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lacrosse

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firestar5683
2026-06-19 21:10:41 -05:00
parent dc581f6300
commit 05c2a90e16
9 changed files with 105 additions and 28 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+33 -26
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@@ -149,6 +149,19 @@ def get_adas_keepalive_step(CP, is_kaofui_car):
return None
def should_send_adas_status(CP, is_kaofui_car):
if CP.radarUnavailable:
return False
if not is_kaofui_car:
return True
if CP.carFingerprint in ASCM_INT:
return CP.carFingerprint == CAR.BUICK_LACROSSE_ASCM
return CP.networkLocation != NetworkLocation.fwdCamera and CP.carFingerprint not in SDGM_CAR
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])))
@@ -908,33 +921,27 @@ class CarController(CarControllerBase):
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
if not self.CP.radarUnavailable:
send_adas = True
if should_send_adas_status(self.CP, self.CP.carFingerprint in kaofui_cars):
tt = self.frame * DT_CTRL
if self.CP.carFingerprint in kaofui_cars:
if self.CP.carFingerprint not in ASCM_INT:
send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
if send_adas:
tt = self.frame * DT_CTRL
if self.CP.carFingerprint in kaofui_cars:
time_and_headlights_step = 10
speed_and_accelerometer_step = 2
if self.frame % time_and_headlights_step == 0:
idx = (self.frame // time_and_headlights_step) % 4
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
if self.frame % speed_and_accelerometer_step == 0:
idx = (self.frame // speed_and_accelerometer_step) % 4
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
else:
time_and_headlights_step = 20
if self.frame % time_and_headlights_step == 0:
idx = (self.frame // time_and_headlights_step) % 4
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
time_and_headlights_step = 10
speed_and_accelerometer_step = 2
if self.frame % time_and_headlights_step == 0:
idx = (self.frame // time_and_headlights_step) % 4
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
if self.frame % speed_and_accelerometer_step == 0:
idx = (self.frame // speed_and_accelerometer_step) % 4
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
else:
time_and_headlights_step = 20
if self.frame % time_and_headlights_step == 0:
idx = (self.frame // time_and_headlights_step) % 4
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
keepalive_step = get_adas_keepalive_step(self.CP, self.CP.carFingerprint in kaofui_cars)
if keepalive_step is not None and self.frame % keepalive_step == 0:
opendbc_repo/opendbc/car/gm/interface.py
+3
View File
@@ -675,6 +675,9 @@ class CarInterface(CarInterfaceBase):
if remote_start_boots_comma:
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_REMOTE_START_BOOTS_COMMA.value
if candidate == CAR.BUICK_LACROSSE_ASCM:
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_LACROSSE_RADAR.value
volt_stock_friction_brake_safety = (
(gm_auto_hold or volt_one_pedal_mode) and
candidate in {
opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py
+11
View File
@@ -47,6 +47,7 @@ from opendbc.car.gm.carcontroller import (
should_activate_auto_hold,
should_activate_volt_one_pedal,
should_neutralize_volt_long_on_driver_override,
should_send_adas_status,
should_send_stock_long_cancel,
should_spoof_dash_speed,
should_spoof_ecm_cruise_status,
@@ -153,6 +154,16 @@ def test_live_camera_path_does_not_send_pt_keepalive():
assert get_adas_keepalive_step(cp, is_kaofui_car=True) is None
def test_only_lacrosse_ascm_int_sends_radar_status():
common = {
"networkLocation": CarParams.NetworkLocation.fwdCamera,
"radarUnavailable": False,
}
assert should_send_adas_status(SimpleNamespace(carFingerprint=CAR.BUICK_LACROSSE_ASCM, **common), is_kaofui_car=True)
assert not should_send_adas_status(SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM, **common), is_kaofui_car=True)
def test_volt_auto_hold_requires_toggle_supported_non_cc_only_volt_and_stock_safety():
stock_safety = [SimpleNamespace(safetyParam=0x8000)]
no_safety = [SimpleNamespace(safetyParam=0)]
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+18
View File
@@ -139,6 +139,24 @@ class TestGMInterface:
assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.28, 0.26, 0.20, 0.16])
def test_lacrosse_radar_marker_is_not_set_on_volt_ascm(self):
fingerprint = _empty_fingerprint()
fingerprint[0][0x2FF] = 8
LacrosseInterface = interfaces[CAR.BUICK_LACROSSE_ASCM]
lacrosse_params = LacrosseInterface.get_params(
CAR.BUICK_LACROSSE_ASCM, fingerprint, [], alpha_long=True, is_release=False, docs=False,
starpilot_toggles=_test_starpilot_toggles(),
)
VoltInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
volt_params = VoltInterface.get_params(
CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=True, is_release=False, docs=False,
starpilot_toggles=_test_starpilot_toggles(),
)
assert lacrosse_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_LACROSSE_RADAR.value
assert not volt_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_LACROSSE_RADAR.value
def test_blazer_uses_earlier_stronger_low_speed_stop_tune(self):
CarInterface = interfaces[CAR.CHEVROLET_BLAZER]
fingerprint = _empty_fingerprint()
opendbc_repo/opendbc/car/gm/values.py
+2
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@@ -174,6 +174,8 @@ class GMSafetyFlags(IntFlag):
FLAG_GM_BOLT_2022_PEDAL = 4096
FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
FLAG_GM_PANDA_3D1_SCHED = 16384
# Context-specific alias: the 3D1 scheduler remains inactive on this camera-long ACC path.
FLAG_GM_LACROSSE_RADAR = 16384
FLAG_GM_PANDA_PADDLE_SCHED = 32768
opendbc_repo/opendbc/safety/modes/gm.h
+9
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@@ -545,6 +545,7 @@ static safety_config gm_init(uint16_t param) {
const uint16_t GM_PARAM_BOLT_2022_PEDAL = 4096;
const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
const uint16_t GM_PARAM_LACROSSE_RADAR = 16384;
const uint16_t GM_PARAM_PANDA_PADDLE_SCHED = 32768;
static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
@@ -581,6 +582,11 @@ static safety_config gm_init(uint16_t param) {
{0x184, 2, 8, .check_relay = true}, // camera bus
{0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus
static const CanMsg GM_CAM_LONG_LACROSSE_RADAR_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, {0x3D1, 0, 8, .check_relay = false}, // pt bus
{0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus
{0x184, 2, 8, .check_relay = true}, // camera bus
{0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus
static const CanMsg GM_CAM_LONG_NO_CAMERA_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x315, 0, 5, .check_relay = false}, {0x2CB, 0, 8, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus
{0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false},
@@ -727,6 +733,7 @@ static safety_config gm_init(uint16_t param) {
gm_zero_u8(gm_prndl2_state.spoof_data, 8U);
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
const bool gm_lacrosse_radar = GET_FLAG(param, GM_PARAM_LACROSSE_RADAR) && gm_ascm_int && gm_cam_long;
gm_pcm_cruise = (gm_hw == GM_CAM || gm_sdgm) && !gm_cam_long && !gm_force_ascm && !gm_pedal_long;
const bool gm_ascm_int_stock_cam = gm_ascm_int && (gm_hw == GM_CAM) && gm_pcm_cruise && !gm_cam_long && !gm_pedal_long && !gm_cc_long;
const bool gm_ascm_int_no_accel_pos = gm_ascm_int && (gm_hw == GM_CAM) && gm_force_brake_c9;
@@ -760,6 +767,8 @@ static safety_config gm_init(uint16_t param) {
} else if (gm_cam_long) {
if (gm_no_camera) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_NO_CAMERA_TX_MSGS);
} else if (gm_lacrosse_radar) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_LACROSSE_RADAR_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
}
opendbc_repo/opendbc/safety/tests/test_gm.py
+27
View File
@@ -307,6 +307,33 @@ def test_gm_ascm_int_long_no_accel_pos_uses_stock_cam_rx_checks():
assert safety.safety_config_valid()
def test_lacrosse_radar_status_tx_requires_dedicated_camera_long_marker():
safety = libsafety_py.libsafety
radar_status_msgs = (
(0xA1, 7),
(0x306, 8),
(0x308, 7),
(0x310, 2),
)
ascm_int_long = GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | GMSafetyFlags.HW_ASCM_INT
safety.set_safety_hooks(CarParams.SafetyModel.gm, ascm_int_long)
safety.init_tests()
for addr, length in radar_status_msgs:
assert not safety.safety_tx_hook(common.make_msg(1, addr, length))
safety.set_safety_hooks(CarParams.SafetyModel.gm, ascm_int_long | GMSafetyFlags.FLAG_GM_LACROSSE_RADAR)
safety.init_tests()
for addr, length in radar_status_msgs:
assert safety.safety_tx_hook(common.make_msg(1, addr, length))
volt_sdgm_long = GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | GMSafetyFlags.HW_SDGM
safety.set_safety_hooks(CarParams.SafetyModel.gm, volt_sdgm_long)
safety.init_tests()
for addr, length in radar_status_msgs:
assert not safety.safety_tx_hook(common.make_msg(1, addr, length))
class TestGmCameraEVSafety(GmCameraAccEVRegenMixin, TestGmCameraSafety, TestGmEVSafetyBase):
pass
panda/board/obj/gitversion.h
+1 -1
View File
@@ -1,2 +1,2 @@
extern const uint8_t gitversion[19];
const uint8_t gitversion[19] = "DEV-2c2d8b86-DEBUG";
const uint8_t gitversion[19] = "DEV-dc581f63-DEBUG";
panda/board/obj/version
+1 -1
View File
@@ -1 +1 @@
DEV-2c2d8b86-DEBUG
DEV-dc581f63-DEBUG