Peugeot 308 T9 (2018): add dashcam-only support

docs/CARS.md

@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 402 Known Cars
+# Support Information for 403 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -263,6 +263,7 @@
 |Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|
 |Peugeot|208 2019-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Peugeot|308 2018|Conventional cruise control|[Dashcam mode](#dashcam)|
 |Porsche|Macan 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|

opendbc/car/psa/carcontroller.py

@@ -1,9 +1,9 @@
 from opendbc.can.packer import CANPacker
-from opendbc.car import Bus
+from opendbc.car import Bus, structs
 from opendbc.car.lateral import apply_std_steer_angle_limits
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.psa.psacan import create_lka_steering
-from opendbc.car.psa.values import CarControllerParams
+from opendbc.car.psa.values import CAR, CarControllerParams
 
 
 class CarController(CarControllerBase):
@@ -12,8 +12,15 @@ def __init__(self, dbc_names, CP):
     self.packer = CANPacker(dbc_names[Bus.main])
     self.apply_angle_last = 0
     self.status = 2
+    self.read_only = CP.carFingerprint == CAR.PSA_PEUGEOT_308_T9
 
   def update(self, CC, CS, now_nanos):
+    if self.read_only:
+      self.frame += 1
+      # No CAN output, even if a caller explicitly requests lateral/longitudinal
+      # control. Report zero applied actuators rather than echoing the request.
+      return structs.CarControl.Actuators(), []
+
     can_sends = []
     actuators = CC.actuators
 

opendbc/car/psa/carstate.py

@@ -1,13 +1,16 @@
 from opendbc.car import structs, Bus
 from opendbc.can.parser import CANParser
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.psa.values import DBC, CarControllerParams
+from opendbc.car.psa.values import CAR, DBC, CarControllerParams
 from opendbc.car.interfaces import CarStateBase
 
 GearShifter = structs.CarState.GearShifter
 
 class CarState(CarStateBase):
   def update(self, can_parsers) -> structs.CarState:
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_308_T9:
+      return self._update_t9(can_parsers[Bus.main])
+
     cp = can_parsers[Bus.main]
     cp_adas = can_parsers[Bus.adas]
     cp_cam = can_parsers[Bus.cam]
@@ -62,8 +65,70 @@ def update(self, can_parsers) -> structs.CarState:
     ret.seatbeltUnlatched = cp_cam.vl['RESTRAINTS']['DRIVER_SEATBELT'] != 2
     return ret
 
+  def _update_t9(self, cp) -> structs.CarState:
+    ret = structs.CarState()
+    self.parse_wheel_speeds(ret,
+      cp.vl['T9_WHEEL_SPEEDS_30D']['WheelSpeedFrontLeftKph'],
+      cp.vl['T9_WHEEL_SPEEDS_30D']['WheelSpeedFrontRightKph'],
+      cp.vl['T9_WHEEL_SPEEDS_30D']['WheelSpeedRearLeftKph'],
+      cp.vl['T9_WHEEL_SPEEDS_30D']['WheelSpeedRearRightKph'],
+    )
+    ret.standstill = ret.vEgoRaw < 0.1
+    ret.yawRate = cp.vl['T9_BRAKE_DYNAMICS_3CD']['YawRateDegS'] * CV.DEG_TO_RAD
+    ret.gasPressed = cp.vl['T9_ENGINE_DYNAMICS_208']['AcceleratorPositionPct'] > 0
+    ret.brakePressed = bool(cp.vl['T9_BODY_STATUS_412']['BrakePedalActive'])
+    # The 0x412 parking-brake bit never became active in the local corpus.
+    ret.parkingBrake = cp.vl['T9_EASY_MOVE_3AD']['ParkingBrakeState'] == 1
+
+    ret.steeringAngleDeg = cp.vl['T9_STEERING_DYNAMICS_305']['SteeringAngleDeg']
+    rate = cp.vl['T9_STEERING_DYNAMICS_305']['SteeringRateMagnitudeDegS']
+    rate_sign = cp.vl['T9_STEERING_DYNAMICS_305']['SteeringRateSign']
+    ret.steeringRateDeg = rate * (1 if rate_sign == 0 else -1)
+    ret.steeringTorque = cp.vl['T9_STEERING_TORQUE_2F5']['DriverTorqueRaw']
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.T9_STEER_DRIVER_THRESHOLD_RAW, 5)
+
+    # 0x208 carries the persistent RVV state; 0x452 carries a request, not a latch.
+    cruise_mode = cp.vl['T9_CRUISE_SETPOINT_50E']['CruiseMode']
+    ret.cruiseState.available = cruise_mode == 1
+    ret.cruiseState.enabled = cruise_mode == 1 and cp.vl['T9_ENGINE_DYNAMICS_208']['CruiseStateCandidate'] == 2
+    setpoint = cp.vl['T9_CRUISE_SETPOINT_50E']['CruiseSetpointKph']
+    ret.cruiseState.speed = setpoint * CV.KPH_TO_MS if cruise_mode == 1 and setpoint < 255 else 0.
+    # Only the conventional-cruise reference vehicle is covered.
+    ret.cruiseState.nonAdaptive = True
+
+    reverse = bool(cp.vl['T9_BODY_STATUS_412']['ReverseGearActive'])
+    # The candidate gear field in 0x348 stays zero even in the moving capture.
+    # Only the independent reverse indication is used until gear is validated.
+    ret.gearShifter = GearShifter.reverse if reverse else GearShifter.unknown
+
+    blinker = cp.vl['T9_DRIVER_CRUISE_COMMAND_452']['TurnSignalStatus']
+    ret.leftBlinker = blinker in (2, 3)
+    ret.rightBlinker = blinker in (1, 3)
+    ret.doorOpen = any(cp.vl['T9_BODY_STATUS_412'][signal] for signal in (
+      'DriverDoorOpen', 'PassengerDoorOpen', 'RearLeftDoorOpen', 'RearRightDoorOpen',
+    ))
+    ret.seatbeltUnlatched = cp.vl['T9_RESTRAINTS_572']['DriverSeatbeltState'] != 2
+    return ret
+
   @staticmethod
   def get_can_parsers(CP):
+    if CP.carFingerprint == CAR.PSA_PEUGEOT_308_T9:
+      # Only the observed live CAN stream is mapped to logical bus 0.
+      # A split camera/powertrain harness topology has not been validated.
+      messages = [
+        ('T9_ENGINE_DYNAMICS_208', 100),
+        ('T9_STEERING_TORQUE_2F5', 100),
+        ('T9_STEERING_DYNAMICS_305', 100),
+        ('T9_WHEEL_SPEEDS_30D', 50),
+        ('T9_EASY_MOVE_3AD', 50),
+        ('T9_BRAKE_DYNAMICS_3CD', 100),
+        ('T9_BODY_STATUS_412', 20),
+        ('T9_DRIVER_CRUISE_COMMAND_452', 20),
+        ('T9_CRUISE_SETPOINT_50E', 10),
+        ('T9_RESTRAINTS_572', 10),
+      ]
+      return {Bus.main: CANParser(DBC[CP.carFingerprint][Bus.pt], messages, 0)}
+
     return {
       Bus.main: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
       Bus.adas: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1),

opendbc/car/psa/fingerprints.py

@@ -4,6 +4,80 @@
 
 Ecu = CarParams.Ecu
 
+FINGERPRINTS = {
+  # Captured from the reference 308 T9 on the AEE2010 live bus. Diagnostic
+  # response 0x7E8 is intentionally excluded by openpilot fingerprinting.
+  CAR.PSA_PEUGEOT_308_T9: [{
+    0x072: 5,
+    0x1E8: 8,
+    0x208: 8,
+    0x228: 8,
+    0x2E8: 4,
+    0x2ED: 7,
+    0x2F5: 7,
+    0x305: 7,
+    0x30D: 8,
+    0x329: 4,
+    0x348: 8,
+    0x349: 8,
+    0x34D: 8,
+    0x389: 5,
+    0x38D: 8,
+    0x3AD: 8,
+    0x3B8: 7,
+    0x3C8: 2,
+    0x3C9: 8,
+    0x3CD: 8,
+    0x3F2: 8,
+    0x40D: 8,
+    0x412: 8,
+    0x42D: 4,
+    0x432: 8,
+    0x438: 8,
+    0x44D: 8,
+    0x452: 6,
+    0x468: 7,
+    0x488: 8,
+    0x489: 8,
+    0x48E: 4,
+    0x492: 6,
+    0x495: 4,
+    0x4B2: 8,
+    0x4CE: 8,
+    0x4D2: 3,
+    0x4F2: 8,
+    0x50D: 8,
+    0x50E: 8,
+    0x517: 7,
+    0x52E: 8,
+    0x532: 5,
+    0x54E: 8,
+    0x552: 8,
+    0x56E: 6,
+    0x572: 8,
+    0x57C: 6,
+    0x588: 8,
+    0x58E: 8,
+    0x592: 8,
+    0x5AE: 5,
+    0x5B2: 8,
+    0x5CE: 3,
+    0x5D2: 4,
+    0x5ED: 3,
+    0x5EE: 4,
+    0x5F8: 5,
+    0x608: 8,
+    0x612: 8,
+    0x788: 8,
+    0x789: 8,
+    0x78D: 8,
+    0x792: 8,
+    0x795: 6,
+    0x797: 6,
+    0x7A8: 4,
+  }],
+}
+
 FW_VERSIONS = {
   CAR.PSA_PEUGEOT_208: {
     (Ecu.fwdRadar, 0x6b6, None): [

opendbc/car/psa/interface.py

@@ -2,6 +2,7 @@
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.psa.carcontroller import CarController
 from opendbc.car.psa.carstate import CarState
+from opendbc.car.psa.values import CAR
 
 TransmissionType = structs.CarParams.TransmissionType
 
@@ -27,4 +28,17 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_lo
 
     ret.alphaLongitudinalAvailable = False
 
-    return ret
+    if candidate == CAR.PSA_PEUGEOT_308_T9:
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput)]
+      # Factory captures suggest a torque API; no EPS calibration is supplied.
+      # Keep an inert PID configuration for this observation-only interface.
+      ret.steerControlType = structs.CarParams.SteerControlType.torque
+      ret.lateralTuning.pid.kpBP = [0.]
+      ret.lateralTuning.pid.kpV = [0.]
+      ret.lateralTuning.pid.kiBP = [0.]
+      ret.lateralTuning.pid.kiV = [0.]
+      ret.steerAtStandstill = False
+      ret.openpilotLongitudinalControl = False
+      ret.autoResumeSng = False
+
+    return ret

opendbc/car/psa/psacan.py

@@ -1,5 +1,5 @@
 def psa_checksum(address: int, sig, d: bytearray) -> int:
-  chk_ini = {0x452: 0x4, 0x38D: 0x7, 0x42D: 0xC}.get(address, 0xB)
+  chk_ini = {0x3AD: 0xD, 0x3CD: 0x3, 0x452: 0x4, 0x38D: 0x7, 0x42D: 0xC}.get(address, 0xB)
   byte = sig.start_bit // 8
   d[byte] &= 0x0F if sig.start_bit % 8 >= 4 else 0xF0
   checksum = sum((b >> 4) + (b & 0xF) for b in d)

opendbc/car/psa/tests/fixtures/README.md

@@ -0,0 +1,40 @@
+# Peugeot 308 T9 RX fixtures
+
+These are two-second excerpts from a single 2018 Peugeot 308 II T9 reference
+vehicle with conventional cruise control. They are ESP32 recordings, not comma
+routes. `provenance.json` records the source and exported file SHA-256 hashes,
+source clock offsets and frame counts.
+
+The export keeps only standard, non-RTR, RX frames from the `live` bus, with the
+address and DLC declared in `psa_308_t9_2018.dbc`. Payload bytes and frame order
+are unchanged. `time_us` is the ESP32 source timestamp minus `source_start_us`.
+Only frames in `[source_start_us, source_start_us + duration_us)` are retained.
+The live stream is mapped to logical bus 0. This does not establish the physical
+camera/powertrain bus topology on a comma harness.
+
+| Fixture | Frames | Final mean wheel speed | Final steering angle |
+| --- | ---: | ---: | ---: |
+| `stationary.csv` | 1,120 | 0 km/h | 534.7 degrees |
+| `moving.csv` | 1,140 | 125.815 km/h | 5.2 degrees |
+
+The files contain ten allowlisted messages. VIN, diagnostic traffic, GPS,
+absolute wall-clock timestamps, session metadata and actuation messages are
+excluded. The source journals remain local to the research repository.
+
+Run the replay, protection, fingerprint and no-output tests from the repo root:
+
+```sh
+uv run python -m unittest opendbc.car.psa.tests.test_peugeot_308_t9
+```
+
+The test feeds frames at their recorded relative times, checks validity after
+initialization, verifies final decoded values and tests timeout after reception
+stops. Other tests use explicitly synthetic signal overrides and single-bit
+corruptions; those are not additional vehicle observations.
+
+Known gaps: no comma route or validated production harness, no ECU firmware
+fingerprint, no EPS torque calibration, and no validated forward/Park/Neutral
+gear signal. The former candidate in the low nibble of `0x348` stays zero in
+both complete source captures, including the moving one, so it is omitted.
+Geometry and the inactive lateral-acceleration placeholder need separate review
+before any future control work. This contribution provides no actuation support.