Chrysler: carState signals update (#24760)

* carstate update

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/chrysler/carcontroller.py

@@ -1,7 +1,7 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_toyota_steer_torque_limits
-from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons
+from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
 from selfdrive.car.chrysler.values import CAR, CarControllerParams
 
 
@@ -49,7 +49,7 @@ def update(self, CC, CS):
     # *** control msgs ***
 
     if CC.cruiseControl.cancel:
-      can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True))
+      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, cancel=True))
 
     # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
     # frame is 100Hz (0.01s period)

selfdrive/car/chrysler/carstate.py

@@ -16,13 +16,13 @@ def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
+    self.frame = int(cp.vl["EPS_2"]["COUNTER"])
 
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_FR"],
                         cp.vl["BCM_1"]["DOOR_OPEN_RL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
-    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
+    ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
     # brake pedal
     ret.brake = 0
@@ -35,10 +35,10 @@ def update(self, cp, cp_cam):
     ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
 
     ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
       unit=1,
     )
     ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
@@ -51,17 +51,17 @@ def update(self, cp, cp_cam):
 
     ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1  # ACC is white
     ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1  # ACC is green
-    ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
+    ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
+    ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["CRUISE_STATE"] in (1, 2)
     ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
 
     ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
-    ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
-    ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
+    ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
+    ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
+    steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
     ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
     ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
@@ -73,7 +73,7 @@ def update(self, cp, cp_cam):
     self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
     self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
     self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
-    self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"]
+    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
     return ret
 
@@ -90,42 +90,42 @@ def get_can_parser(CP):
       ("Accelerator_Position", "ECM_5"),
       ("SPEED_LEFT", "SPEED_1"),
       ("SPEED_RIGHT", "SPEED_1"),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
+      ("WHEEL_SPEED_FL", "ESP_6"),
+      ("WHEEL_SPEED_RR", "ESP_6"),
+      ("WHEEL_SPEED_RL", "ESP_6"),
+      ("WHEEL_SPEED_FR", "ESP_6"),
       ("STEER_ANGLE", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
       ("ACC_AVAILABLE", "DAS_3"),
       ("ACC_ACTIVE", "DAS_3"),
       ("ACC_FAULTED", "DAS_3"),
       ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
-      ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
-      ("CRUISE_STATE", "DASHBOARD"),
-      ("TORQUE_DRIVER", "EPS_STATUS"),
-      ("TORQUE_MOTOR", "EPS_STATUS"),
-      ("LKAS_STATE", "EPS_STATUS"),
-      ("COUNTER", "EPS_STATUS",),
+      ("ACC_SPEED_CONFIG_KPH", "DAS_4"),
+      ("CRUISE_STATE", "DAS_4"),
+      ("COLUMN_TORQUE", "EPS_2"),
+      ("EPS_TORQUE_MOTOR", "EPS_2"),
+      ("LKAS_STATE", "EPS_2"),
+      ("COUNTER", "EPS_2",),
       ("TRACTION_OFF", "TRACTION_BUTTON"),
-      ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
-      ("COUNTER", "WHEEL_BUTTONS"),
+      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
+      ("COUNTER", "CRUISE_BUTTONS"),
     ]
 
     checks = [
       # sig_address, frequency
       ("ESP_1", 50),
-      ("EPS_STATUS", 100),
+      ("EPS_2", 100),
       ("SPEED_1", 100),
-      ("WHEEL_SPEEDS", 50),
+      ("ESP_6", 50),
       ("STEERING", 100),
       ("DAS_3", 50),
       ("GEAR", 50),
       ("ECM_5", 50),
-      ("WHEEL_BUTTONS", 50),
-      ("DASHBOARD", 15),
+      ("CRUISE_BUTTONS", 50),
+      ("DAS_4", 15),
       ("STEERING_LEVERS", 10),
-      ("SEATBELT_STATUS", 2),
+      ("ORC_1", 2),
       ("BCM_1", 1),
       ("TRACTION_BUTTON", 1),
     ]

selfdrive/car/chrysler/chryslercan.py

@@ -48,10 +48,9 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame):
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
-def create_wheel_buttons(packer, frame, cancel=False):
-  # WHEEL_BUTTONS (571) Message sent to cancel ACC.
+def create_cruise_buttons(packer, frame, cancel=False):
   values = {
-    "ACC_CANCEL": cancel,
-    "COUNTER": frame % 0x10
+    "ACC_Cancel": cancel,
+    "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("WHEEL_BUTTONS", 0, values)
+  return packer.make_can_msg("CRUISE_BUTTONS", 0, values)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-d7c610172f3ff10b68403abc19b260c91c848ebb
+806984d4206056fb132625c5dad6c0ca1835a2d6