Release 260111

opendbc_repo/opendbc/car/body/values.py

@@ -0,0 +1,40 @@
+from opendbc.car import Bus, CarSpecs, PlatformConfig, Platforms
+from opendbc.car.structs import CarParams
+from opendbc.car.docs_definitions import CarDocs
+from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Ecu = CarParams.Ecu
+
+SPEED_FROM_RPM = 0.008587
+
+
+class CarControllerParams:
+  ANGLE_DELTA_BP = [0., 5., 15.]
+  ANGLE_DELTA_V = [5., .8, .15]     # windup limit
+  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
+  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
+  STEER_THRESHOLD = 1.0
+
+  def __init__(self, CP):
+    pass
+
+
+class CAR(Platforms):
+  COMMA_BODY = PlatformConfig(
+    [CarDocs("comma body", package="All")],
+    CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44),
+    {Bus.main: 'comma_body'},
+  )
+
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+      bus=0,
+    ),
+  ],
+)
+
+DBC = CAR.create_dbc_map()