
+    [FcaGiorgioCarDocs("Alfa Romeo Stelvio 2017-24")],
+    FcaGiorgioCarSpecs(mass=1660, wheelbase=2.82),
+  )
+
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    # TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      bus=0,
+    ),
+  ],
+)
+
+
+DBC = CAR.create_dbc_map()

selfdrive/car/torque_data/override.toml

@@ -48,6 +48,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
 "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
+"ALFA_ROMEO_STELVIO_1ST_GEN" = [1.9, 1.9, 0.11]
 "HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
 "KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
 "GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]

selfdrive/car/values.py

@@ -1,6 +1,7 @@
 from typing import get_args
 from openpilot.selfdrive.car.body.values import CAR as BODY
 from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
+from openpilot.selfdrive.car.fca_giorgio.values import CAR as FCA_GIORGIO
 from openpilot.selfdrive.car.ford.values import CAR as FORD
 from openpilot.selfdrive.car.gm.values import CAR as GM
 from openpilot.selfdrive.car.honda.values import CAR as HONDA
@@ -13,7 +14,7 @@
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 
-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
+Platform = BODY | CHRYSLER | FCA_GIORGIO | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
 BRANDS = get_args(Platform)
 
 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}