Release 260111

2026-01-11 18:23:29 +08:00
commit 3721ecbf8a
2601 changed files with 855070 additions and 0 deletions
--- a/opendbc_repo/opendbc/car/tesla/values.py
+++ b/opendbc_repo/opendbc/car/tesla/values.py
@@ -0,0 +1,111 @@
+from dataclasses import dataclass, field
+from enum import Enum, IntFlag
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, AngleSteeringLimits
+from opendbc.car.structs import CarParams, CarState
+from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
+from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Ecu = CarParams.Ecu
+
+
+class Footnote(Enum):
+  HW_TYPE = CarFootnote(
+    "Some 2023 model years have HW4. To check which hardware type your vehicle has, look for " +
+    "<b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. </br></br>" +
+    "See <a href=\"https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3\">this page</a> for more information.",
+    Column.MODEL)
+
+
+@dataclass
+class TeslaCarDocsHW3(CarDocs):
+  package: str = "All"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.tesla_a]))
+  footnotes: list[Enum] = field(default_factory=lambda: [Footnote.HW_TYPE])
+
+
+@dataclass
+class TeslaCarDocsHW4(CarDocs):
+  package: str = "All"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.tesla_b]))
+  footnotes: list[Enum] = field(default_factory=lambda: [Footnote.HW_TYPE])
+
+
+@dataclass
+class TeslaPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.party: 'tesla_model3_party'})
+
+
+class CAR(Platforms):
+  TESLA_MODEL_3 = TeslaPlatformConfig(
+    [
+      # TODO: do we support 2017? It's HW3
+      TeslaCarDocsHW3("Tesla Model 3 (with HW3) 2019-23"),
+      TeslaCarDocsHW4("Tesla Model 3 (with HW4) 2024-25"),
+    ],
+    CarSpecs(mass=1899., wheelbase=2.875, steerRatio=12.0),
+  )
+  TESLA_MODEL_Y = TeslaPlatformConfig(
+    [
+      TeslaCarDocsHW3("Tesla Model Y (with HW3) 2020-23"),
+      TeslaCarDocsHW4("Tesla Model Y (with HW4) 2024"),
+     ],
+    CarSpecs(mass=2072., wheelbase=2.890, steerRatio=12.0),
+  )
+
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE],
+      bus=0,
+    )
+  ]
+)
+
+
+class CANBUS:
+  party = 0
+  vehicle = 1
+  autopilot_party = 2
+
+
+GEAR_MAP = {
+  "DI_GEAR_INVALID": CarState.GearShifter.unknown,
+  "DI_GEAR_P": CarState.GearShifter.park,
+  "DI_GEAR_R": CarState.GearShifter.reverse,
+  "DI_GEAR_N": CarState.GearShifter.neutral,
+  "DI_GEAR_D": CarState.GearShifter.drive,
+  "DI_GEAR_SNA": CarState.GearShifter.unknown,
+}
+
+
+class CarControllerParams:
+  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    # EPAS faults above this angle
+    360,  # deg
+    # Angle rate limits are set using the Tesla Model Y VehicleModel such that they maximally meet ISO 11270
+    # At 5 m/s, FSD has been seen hitting up to ~4 deg/frame with ~5 deg/frame at very low creeping speeds
+    # At 30 m/s, FSD has been seen hitting mostly 0.1 deg/frame, sometimes 0.2 deg/frame, and rarely 0.3 deg/frame
+    ([0., 5., 25.], [2.5, 1.5, 0.2]),
+    ([0., 5., 25.], [5., 2.0, 0.3]),
+  )
+
+  STEER_STEP = 2  # Angle command is sent at 50 Hz
+  ACCEL_MAX = 2.0    # m/s^2
+  ACCEL_MIN = -3.48  # m/s^2
+  JERK_LIMIT_MAX = 4.9  # m/s^3, ACC faults at 5.0
+  JERK_LIMIT_MIN = -4.9  # m/s^3, ACC faults at 5.0
+
+
+class TeslaSafetyFlags(IntFlag):
+  LONG_CONTROL = 1
+
+
+class TeslaFlags(IntFlag):
+  LONG_CONTROL = 1
+
+
+DBC = CAR.create_dbc_map()
+
+STEER_THRESHOLD = 0.5