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jyoung8607 / openpilot

open source driving agent
MIT License
73 stars 54 forks source link

Attempt spam-send of GRA_ACC_01 #29

Closed jyoung8607 closed 4 years ago

jyoung8607 commented 5 years ago

For #28 camera-side integration to work well, we need to attempt spam-sending of GRA_ACC_01 without having Panda filter it from the car.

The design thought at this time is to have OP sync to the BZ (message counter) from the car, and upon receiving a change (it's only sent at 33Hz), rapidly send a series of 16 across two frames, in order to roll the counter back over to what the car is expecting. If we emit @ 100Hz, 8 in the frame it changes, 8 in the next frame, that leaves one frame of headroom before the car sends again, and if the radar isn't checking actual timing along with the counters, it'll cleanly perceive a ~half-second button press (16 out of nominal 33/sec). This has not yet been tested.

jyoung8607 commented 4 years ago

GRA_ACC_01 spam sending has been functional for quite some time, for both community and upstream.