Bribe Mayhem

common/params_keys.h

@@ -567,6 +567,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"VeryLongModeButtonControl", {PERSISTENT, INT, "0", "0", 2}},
     {"VeryLongStarButtonControl", {PERSISTENT, INT, "0", "0", 2}},
     {"VoltSNG", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"GMAutoHold", {PERSISTENT, BOOL, "0", "0", 2}},
     {"WarningImmediateVolume", {PERSISTENT, INT, "101", "101", 2}},
     {"WarningSoftVolume", {PERSISTENT, INT, "101", "101", 2}},
     {"WeatherPresets", {PERSISTENT, BOOL, "0", "0", 2}},

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -16,11 +16,26 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 NetworkLocation = structs.CarParams.NetworkLocation
 LongCtrlState = structs.CarControl.Actuators.LongControlState
+GearShifter = structs.CarState.GearShifter
 
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
 MIN_STEER_MSG_INTERVAL_MS = 15
+AUTO_HOLD_VOLT_CARS = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_VOLT_CAMERA,
+}
+AUTO_HOLD_DRIVE_GEARS = {
+  GearShifter.drive,
+  GearShifter.low,
+  GearShifter.manumatic,
+}
+AUTO_HOLD_MIN_BRAKE = 80
+AUTO_HOLD_MAX_BRAKE = 240
+AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
 
 
 def get_stock_cc_active_for_cancel(CP, CS):
@@ -101,6 +116,20 @@ def get_testing_ground_1_brake_switch_bias(v_ego: float) -> int:
   return int(round(np.interp(v_ego, [0.0, 6.0, 15.0, 30.0], [40.0, 85.0, 130.0, 170.0])))
 
 
+def supports_volt_auto_hold(CP, starpilot_toggles):
+  return (
+    getattr(starpilot_toggles, "gm_auto_hold", False) and
+    CP.openpilotLongitudinalControl and
+    CP.carFingerprint in AUTO_HOLD_VOLT_CARS
+  )
+
+
+def estimate_auto_hold_brake(driver_brake: float, op_brake: float) -> int:
+  driver_hold = np.interp(float(driver_brake), [8.0, 20.0, 40.0, 80.0], [80.0, 110.0, 150.0, 220.0])
+  hold_brake = max(float(op_brake), float(driver_hold))
+  return int(round(np.clip(hold_brake, AUTO_HOLD_MIN_BRAKE, AUTO_HOLD_MAX_BRAKE)))
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -153,6 +182,7 @@ class CarController(CarControllerBase):
     self.malibu_cancel_phase = 0
     self.malibu_button_phase = 0
     self.malibu_last_button_ts_nanos = 0
+    self.auto_hold_brake = 0
 
   def calc_pedal_command(self, accel: float, long_active: bool, v_ego: float):
     if not long_active:
@@ -302,6 +332,25 @@ class CarController(CarControllerBase):
     self.aego = CS.out.aEgo
     accel = actuators.accel
     press_regen_paddle = False
+    auto_hold_enabled = supports_volt_auto_hold(self.CP, starpilot_toggles)
+
+    hold_ready = (
+      auto_hold_enabled and
+      CS.out.cruiseState.available and
+      CS.out.gearShifter in AUTO_HOLD_DRIVE_GEARS and
+      CS.auto_hold_drive_time >= AUTO_HOLD_MIN_DRIVE_TIME_S
+    )
+    if not hold_ready or CS.out.gasPressed:
+      CS.auto_hold_armed = False
+    elif CS.regen_release_timer > 0.0:
+      CS.auto_hold_armed = False
+    elif not CS.auto_hold_armed and (CS.out.vEgo > 0.03 or (CS.out.vEgo < 0.02 and CS.out.brakePressed)):
+      CS.auto_hold_armed = True
+
+    if CS.out.vEgo > 0.1 or CS.out.gasPressed or CS.out.gearShifter not in AUTO_HOLD_DRIVE_GEARS:
+      self.auto_hold_brake = 0
+    elif CS.out.brakePressed or self.apply_brake > 0:
+      self.auto_hold_brake = estimate_auto_hold_brake(CS.out.brake, self.apply_brake)
 
     if self.frame % 25 == 0:
       try:
@@ -432,6 +481,13 @@ class CarController(CarControllerBase):
         interceptor_gas_cmd = 0
         at_full_stop = CC.longActive and CS.out.standstill
         near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+        auto_hold_active = (
+          hold_ready and
+          CS.auto_hold_armed and
+          not CC.longActive and
+          not CS.out.regenBraking and
+          CS.out.vEgo < 0.02
+        )
         if not CC.longActive:
           # ASCM sends max regen when not enabled
           self.apply_gas = self.params.INACTIVE_REGEN
@@ -569,12 +625,22 @@ class CarController(CarControllerBase):
           else:
             acc_engaged = CC.enabled
 
-          # 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, acc_engaged, at_full_stop,
-            include_always_one3=self.CP.carFingerprint in kaofui_cars, use_volt_layout=self.is_volt))
-          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))
+          if auto_hold_active:
+            hold_brake = self.auto_hold_brake or estimate_auto_hold_brake(CS.out.brake, self.apply_brake)
+            hold_standstill = CS.pcm_acc_status == AccState.STANDSTILL
+            hold_near_stop = CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE
+            can_sends.append(gmcan.create_friction_brake_command(
+              self.packer_ch, friction_brake_bus, hold_brake, idx, False, hold_near_stop, hold_standstill, self.CP))
+            CS.auto_hold_engaged = True
+            CS.auto_hold_fault_suppression_timer = 1.0
+          else:
+            # 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, acc_engaged, at_full_stop,
+              include_always_one3=self.CP.carFingerprint in kaofui_cars, use_volt_layout=self.is_volt))
+            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))
+            CS.auto_hold_engaged = False
 
         if should_send_acc_dashboard_status(self.CP, dash_speed_spoof_active):
           send_fcw = hud_alert == VisualAlert.fcw

opendbc_repo/opendbc/car/gm/carstate.py

@@ -2,6 +2,7 @@ import copy
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
+from opendbc.car import DT_CTRL
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.gm.values import (
@@ -26,6 +27,8 @@ TransmissionType = structs.CarParams.TransmissionType
 NetworkLocation = structs.CarParams.NetworkLocation
 
 STANDSTILL_THRESHOLD = 10 * 0.0311
+AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
+AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S = 1.0
 
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -58,6 +61,12 @@ class CarState(CarStateBase):
     self.distance_button = 0
 
     self.single_pedal_mode = False
+    self.auto_hold_armed = False
+    self.auto_hold_engaged = False
+    self.auto_hold_drive_time = 0.0
+    self.auto_hold_fault_suppression_timer = 0.0
+    self.regen_release_timer = 0.0
+    self.user_regen_paddle_pressed = False
 
     self.pedal_steady = 0
     self.ecm_cruise_control_ts_nanos = 0
@@ -165,9 +174,22 @@ class CarState(CarStateBase):
       analog_thresh = 0.10 if no_accel_pos else 8
       ret.brakePressed = ret.brake >= analog_thresh
 
+    in_drive_for_hold = ret.gearShifter in (GearShifter.drive, GearShifter.low, GearShifter.manumatic)
+    if in_drive_for_hold:
+      if ret.brakePressed:
+        self.auto_hold_drive_time = AUTO_HOLD_MIN_DRIVE_TIME_S
+      else:
+        self.auto_hold_drive_time = min(self.auto_hold_drive_time + DT_CTRL, AUTO_HOLD_MIN_DRIVE_TIME_S)
+    else:
+      self.auto_hold_drive_time = 0.0
+      self.auto_hold_armed = False
+      self.auto_hold_engaged = False
+
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:
       ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
+      if not ret.regenBraking and self.user_regen_paddle_pressed:
+        self.regen_release_timer = AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S
       self.single_pedal_mode = (ret.gearShifter == GearShifter.low or
                                 pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or
                                 (ret.regenBraking and ret.gearShifter == GearShifter.manumatic) or
@@ -176,6 +198,10 @@ class CarState(CarStateBase):
                                   CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
                                   CAR.CHEVROLET_BOLT_CC_2022_2023,
                                 } and self.CP.enableGasInterceptorDEPRECATED))
+      self.user_regen_paddle_pressed = ret.regenBraking
+
+    if self.regen_release_timer > 0.0:
+      self.regen_release_timer = max(self.regen_release_timer - DT_CTRL, 0.0)
 
     if self.CP.enableGasInterceptorDEPRECATED:
       gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
@@ -264,6 +290,10 @@ class CarState(CarStateBase):
       self.ecm_cruise_control_ts_nanos = 0
       self.accelerator_pedal2_ts_nanos = 0
 
+    if self.auto_hold_fault_suppression_timer > 0.0:
+      self.auto_hold_fault_suppression_timer = max(self.auto_hold_fault_suppression_timer - DT_CTRL, 0.0)
+      ret.accFaulted = False
+
     if self.CP.enableBsm and not sdgm_non_volt:
       ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
       ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1

starpilot/common/safe_mode.py

@@ -170,6 +170,7 @@ SAFE_MODE_MANAGED_KEYS = (
   "SNGHack",
   "SubaruSNG",
   "VoltSNG",
+  "GMAutoHold",
   "GMPedalLongitudinal",
   "GMDashSpoofOffsets",
   "LongPitch",

starpilot/common/starpilot_variables.py

@@ -1190,6 +1190,15 @@ class StarPilotVariables:
       condition=toggle.car_make == "gm" and toggle.has_pedal and "BOLT" in toggle.car_model,
     )
 
+    gm_auto_hold_supported = toggle.car_model in {
+      GM_CAR.CHEVROLET_VOLT,
+      GM_CAR.CHEVROLET_VOLT_2019,
+      GM_CAR.CHEVROLET_VOLT_ASCM,
+      GM_CAR.CHEVROLET_VOLT_CAMERA,
+    }
+    gm_auto_hold_supported &= toggle.openpilot_longitudinal
+    toggle.gm_auto_hold = self.get_value("GMAutoHold", condition=gm_auto_hold_supported)
+
     toggle.volt_sng = self.get_value("VoltSNG", condition=toggle.car_model == "CHEVROLET_VOLT")
 
     process_starpilot_toggles.cache_clear()

starpilot/system/the_pond/assets/components/tools/device_settings_layout.json

@@ -2186,6 +2186,13 @@
         "data_type": "bool",
         "ui_type": "toggle"
       },
+      {
+        "key": "GMAutoHold",
+        "label": "Volt Auto Hold",
+        "description": "Hold the car at a stop on supported non-CC-only Chevy Volt alpha-longitudinal setups until the gas pedal is pressed.",
+        "data_type": "bool",
+        "ui_type": "toggle"
+      },
       {
         "key": "TacoTuneHacks",
         "label": "\\\"Taco Bell Run\\\" Torque Hack",