wip
This commit is contained in:
Your Name
@@ -6,7 +6,8 @@ from openpilot.common.realtime import DT_CTRL
|
||||
from opendbc.can.packer import CANPacker
|
||||
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
|
||||
from openpilot.selfdrive.car.gm import gmcan
|
||||
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, SDGM_CAR
|
||||
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
|
||||
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
|
||||
|
||||
@@ -26,7 +27,7 @@ PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade
|
||||
BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds
|
||||
BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch
|
||||
|
||||
class CarController:
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.CP = CP
|
||||
self.start_time = 0.
|
||||
@@ -136,7 +137,6 @@ class CarController:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
|
||||
else:
|
||||
# Normal operation
|
||||
brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
|
||||
if self.CP.carFingerprint in EV_CAR and frogpilot_variables.use_ev_tables:
|
||||
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
|
||||
@@ -188,12 +188,12 @@ class CarController:
|
||||
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
|
||||
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
|
||||
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
|
||||
idx, CC.enabled, near_stop, at_full_stop, self.CP))
|
||||
idx, CC.enabled, near_stop, at_full_stop, self.CP))
|
||||
|
||||
# Send dashboard UI commands (ACC status)
|
||||
send_fcw = hud_alert == VisualAlert.fcw
|
||||
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
|
||||
hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw, CS.display_menu, CS.personality_profile))
|
||||
hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
|
||||
else:
|
||||
# to keep accel steady for logs when not sending gas
|
||||
accel += self.accel_g
|
||||
|
||||
@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
from openpilot.selfdrive.car.interfaces import CarStateBase
|
||||
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR
|
||||
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CAMERA_ACC_CAR, CC_ONLY_CAR, SDGM_CAR
|
||||
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
@@ -27,23 +27,24 @@ class CarState(CarStateBase):
|
||||
self.cam_lka_steering_cmd_counter = 0
|
||||
self.buttons_counter = 0
|
||||
|
||||
self.prev_distance_button = 0
|
||||
self.distance_button = 0
|
||||
|
||||
# FrogPilot variables
|
||||
self.single_pedal_mode = False
|
||||
|
||||
# FrogPilot variables
|
||||
self.display_menu = False
|
||||
|
||||
self.display_timer = 0
|
||||
|
||||
def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_variables):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
self.prev_cruise_buttons = self.cruise_buttons
|
||||
self.prev_distance_button = self.distance_button
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
else:
|
||||
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
|
||||
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
|
||||
@@ -167,58 +168,11 @@ class CarState(CarStateBase):
|
||||
ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
|
||||
# Driving personalities function - Credit goes to Mangomoose!
|
||||
if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
|
||||
# Sync with the onroad UI button
|
||||
if self.fpf.personality_changed_via_ui:
|
||||
self.personality_profile = self.fpf.current_personality
|
||||
self.previous_personality_profile = self.personality_profile
|
||||
self.fpf.reset_personality_changed_param()
|
||||
|
||||
# Check if the car has a camera
|
||||
has_camera = self.CP.networkLocation == NetworkLocation.fwdCamera
|
||||
has_camera &= not self.CP.flags & GMFlags.NO_CAMERA.value
|
||||
has_camera &= not self.CP.carFingerprint in (CC_ONLY_CAR)
|
||||
|
||||
if has_camera:
|
||||
# Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2"
|
||||
self.personality_profile = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCGapLevel"] - 1
|
||||
else:
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
else:
|
||||
distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
|
||||
if distance_button and not self.distance_previously_pressed:
|
||||
if self.display_menu:
|
||||
self.personality_profile = (self.previous_personality_profile + 2) % 3
|
||||
self.display_timer = 350
|
||||
self.distance_previously_pressed = distance_button
|
||||
|
||||
# Check if the display is open
|
||||
if self.display_timer > 0:
|
||||
self.display_timer -= 1
|
||||
self.display_menu = True
|
||||
else:
|
||||
self.display_menu = False
|
||||
|
||||
if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0:
|
||||
self.fpf.distance_button_function(self.personality_profile)
|
||||
self.previous_personality_profile = self.personality_profile
|
||||
|
||||
# Toggle Experimental Mode from steering wheel function
|
||||
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
lkas_pressed = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
else:
|
||||
lkas_pressed = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
|
||||
if lkas_pressed and not self.lkas_previously_pressed:
|
||||
if frogpilot_variables.conditional_experimental_mode:
|
||||
self.fpf.update_cestatus_lkas()
|
||||
else:
|
||||
self.fpf.update_experimental_mode()
|
||||
self.lkas_previously_pressed = lkas_pressed
|
||||
self.lkas_previously_enabled = self.lkas_enabled
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
else:
|
||||
self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
|
||||
return ret
|
||||
|
||||
@@ -285,6 +239,7 @@ class CarState(CarStateBase):
|
||||
messages += [
|
||||
("ASCMLKASteeringCmd", 0),
|
||||
]
|
||||
|
||||
if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
|
||||
messages.remove(("ECMAcceleratorPos", 80))
|
||||
messages.append(("EBCMBrakePedalPosition", 100))
|
||||
|
||||
@@ -176,6 +176,11 @@ FINGERPRINTS = {
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.BABYENCLAVE: [
|
||||
# Buick Baby Enclave w/ ACC 2020-23
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
|
||||
}],
|
||||
CAR.TRAX: [
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
import math
|
||||
|
||||
from cereal import log
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.selfdrive.car import make_can_msg
|
||||
@@ -65,6 +66,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
|
||||
"GasRegenFullStopActive": at_full_stop,
|
||||
"GasRegenAlwaysOne": 1,
|
||||
"GasRegenAlwaysOne2": 1,
|
||||
"GasRegenAlwaysOne3": 1,
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
|
||||
@@ -105,18 +107,17 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
|
||||
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
|
||||
|
||||
|
||||
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw, display, personality_profile):
|
||||
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
|
||||
target_speed = min(target_speed_kph, 255)
|
||||
|
||||
values = {
|
||||
"ACCAlwaysOne": 1,
|
||||
"ACCResumeButton": 0,
|
||||
"DisplayDistance": display,
|
||||
"ACCSpeedSetpoint": target_speed,
|
||||
"ACCGapLevel": min(personality_profile + 1, 3), # 3 "far", 0 "inactive"
|
||||
"ACCGapLevel": hud_control.leadDistanceBars * enabled, # 3 "far", 0 "inactive"
|
||||
"ACCCmdActive": enabled,
|
||||
"ACCAlwaysOne2": 1,
|
||||
"ACCLeadCar": lead_car_in_sight,
|
||||
"ACCLeadCar": hud_control.leadVisible,
|
||||
"FCWAlert": 0x3 if fcw else 0
|
||||
}
|
||||
|
||||
@@ -178,31 +179,36 @@ def create_lka_icon_command(bus, active, critical, steer):
|
||||
|
||||
|
||||
def create_gm_cc_spam_command(packer, controller, CS, actuators):
|
||||
# TODO: Cleanup the timing - normal is every 30ms...
|
||||
if controller.params_.get_bool("IsMetric"):
|
||||
_CV = CV.MS_TO_KPH
|
||||
RATE_UP_MAX = 0.04
|
||||
RATE_DOWN_MAX = 0.04
|
||||
else:
|
||||
_CV = CV.MS_TO_MPH
|
||||
RATE_UP_MAX = 0.2
|
||||
RATE_DOWN_MAX = 0.2
|
||||
|
||||
accel = actuators.accel * _CV # m/s/s to mph/s
|
||||
speedSetPoint = int(round(CS.out.cruiseState.speed * _CV))
|
||||
|
||||
cruiseBtn = CruiseButtons.INIT
|
||||
|
||||
# if controller.params_.get_bool("IsMetric"):
|
||||
# accel = actuators.accel * CV.MS_TO_KPH # m/s/s to km/h/s
|
||||
# else:
|
||||
# accel = actuators.accel * CV.MS_TO_MPH # m/s/s to mph/s
|
||||
accel = actuators.accel * CV.MS_TO_MPH # m/s/s to mph/s
|
||||
speedSetPoint = int(round(CS.out.cruiseState.speed * CV.MS_TO_MPH))
|
||||
|
||||
RATE_UP_MAX = 0.2 # may be lower on new/euro cars
|
||||
RATE_DOWN_MAX = 0.2 # may be lower on new/euro cars
|
||||
|
||||
if speedSetPoint == CS.CP.minEnableSpeed and accel < -1:
|
||||
cruiseBtn = CruiseButtons.CANCEL
|
||||
controller.apply_speed = 0
|
||||
rate = 0.04
|
||||
elif accel < 0:
|
||||
cruiseBtn = CruiseButtons.DECEL_SET
|
||||
rate = max(-1 / accel, RATE_DOWN_MAX)
|
||||
if speedSetPoint > (CS.out.vEgo * _CV) + 3.0: # If accel is changing directions, bring set speed to current speed as fast as possible
|
||||
rate = RATE_DOWN_MAX
|
||||
else:
|
||||
rate = max(-1 / accel, RATE_DOWN_MAX)
|
||||
controller.apply_speed = speedSetPoint - 1
|
||||
elif accel > 0:
|
||||
cruiseBtn = CruiseButtons.RES_ACCEL
|
||||
rate = max(1 / accel, RATE_UP_MAX)
|
||||
if speedSetPoint < (CS.out.vEgo * _CV) - 3.0:
|
||||
rate = RATE_UP_MAX
|
||||
else:
|
||||
rate = max(1 / accel, RATE_UP_MAX)
|
||||
controller.apply_speed = speedSetPoint + 1
|
||||
else:
|
||||
controller.apply_speed = speedSetPoint
|
||||
@@ -210,7 +216,6 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators):
|
||||
|
||||
# Check rlogs closely - our message shouldn't show up on the pt bus for us
|
||||
# Or bus 2, since we're forwarding... but I think it does
|
||||
# TODO: Cleanup the timing - normal is every 30ms...
|
||||
if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
|
||||
controller.last_button_frame = controller.frame
|
||||
idx = (CS.buttons_counter + 1) % 4 # Need to predict the next idx for '22-23 EUV
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
from cereal import car
|
||||
from cereal import car, custom
|
||||
from math import fabs, exp
|
||||
from panda import Panda
|
||||
|
||||
@@ -19,12 +19,12 @@ TransmissionType = car.CarParams.TransmissionType
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
|
||||
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
|
||||
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
|
||||
|
||||
|
||||
ACCELERATOR_POS_MSG = 0xbe
|
||||
PEDAL_MSG = 0x201
|
||||
CAM_MSG = 0x320 # AEBCmd
|
||||
# TODO: Is this always linked to camera presence?
|
||||
PEDAL_MSG = 0x201
|
||||
ACCELERATOR_POS_MSG = 0xbe
|
||||
|
||||
NON_LINEAR_TORQUE_PARAMS = {
|
||||
CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
@@ -83,8 +83,8 @@ class CarInterface(CarInterfaceBase):
|
||||
return float(self.neural_ff_model.predict(inputs)) + friction
|
||||
|
||||
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
|
||||
if self.CP.carFingerprint in [CAR.BOLT_EUV, CAR.BOLT_CC]:
|
||||
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, CAR.BOLT_EUV)
|
||||
if self.CP.carFingerprint in (CAR.BOLT_EUV, CAR.BOLT_CC):
|
||||
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
|
||||
return self.torque_from_lateral_accel_neural
|
||||
elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
|
||||
return self.torque_from_lateral_accel_siglin
|
||||
@@ -92,18 +92,17 @@ class CarInterface(CarInterfaceBase):
|
||||
return self.torque_from_lateral_accel_linear
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
|
||||
def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
|
||||
params.put_bool("HideDisableOpenpilotLongitudinal", candidate not in (SDGM_CAR | CAMERA_ACC_CAR))
|
||||
|
||||
ret.carName = "gm"
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
|
||||
ret.autoResumeSng = False
|
||||
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
|
||||
|
||||
if PEDAL_MSG in fingerprint[0]:
|
||||
ret.enableGasInterceptor = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
|
||||
|
||||
useEVTables = params.get_bool("EVTable")
|
||||
|
||||
if candidate in EV_CAR:
|
||||
ret.transmissionType = TransmissionType.direct
|
||||
else:
|
||||
@@ -137,7 +136,7 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
if experimental_long:
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
||||
|
||||
elif candidate in SDGM_CAR:
|
||||
@@ -150,17 +149,18 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
|
||||
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
|
||||
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
|
||||
# supports stop and go, but initial engage must (conservatively) be above 18mph
|
||||
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
|
||||
ret.minSteerSpeed = (6.7 if useEVTables else 7) * CV.MPH_TO_MS
|
||||
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
|
||||
# Tuning
|
||||
ret.longitudinalTuning.kpV = [2.4, 1.5]
|
||||
ret.longitudinalTuning.kiV = [0.36]
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
# Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
|
||||
@@ -170,20 +170,13 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
|
||||
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
|
||||
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
|
||||
ret.tireStiffnessFactor = 0.444 # not optimized yet
|
||||
|
||||
ret.steerLimitTimer = 0.4
|
||||
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
|
||||
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
|
||||
|
||||
if candidate in (CAR.VOLT, CAR.VOLT_CC):
|
||||
ret.minEnableSpeed = -1 if params.get_bool("LowerVolt") else ret.minEnableSpeed
|
||||
ret.mass = 1607.
|
||||
ret.wheelbase = 2.69
|
||||
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
|
||||
ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
|
||||
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
|
||||
|
||||
ret.minEnableSpeed = -1
|
||||
ret.lateralTuning.pid.kpBP = [0., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 0.17]
|
||||
ret.lateralTuning.pid.kiBP = [0.]
|
||||
@@ -191,74 +184,20 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
|
||||
ret.steerActuatorDelay = 0.2
|
||||
|
||||
# softer long tune for ev table
|
||||
if useEVTables:
|
||||
ret.longitudinalTuning.kpBP = [5., 15., 35.]
|
||||
ret.longitudinalTuning.kpV = [0.65, .9, 0.8]
|
||||
ret.longitudinalTuning.kiBP = [5., 15.]
|
||||
ret.longitudinalTuning.kiV = [0.04, 0.1]
|
||||
ret.steerActuatorDelay = 0.18
|
||||
ret.stoppingDecelRate = 0.02 # brake_travel/s while trying to stop
|
||||
ret.stopAccel = -0.5
|
||||
ret.startAccel = 0.8
|
||||
ret.vEgoStopping = 0.1
|
||||
|
||||
elif candidate == CAR.MALIBU:
|
||||
ret.mass = 1496.
|
||||
ret.wheelbase = 2.83
|
||||
ret.steerRatio = 15.8
|
||||
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
|
||||
|
||||
elif candidate == CAR.HOLDEN_ASTRA:
|
||||
ret.mass = 1363.
|
||||
ret.wheelbase = 2.662
|
||||
# Remaining parameters copied from Volt for now
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
ret.steerRatio = 15.7
|
||||
|
||||
elif candidate == CAR.ACADIA:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.mass = 4353. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.86
|
||||
ret.steerRatio = 14.4 # end to end is 13.46
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BUICK_LACROSSE:
|
||||
ret.mass = 1712.
|
||||
ret.wheelbase = 2.91
|
||||
ret.steerRatio = 15.8
|
||||
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BUICK_REGAL:
|
||||
ret.mass = 3779. * CV.LB_TO_KG # (3849+3708)/2
|
||||
ret.wheelbase = 2.83 # 111.4 inches in meters
|
||||
ret.steerRatio = 14.4 # guess for tourx
|
||||
ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
|
||||
|
||||
elif candidate == CAR.CADILLAC_ATS:
|
||||
ret.mass = 1601.
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 15.3
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
|
||||
elif candidate == CAR.ESCALADE:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.mass = 5653. * CV.LB_TO_KG # (5552+5815)/2
|
||||
ret.wheelbase = 2.95 # 116 inches in meters
|
||||
ret.steerRatio = 17.3
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019):
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.mass = 2739.
|
||||
ret.wheelbase = 3.302
|
||||
ret.steerRatio = 17.3
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
|
||||
if candidate == CAR.ESCALADE_ESV:
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
|
||||
@@ -269,11 +208,6 @@ class CarInterface(CarInterfaceBase):
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.BOLT_EUV, CAR.BOLT_CC):
|
||||
ret.mass = 1669.
|
||||
ret.wheelbase = 2.63779
|
||||
ret.steerRatio = 16.8
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
@@ -282,11 +216,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.flags |= GMFlags.PEDAL_LONG.value
|
||||
|
||||
elif candidate == CAR.SILVERADO:
|
||||
ret.mass = 2450.
|
||||
ret.wheelbase = 3.75
|
||||
ret.steerRatio = 16.3
|
||||
ret.centerToFront = ret.wheelbase * 0.5
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
|
||||
# with foot on brake to allow engagement, but this platform only has that check in the camera.
|
||||
# TODO: check if this is split by EV/ICE with more platforms in the future
|
||||
@@ -295,61 +224,33 @@ class CarInterface(CarInterfaceBase):
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.EQUINOX, CAR.EQUINOX_CC):
|
||||
ret.mass = 3500. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.72
|
||||
ret.steerRatio = 14.4
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.TRAILBLAZER, CAR.TRAILBLAZER_CC):
|
||||
ret.mass = 1345.
|
||||
ret.wheelbase = 2.64
|
||||
ret.steerRatio = 16.8
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.SUBURBAN, CAR.SUBURBAN_CC):
|
||||
ret.mass = 2731.
|
||||
ret.wheelbase = 3.302
|
||||
ret.steerRatio = 17.3 # COPIED FROM SILVERADO
|
||||
ret.centerToFront = ret.wheelbase * 0.49
|
||||
ret.steerActuatorDelay = 0.075
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.YUKON_CC:
|
||||
ret.minSteerSpeed = -1 * CV.MPH_TO_MS
|
||||
ret.mass = 5602. * CV.LB_TO_KG # (3849+3708)/2
|
||||
ret.wheelbase = 2.95 # 116 inches in meters
|
||||
ret.steerRatio = 16.3 # guess for tourx
|
||||
ret.steerRatioRear = 0. # unknown online
|
||||
ret.centerToFront = 2.59 # ret.wheelbase * 0.4 # wild guess
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.XT4:
|
||||
ret.mass = 3660. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 14.4
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BABYENCLAVE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CT6_CC:
|
||||
ret.wheelbase = 3.11
|
||||
ret.mass = 5198. * CV.LB_TO_KG
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
ret.steerRatio = 17.7
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.TRAX:
|
||||
ret.mass = 1365.
|
||||
ret.wheelbase = 2.7
|
||||
ret.steerRatio = 16.4
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
ret.tireStiffnessFactor = 1.0
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
@@ -357,7 +258,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
ret.minEnableSpeed = -1
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
|
||||
ret.openpilotLongitudinalControl = not disable_openpilot_long
|
||||
ret.stoppingControl = True
|
||||
ret.autoResumeSng = True
|
||||
|
||||
@@ -383,7 +284,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.radarUnavailable = True
|
||||
ret.experimentalLongitudinalAvailable = False
|
||||
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
|
||||
ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
|
||||
ret.openpilotLongitudinalControl = not disable_openpilot_long
|
||||
ret.pcmCruise = False
|
||||
|
||||
ret.longitudinalTuning.deadzoneBP = [0.]
|
||||
@@ -400,6 +301,9 @@ class CarInterface(CarInterfaceBase):
|
||||
if candidate in CC_ONLY_CAR:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
|
||||
|
||||
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
||||
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
|
||||
|
||||
# Exception for flashed cars, or cars whose camera was removed
|
||||
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
|
||||
ret.flags |= GMFlags.NO_CAMERA.value
|
||||
@@ -416,11 +320,16 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
# Don't add event if transitioning from INIT, unless it's to an actual button
|
||||
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
|
||||
ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
|
||||
unpressed_btn=CruiseButtons.UNPRESS)
|
||||
ret.buttonEvents = [
|
||||
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
|
||||
unpressed_btn=CruiseButtons.UNPRESS),
|
||||
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
|
||||
{1: ButtonType.gapAdjustCruise}),
|
||||
*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
|
||||
]
|
||||
|
||||
# The ECM allows enabling on falling edge of set, but only rising edge of resume
|
||||
events = self.create_common_events(ret, frogpilot_variables, extra_gears=[GearShifter.sport, GearShifter.low,
|
||||
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
|
||||
GearShifter.eco, GearShifter.manumatic],
|
||||
pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
|
||||
if not self.CP.pcmCruise:
|
||||
@@ -431,9 +340,9 @@ class CarInterface(CarInterfaceBase):
|
||||
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
|
||||
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
|
||||
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
|
||||
(self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
|
||||
(self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if ret.cruiseState.standstill and not self.CP.autoResumeSng and not self.disable_resumeRequired:
|
||||
if ret.cruiseState.standstill and not self.disable_resumeRequired and not self.CP.autoResumeSng:
|
||||
events.add(EventName.resumeRequired)
|
||||
self.resumeRequired_shown = True
|
||||
|
||||
@@ -446,7 +355,7 @@ class CarInterface(CarInterfaceBase):
|
||||
self.belowSteerSpeed_shown = True
|
||||
|
||||
# Disable the "belowSteerSpeed" event after it's been shown once to not annoy the driver
|
||||
if self.belowSteerSpeed_shown and ret.vEgo > self.CP.minSteerSpeed:
|
||||
if self.belowSteerSpeed_shown and ret.vEgo >= self.CP.minSteerSpeed:
|
||||
self.disable_belowSteerSpeed = True
|
||||
|
||||
if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
|
||||
|
||||
0
selfdrive/car/gm/tests/__init__.py
Normal file
0
selfdrive/car/gm/tests/__init__.py
Normal file
28
selfdrive/car/gm/tests/test_gm.py
Normal file
28
selfdrive/car/gm/tests/test_gm.py
Normal file
@@ -0,0 +1,28 @@
|
||||
#!/usr/bin/env python3
|
||||
from parameterized import parameterized
|
||||
import unittest
|
||||
|
||||
from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
|
||||
from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, GM_RX_OFFSET
|
||||
|
||||
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
|
||||
|
||||
|
||||
class TestGMFingerprint(unittest.TestCase):
|
||||
@parameterized.expand(FINGERPRINTS.items())
|
||||
def test_can_fingerprints(self, car_model, fingerprints):
|
||||
self.assertGreater(len(fingerprints), 0)
|
||||
|
||||
# Trailblazer is in dashcam
|
||||
if car_model != CAR.TRAILBLAZER:
|
||||
self.assertTrue(all(len(finger) for finger in fingerprints))
|
||||
|
||||
# The camera can sometimes be communicating on startup
|
||||
if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}:
|
||||
for finger in fingerprints:
|
||||
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
|
||||
self.assertEqual(finger.get(required_addr), 8, required_addr)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -1,13 +1,11 @@
|
||||
from collections import defaultdict
|
||||
from dataclasses import dataclass
|
||||
from enum import Enum, IntFlag, StrEnum
|
||||
from typing import Dict, List, Union
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum, IntFlag
|
||||
|
||||
from cereal import car
|
||||
from openpilot.common.numpy_fast import interp
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.selfdrive.car import dbc_dict
|
||||
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
|
||||
from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
|
||||
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = car.CarParams.Ecu
|
||||
@@ -60,7 +58,7 @@ class CarControllerParams:
|
||||
|
||||
elif CP.carFingerprint in SDGM_CAR:
|
||||
self.MAX_GAS = 7496
|
||||
self.MAX_GAS_PLUS = 7496
|
||||
self.MAX_GAS_PLUS = 8848
|
||||
self.MAX_ACC_REGEN = 5610
|
||||
self.INACTIVE_REGEN = 5650
|
||||
max_regen_acceleration = 0.
|
||||
@@ -95,35 +93,6 @@ class CarControllerParams:
|
||||
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
|
||||
|
||||
|
||||
class CAR(StrEnum):
|
||||
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
|
||||
VOLT = "CHEVROLET VOLT PREMIER 2017"
|
||||
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
|
||||
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
|
||||
ACADIA = "GMC ACADIA DENALI 2018"
|
||||
BUICK_LACROSSE = "BUICK LACROSSE 2017"
|
||||
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
|
||||
ESCALADE = "CADILLAC ESCALADE 2017"
|
||||
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
|
||||
ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
|
||||
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
|
||||
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
|
||||
EQUINOX = "CHEVROLET EQUINOX 2019"
|
||||
TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
|
||||
# Separate car def is required when there is no ASCM
|
||||
# (for now) unless there is a way to detect it when it has been unplugged...
|
||||
VOLT_CC = "CHEVROLET VOLT NO ACC"
|
||||
BOLT_CC = "CHEVROLET BOLT EV NO ACC"
|
||||
EQUINOX_CC = "CHEVROLET EQUINOX NO ACC"
|
||||
SUBURBAN = "CHEVROLET SUBURBAN PREMIER 2016"
|
||||
SUBURBAN_CC = "CHEVROLET SUBURBAN NO ACC"
|
||||
YUKON_CC = "GMC YUKON NO ACC"
|
||||
CT6_CC = "CADILLAC CT6 NO ACC"
|
||||
TRAILBLAZER_CC = "CHEVROLET TRAILBLAZER 2024 NO ACC"
|
||||
XT4 = "CADILLAC XT4 2023"
|
||||
TRAX = "CHEVROLET TRAX 2024"
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
OBD_II = CarFootnote(
|
||||
'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
|
||||
@@ -132,7 +101,7 @@ class Footnote(Enum):
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMCarInfo(CarInfo):
|
||||
class GMCarDocs(CarDocs):
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
|
||||
def init_make(self, CP: car.CarParams):
|
||||
@@ -143,39 +112,151 @@ class GMCarInfo(CarInfo):
|
||||
self.footnotes.append(Footnote.OBD_II)
|
||||
|
||||
|
||||
CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
|
||||
CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
|
||||
CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
|
||||
CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
|
||||
CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
|
||||
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
|
||||
CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
|
||||
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
|
||||
CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
|
||||
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
|
||||
CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
|
||||
CAR.BOLT_EUV: [
|
||||
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
|
||||
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
|
||||
],
|
||||
CAR.SILVERADO: [
|
||||
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
|
||||
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
|
||||
],
|
||||
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
|
||||
CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
|
||||
@dataclass(frozen=True, kw_only=True)
|
||||
class GMCarSpecs(CarSpecs):
|
||||
tireStiffnessFactor: float = 0.444 # not optimized yet
|
||||
|
||||
CAR.VOLT_CC: GMCarInfo("Chevrolet Volt No ACC"),
|
||||
CAR.BOLT_CC: GMCarInfo("Chevrolet Bolt No ACC"),
|
||||
CAR.EQUINOX_CC: GMCarInfo("Chevrolet Equinox No ACC"),
|
||||
CAR.SUBURBAN: GMCarInfo("Chevrolet Suburban Premier 2016-2020"),
|
||||
CAR.SUBURBAN_CC: GMCarInfo("Chevrolet Suburban No ACC"),
|
||||
CAR.YUKON_CC: GMCarInfo("GMC Yukon No ACC"),
|
||||
CAR.CT6_CC: GMCarInfo("Cadillac CT6 No ACC"),
|
||||
CAR.TRAILBLAZER_CC: GMCarInfo("Chevrolet Trailblazer 2024 No ACC"),
|
||||
CAR.XT4: GMCarInfo("Cadillac XT4 2023", "Driver Assist Package"),
|
||||
CAR.TRAX: GMCarInfo("Chevrolet TRAX 2024"),
|
||||
}
|
||||
|
||||
@dataclass
|
||||
class GMPlatformConfig(PlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
HOLDEN_ASTRA = GMPlatformConfig(
|
||||
"HOLDEN ASTRA RS-V BK 2017",
|
||||
[GMCarDocs("Holden Astra 2017")],
|
||||
GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
|
||||
)
|
||||
VOLT = GMPlatformConfig(
|
||||
"CHEVROLET VOLT PREMIER 2017",
|
||||
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
CADILLAC_ATS = GMPlatformConfig(
|
||||
"CADILLAC ATS Premium Performance 2018",
|
||||
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
|
||||
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
|
||||
)
|
||||
MALIBU = GMPlatformConfig(
|
||||
"CHEVROLET MALIBU PREMIER 2017",
|
||||
[GMCarDocs("Chevrolet Malibu Premier 2017")],
|
||||
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
ACADIA = GMPlatformConfig(
|
||||
"GMC ACADIA DENALI 2018",
|
||||
[GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
|
||||
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
BUICK_LACROSSE = GMPlatformConfig(
|
||||
"BUICK LACROSSE 2017",
|
||||
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
|
||||
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
BUICK_REGAL = GMPlatformConfig(
|
||||
"BUICK REGAL ESSENCE 2018",
|
||||
[GMCarDocs("Buick Regal Essence 2018")],
|
||||
GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
ESCALADE = GMPlatformConfig(
|
||||
"CADILLAC ESCALADE 2017",
|
||||
[GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
|
||||
GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
|
||||
)
|
||||
ESCALADE_ESV = GMPlatformConfig(
|
||||
"CADILLAC ESCALADE ESV 2016",
|
||||
[GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
|
||||
)
|
||||
ESCALADE_ESV_2019 = GMPlatformConfig(
|
||||
"CADILLAC ESCALADE ESV 2019",
|
||||
[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
ESCALADE_ESV.specs,
|
||||
)
|
||||
BOLT_EUV = GMPlatformConfig(
|
||||
"CHEVROLET BOLT EUV 2022",
|
||||
[
|
||||
GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
|
||||
GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
|
||||
],
|
||||
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
SILVERADO = GMPlatformConfig(
|
||||
"CHEVROLET SILVERADO 1500 2020",
|
||||
[
|
||||
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
|
||||
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
|
||||
],
|
||||
GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
|
||||
)
|
||||
EQUINOX = GMPlatformConfig(
|
||||
"CHEVROLET EQUINOX 2019",
|
||||
[GMCarDocs("Chevrolet Equinox 2019-22")],
|
||||
GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
TRAILBLAZER = GMPlatformConfig(
|
||||
"CHEVROLET TRAILBLAZER 2021",
|
||||
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
|
||||
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
# Separate car def is required when there is no ASCM
|
||||
# (for now) unless there is a way to detect it when it has been unplugged...
|
||||
VOLT_CC = GMPlatformConfig(
|
||||
"CHEVROLET VOLT NO ACC",
|
||||
[GMCarDocs("Chevrolet Volt 2017-18")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=1.0),
|
||||
)
|
||||
BOLT_CC = GMPlatformConfig(
|
||||
"CHEVROLET BOLT EV NO ACC",
|
||||
[GMCarDocs("Chevrolet Bolt No ACC")],
|
||||
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
EQUINOX_CC = GMPlatformConfig(
|
||||
"CHEVROLET EQUINOX NO ACC",
|
||||
[GMCarDocs("Chevrolet Equinox No ACC")],
|
||||
GMCarSpecs(mass=3500, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
SUBURBAN = GMPlatformConfig(
|
||||
"CHEVROLET SUBURBAN PREMIER 2016",
|
||||
[GMCarDocs("Chevrolet Suburban Premier 2016-2020")],
|
||||
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
|
||||
)
|
||||
SUBURBAN_CC = GMPlatformConfig(
|
||||
"CHEVROLET SUBURBAN NO ACC",
|
||||
[GMCarDocs("Chevrolet Suburban No ACC")],
|
||||
GMCarSpecs(mass=2731, wheelbase=3.032, steerRatio=17.3, centerToFrontRatio=0.49, tireStiffnessFactor=1.0),
|
||||
)
|
||||
YUKON_CC = GMPlatformConfig(
|
||||
"GMC YUKON NO ACC",
|
||||
[GMCarDocs("GMC Yukon No ACC")],
|
||||
CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
|
||||
)
|
||||
CT6_CC = GMPlatformConfig(
|
||||
"CADILLAC CT6 NO ACC",
|
||||
[GMCarDocs("Cadillac CT6 No ACC")],
|
||||
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
|
||||
)
|
||||
TRAILBLAZER_CC = GMPlatformConfig(
|
||||
"CHEVROLET TRAILBLAZER NO ACC",
|
||||
[GMCarDocs("Chevrolet Trailblazer 2024 No ACC")],
|
||||
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
XT4 = GMPlatformConfig(
|
||||
"CADILLAC XT4 2023",
|
||||
[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
|
||||
CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
BABYENCLAVE = GMPlatformConfig(
|
||||
"BUICK BABY ENCLAVE 2020",
|
||||
[GMCarDocs("Buick Baby Enclave 2020-23")],
|
||||
CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
|
||||
)
|
||||
TRAX = GMPlatformConfig(
|
||||
"CHEVROLET TRAX 2024",
|
||||
[GMCarDocs("Chevrolet TRAX 2024")],
|
||||
CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
|
||||
|
||||
class CruiseButtons:
|
||||
@@ -206,26 +287,38 @@ class GMFlags(IntFlag):
|
||||
NO_CAMERA = 4
|
||||
NO_ACCELERATOR_POS_MSG = 8
|
||||
|
||||
|
||||
# In a Data Module, an identifier is a string used to recognize an object,
|
||||
# either by itself or together with the identifiers of parent objects.
|
||||
# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
|
||||
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0' # likely does not contain anything useful
|
||||
GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
|
||||
GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
|
||||
GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
|
||||
|
||||
# Part number of XML data file that is used to configure ECU
|
||||
GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c'
|
||||
GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b' # used to know if XML file is compatible with the ECU software/hardware
|
||||
|
||||
# This DID is for identifying the part number that reflects the mix of hardware,
|
||||
# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
|
||||
# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
|
||||
GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
|
||||
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb'
|
||||
GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
|
||||
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc'
|
||||
GM_FW_RESPONSE = b'\x5a'
|
||||
|
||||
GM_FW_REQUESTS = [
|
||||
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST,
|
||||
GM_SOFTWARE_MODULE_1_REQUEST,
|
||||
GM_SOFTWARE_MODULE_2_REQUEST,
|
||||
GM_SOFTWARE_MODULE_3_REQUEST,
|
||||
GM_XML_DATA_FILE_PART_NUMBER,
|
||||
GM_XML_CONFIG_COMPAT_ID,
|
||||
GM_END_MODEL_PART_NUMBER_REQUEST,
|
||||
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
|
||||
GM_BASE_MODEL_PART_NUMBER_REQUEST,
|
||||
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
|
||||
]
|
||||
|
||||
GM_RX_OFFSET = 0x400
|
||||
@@ -243,15 +336,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
|
||||
)
|
||||
|
||||
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
|
||||
DBC[CAR.VOLT] = dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
DBC[CAR.VOLT_CC] = DBC[CAR.VOLT]
|
||||
|
||||
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV, CAR.VOLT_CC, CAR.BOLT_CC}
|
||||
CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC}
|
||||
|
||||
# We're integrated at the Safety Data Gateway Module on these cars
|
||||
SDGM_CAR = {CAR.XT4}
|
||||
SDGM_CAR = {CAR.XT4, CAR.BABYENCLAVE}
|
||||
|
||||
# Slow acceleration cars
|
||||
SLOW_ACC = {CAR.SILVERADO}
|
||||
@@ -261,3 +350,5 @@ CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER, CAR
|
||||
CAMERA_ACC_CAR.update({CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC})
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
Reference in New Issue
Block a user