peugeot 3008

opendbc/car/psa/carstate.py

@@ -2,6 +2,7 @@
 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 LKAS_LIMITS
 from opendbc.car.psa.values import CAR, DBC, CarControllerParams
 from opendbc.car.interfaces import CarStateBase
 
@@ -27,23 +28,52 @@ def update(self, can_parsers) -> structs.CarState:
     ret.standstill = bool(cp_adas.vl['HS2_DYN_UCF_MDD_32D']['VEHICLE_STANDSTILL'])
 
     # gas
-    ret.gasPressed = cp_cam.vl['DRIVER']['GAS_PEDAL'] > 0
+    # gas
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      ret.gasPressed = cp.vl['Dyn5_CMM']['P334_ACCPed_Position'] > 0
+    else:
+      ret.gasPressed = cp_cam.vl['DRIVER']['GAS_PEDAL'] > 0
 
     # brake
     ret.brakePressed = bool(cp_cam.vl['Dat_BSI']['P013_MainBrake'])
     ret.parkingBrake = cp.vl['Dyn_EasyMove']['P337_Com_stPrkBrk'] == 1 # 0: disengaged, 1: engaged, 3: brake actuator moving
 
+    # brake pressure
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      raw = cp.vl["Dyn2_FRE"]["BRAKE_PRESSURE"]
+      ret.brake = max(0.0, float(raw) - 550.0)  # clamp a 0
+
     # steering wheel
     STEERING_ALT_BUS = {
       CAR.PSA_PEUGEOT_208: cp.vl,
       CAR.PSA_PEUGEOT_508: cp_cam.vl,
+      CAR.PSA_PEUGEOT_3008: cp.vl,
+
     }
     bus = STEERING_ALT_BUS[self.CP.carFingerprint]
     ret.steeringAngleDeg = bus['STEERING_ALT']['ANGLE'] # EPS
-    ret.steeringRateDeg  = bus['STEERING_ALT']['RATE'] * (1 - 2 * bus['STEERING_ALT']['RATE_SIGN']) # convert [0,1] to [1,-1] EPS: rot. speed * rot. sign
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      # PSA EPS encodes the steering rotation direction bit inverted from the driver's perspective:
+      #   RATE_SIGN = 0 → clockwise (right turn)
+      #   RATE_SIGN = 1 → anticlockwise (left turn)
+      # Invert the sign to match OpenPilot's convention: right = positive, left = negative.
+      ret.steeringRateDeg = bus['STEERING_ALT']['RATE'] * (1 - 2 * bus['STEERING_ALT']['RATE_SIGN'])
+    else:
+      # Convert EPS direction bit [0,1] to signed multiplier [-1,+1]
+      # Standard convention: 0 → left (negative), 1 → right (positive)
+     ret.steeringRateDeg  = bus['STEERING_ALT']['RATE'] * (1 - 2 * bus['STEERING_ALT']['RATE_SIGN']) # convert [0,1] to [1,-1] EPS: rot. speed * rot. sign
+
     ret.steeringTorque = cp.vl['STEERING']['DRIVER_TORQUE']
     ret.steeringTorqueEps = cp.vl['IS_DAT_DIRA']['EPS_TORQUE']
-    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
+
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+        # Peugeot 3008: EPS_TORQUE represents only driver-applied torque (no motor assist).
+        # The signal is already smoothed by the EPS ECU, so update_steering_pressed is unnecessary.
+        ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD
+    else:
+        ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
+
+    # ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
     self.eps_active = cp.vl['IS_DAT_DIRA']['EPS_STATE_LKA'] == 3 # 0: Unauthorized, 1: Authorized, 2: Available, 3: Active, 4: Defect
 
     # cruise
@@ -64,8 +94,22 @@ def update(self, can_parsers) -> structs.CarState:
 
     # blinkers
     blinker = cp_cam.vl['HS2_DAT7_BSI_612']['CDE_CLG_ET_HDC']
-    ret.leftBlinker = blinker == 1
-    ret.rightBlinker = blinker == 2
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      ret.leftBlinker = blinker == 2
+      ret.rightBlinker = blinker == 1
+    else:
+      ret.leftBlinker = blinker == 1
+      ret.rightBlinker = blinker == 2
+
+    # Blind sensor ( there is not left and right )
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      ret.leftBlindspot = cp_adas.vl["HS2_DYN_MDD_ETAT_2F6"]["BLIND_SENSOR"] != 0
+      ret.rightBlindspot = cp_adas.vl["HS2_DYN_MDD_ETAT_2F6"]["BLIND_SENSOR"] != 0
+
+    # Auto Braking in progress
+    if self.CP.carFingerprint == CAR.PSA_PEUGEOT_3008:
+      ret.stockAeb = cp_adas.vl["HS2_DYN1_MDD_ETAT_2B6"]["AUTO_BRAKING_STATUS"] == 1
+
 
     # lock info
     ret.doorOpen = any((cp_cam.vl['Dat_BSI']['DRIVER_DOOR'], cp_cam.vl['Dat_BSI']['PASSENGER_DOOR']))

opendbc/car/psa/fingerprints.py

@@ -28,4 +28,42 @@
       b'369042321125160806',
     ],
   },
+
+  CAR.PSA_PEUGEOT_3008: {
+    # ARTIV - Front Radar ADAS
+    (Ecu.fwdRadar, 0x6B6, None): [ ],
+
+    # DIRECTN - Electronic power steering
+    (Ecu.eps, 0x6B5, None): [ ],
+
+    # HCU2 - Hybrid Control Unit
+    (Ecu.hybrid, 0x6A6, None): [  ],
+
+    # BOITEVIT - Automatic transmission  (EAT6/8)
+    (Ecu.transmission, 0x6A9, None): [
+        ## Peugeot 3008 II (Phase I, 2016) 1.6 PureTech (180 Hp) Automatic S&S /2018, 2019, 2020
+        b'1614191B101502000000',
+        b'\xff\xff\x00\x000`\x08\x01\x13\x01%\x06\x08\xff\xff\xff\x00\x02\x00\x00\x01\x934t',
+        #
+    ],
+
+    # FREINEBB - Electronic Brake Booster
+    (Ecu.electricBrakeBooster, 0x5D0, None): [],
+
+    # INJ - Engine (VCU)
+    (Ecu.engine, 0x6A8, None): [
+        ## Peugeot 3008 II (Phase I, 2016) 1.6 PureTech (180 Hp) Automatic S&S /2018, 2019, 2020
+        b'000D170047100',
+        b'\xff\xff\x00\x00\x03&\t\x02\x13\x01C1\x04\xff\xff\xff\x00\x02\x00\x00\x01\x93YW',
+        #
+    ],
+
+    # ABRASR - ABS/ESP
+    (Ecu.abs, 0x6AD, None): [
+        ## Peugeot 3008 II (Phase I, 2016) 1.6 PureTech (180 Hp) Automatic S&S /2018, 2019, 2020
+        b'085065201906190129',
+        b'\x00\x00\x00\x00\x03\x92\x01\x06\x11\x01\x06\x18\x02\xff\xff\xff\x00\x02\x00\x00\x01\x92\x83\x12',
+        #
+    ],
+  },
 }

opendbc/car/psa/values.py

@@ -42,6 +42,11 @@ class CAR(Platforms):
     [PSACarDocs("Peugeot 508 2019-23")],
     CarSpecs(mass=1720, wheelbase=2.79, steerRatio=17.6),
   )
+  PSA_PEUGEOT_3008 = PSAPlatformConfig(
+    [PSACarDocs("PEUGEOT 3008 2016-29")],
+    # https://www.auto-data.net/en/peugeot-3008-ii-phase-i-2016-1.6-puretech-180hp-automatic-s-s-34446#google_vignette
+    CarSpecs(mass=1577, wheelbase=2.675, steerRatio=17.69, tireStiffnessFactor=0.996044 ),
+  )
 
 
 PSA_DIAG_REQ  = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x01])
@@ -52,6 +57,15 @@ class CAR(Platforms):
 
 PSA_RX_OFFSET = -0x20
 
+class LKAS_LIMITS:
+  # Peugeot 3008
+  # STEER_THRESHOLD: torque (deci-Nm) to detect driver input (steeringPressed)
+  # DISABLE/ENABLE_SPEED: LKA hysteresis in km/h
+  STEER_THRESHOLD = 5
+  DISABLE_SPEED = 50    # kph
+  ENABLE_SPEED = 50     # kph
+
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     Request(