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firestar5683
2026-02-13 01:51:35 -06:00
parent 14b1793c79
commit 07c722553d
73 changed files with 2522 additions and 383 deletions
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common/params.cc
+6
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@@ -247,6 +247,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"BlacklistedModels", PERSISTENT},
{"BlindSpotMetrics", PERSISTENT},
{"BlindSpotPath", PERSISTENT},
{"BootLogo", PERSISTENT},
{"BorderMetrics", PERSISTENT},
{"CalibratedLateralAcceleration", PERSISTENT},
{"CalibrationProgress", PERSISTENT},
@@ -272,6 +273,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CEStatus", CLEAR_ON_OFFROAD_TRANSITION},
{"CEStoppedLead", PERSISTENT},
{"ClusterOffset", PERSISTENT},
{"BootLogoToDownload", CLEAR_ON_MANAGER_START},
{"ColorToDownload", CLEAR_ON_MANAGER_START},
{"Compass", PERSISTENT},
{"ConditionalExperimental", PERSISTENT},
@@ -310,6 +312,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DisengageVolume", PERSISTENT},
{"DoToggleReset", PERSISTENT},
{"DoToggleResetStock", PERSISTENT},
{"DownloadableBootLogos", PERSISTENT},
{"DownloadableColors", PERSISTENT},
{"DownloadableDistanceIcons", PERSISTENT},
{"DownloadableIcons", PERSISTENT},
@@ -323,6 +326,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"EngageVolume", PERSISTENT},
{"ExperimentalGMTune", PERSISTENT},
{"EVTuning", PERSISTENT},
{"TruckTuning", PERSISTENT},
{"Fahrenheit", PERSISTENT},
{"FavoriteDestinations", PERSISTENT | DONT_LOG},
{"FlashPanda", CLEAR_ON_MANAGER_START},
@@ -469,6 +473,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"RoadEdgesWidth", PERSISTENT},
{"RoadName", CLEAR_ON_MANAGER_START},
{"RoadNameUI", PERSISTENT},
{"RedPanda", PERSISTENT},
{"RemoteStartBootsComma", PERSISTENT},
{"RotatingWheel", PERSISTENT},
{"ScreenBrightness", PERSISTENT},
{"ScreenBrightnessOnroad", PERSISTENT},
common/params_pyx.so
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frogpilot/assets/download_functions.py
+28 -11
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@@ -29,13 +29,15 @@ def check_github_rate_limit():
print(f"Error checking GitHub rate limit: {error}")
return False
def download_file(cancel_param, destination, progress_param, url, download_param, params_memory):
def download_file(cancel_param, destination, progress_param, url, download_param, params_memory, allow_unknown_size=False, suppress_errors=False):
try:
destination.parent.mkdir(parents=True, exist_ok=True)
total_size = get_remote_file_size(url)
if total_size == 0:
total_size = get_remote_file_size(url, suppress_errors=suppress_errors or allow_unknown_size)
if total_size == 0 and not allow_unknown_size:
if not url.endswith(".gif"):
if suppress_errors:
return
handle_error(None, "Download invalid...", "Download invalid...", download_param, progress_param, params_memory)
return
@@ -56,24 +58,30 @@ def download_file(cancel_param, destination, progress_param, url, download_param
temp_file.write(chunk)
downloaded_size += len(chunk)
progress = (downloaded_size / total_size) * 100
if progress != 100:
params_memory.put(progress_param, f"{progress:.0f}%")
else:
if total_size > 0:
progress = (downloaded_size / total_size) * 100
if progress != 100:
params_memory.put(progress_param, f"{progress:.0f}%")
else:
params_memory.put(progress_param, "Verifying authenticity...")
elif downloaded_size > 0:
params_memory.put(progress_param, "Verifying authenticity...")
temp_file_path.rename(destination)
except Exception as error:
if suppress_errors:
return
handle_request_error(error, destination, download_param, progress_param, params_memory)
def get_remote_file_size(url):
def get_remote_file_size(url, suppress_errors=False):
try:
response = requests.head(url, headers={"Accept-Encoding": "identity"}, timeout=10)
response.raise_for_status()
return int(response.headers.get("Content-Length", 0))
except Exception as error:
handle_request_error(error, None, None, None, None)
if not suppress_errors:
handle_request_error(error, None, None, None, None)
return 0
def get_repository_url():
@@ -104,8 +112,17 @@ def handle_request_error(error, destination, download_param, progress_param, par
error_message = error_map.get(type(error), "Unexpected error")
handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param, params_memory)
def verify_download(file_path, url):
remote_file_size = get_remote_file_size(url)
def verify_download(file_path, url, allow_unknown_size=False):
remote_file_size = get_remote_file_size(url, suppress_errors=allow_unknown_size)
if remote_file_size == 0 and allow_unknown_size:
if not file_path.is_file():
print(f"File not found: {file_path}")
return False
if file_path.stat().st_size == 0:
print(f"File is empty: {file_path}")
return False
return True
if remote_file_size == 0:
print(f"Error fetching remote size for {file_path}")
frogpilot/assets/nnff_models/CHEVROLET_MALIBU_CC.json
+1
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@@ -0,0 +1 @@
{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
frogpilot/assets/nnff_models/CHEVROLET_MALIBU_HYBRID_CC.json
+1
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@@ -0,0 +1 @@
{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
frogpilot/assets/nnff_models/CHEVROLET_VOLT_2019.json
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frogpilot/assets/nnff_models/CHEVROLET_VOLT_ASCM.json
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frogpilot/assets/nnff_models/CHEVROLET_VOLT_CAMERA.json
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frogpilot/assets/nnff_models/CHEVROLET_VOLT_CC.json
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@@ -0,0 +1 @@
{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
frogpilot/assets/theme_manager.py
+140 -50
View File
@@ -37,6 +37,7 @@ HOLIDAY_SLUGS = {
}
THEME_COMPONENT_PARAMS = {
"boot_logos": "BootLogoToDownload",
"colors": "ColorToDownload",
"distance_icons": "DistanceIconToDownload",
"icons": "IconToDownload",
@@ -93,8 +94,16 @@ class ThemeManager:
steering_wheel_save_path.parent.mkdir(parents=True, exist_ok=True)
shutil.copy2(steering_wheel_image_path, steering_wheel_save_path)
default_boot_logo_path = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
boot_logo_save_path = THEME_SAVE_PATH / "bootlogos/starpilot.png"
boot_logo_save_path.parent.mkdir(parents=True, exist_ok=True)
if not boot_logo_save_path.exists():
shutil.copy2(default_boot_logo_path, boot_logo_save_path)
def download_theme(self, theme_component, theme_name, asset_param, frogpilot_toggles):
self.downloading_theme = True
allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
name_candidates = [theme_name]
repo_url = get_repository_url()
if not repo_url:
@@ -102,7 +111,12 @@ class ThemeManager:
self.downloading_theme = False
return
if theme_component == "distance_icons":
if theme_component == "boot_logos":
download_link = f"{repo_url}/Themes/bootlogo"
download_path = THEME_SAVE_PATH / "bootlogos" / theme_name
extensions = [".png", ".jpg", ".jpeg"]
name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
elif theme_component == "distance_icons":
download_link = f"{repo_url}/Distance-Icons/{theme_name}"
download_path = THEME_SAVE_PATH / "theme_packs" / theme_name / theme_component
extensions = [".zip"]
@@ -117,37 +131,40 @@ class ThemeManager:
for extension in extensions:
theme_path = download_path.with_suffix(extension)
theme_url = download_link + extension
theme_urls = [f"{download_link}/{candidate}{extension}" for candidate in name_candidates]
if theme_component != "boot_logos":
theme_urls = [download_link + extension]
delete_file(theme_path)
print(f"Downloading theme from GitHub: {theme_name}")
download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
for theme_url in theme_urls:
delete_file(theme_path)
handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
self.downloading_theme = False
return
print(f"Downloading theme from GitHub: {theme_name}")
download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)
if verify_download(theme_path, theme_url):
print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
delete_file(theme_path)
handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
if extension == ".zip":
params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
extract_zip(theme_path, download_path)
self.downloading_theme = False
return
params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
params_memory.remove(asset_param)
if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
self.downloading_theme = False
if extension == ".zip":
params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
extract_zip(theme_path, download_path)
self.update_themes(frogpilot_toggles)
return
elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
return
params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
params_memory.remove(asset_param)
self.downloading_theme = False
self.update_themes(frogpilot_toggles)
return
elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
return
handle_error(download_path, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
self.downloading_theme = False
@@ -158,7 +175,7 @@ class ThemeManager:
repo_encoded = quote_plus(RESOURCES_REPO)
assets = {"themes": {}, "wheels": []}
assets = {"boot_logos": [], "themes": {}, "wheels": []}
try:
def list_files(branch):
if is_github:
@@ -234,6 +251,20 @@ class ThemeManager:
theme_name, sub_path = item["path"].split("/", 1)
theme_path = sub_path.lower()
if theme_name.lower() == "bootlogo":
if Path(sub_path).suffix.lower() not in (".png", ".jpg", ".jpeg"):
continue
assets["boot_logos"].append(sub_path)
logo_name = Path(sub_path).stem
local_files = list((THEME_SAVE_PATH / "bootlogos").glob(f"{logo_name}.*"))
if local_files and expected_size > 0:
local_size = self.theme_sizes.get("boot_logos", {}).get(logo_name)
if local_size != expected_size:
print(f"boot logo {logo_name} is outdated, redownloading...")
self.download_theme("boot_logos", logo_name, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
continue
for key in ("colors", "icons", "signals", "sounds"):
if key in theme_path:
assets["themes"].setdefault(theme_name, set()).add(key)
@@ -246,6 +277,7 @@ class ThemeManager:
self.download_theme(key, theme_name, THEME_COMPONENT_PARAMS[key], frogpilot_toggles)
break
assets["boot_logos"].sort()
assets["themes"] = {key: sorted(list(value)) for key, value in assets["themes"].items()}
assets["wheels"].sort()
return assets
@@ -265,7 +297,7 @@ class ThemeManager:
parts = base.replace("_", "-").split("-")
capitalized_parts = [part.capitalize() for part in parts if part]
if len(capitalized_parts) > 1 and component != "steering_wheels":
if len(capitalized_parts) > 1 and component not in {"boot_logos", "steering_wheels"}:
display = f"{capitalized_parts[0]} ({' '.join(capitalized_parts[1:])})"
else:
display = " ".join(capitalized_parts)
@@ -321,37 +353,44 @@ class ThemeManager:
}
def handle_verification_failure(self, extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
if theme_component == "distance_icons":
allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
if theme_component == "boot_logos":
download_link = f"{GITLAB_URL}/Themes/bootlogo"
name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
elif theme_component == "distance_icons":
download_link = f"{GITLAB_URL}/Distance-Icons/{theme_name}"
name_candidates = [theme_name]
elif theme_component == "steering_wheels":
download_link = f"{GITLAB_URL}/Steering-Wheels/{theme_name}"
name_candidates = [theme_name]
else:
download_link = f"{GITLAB_URL}/Themes/{theme_name}/{theme_component}"
name_candidates = [theme_name]
delete_file(theme_path)
for candidate in name_candidates:
delete_file(theme_path)
theme_url = download_link + extension
print(f"Downloading theme from GitLab: {theme_name}")
download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
theme_url = f"{download_link}/{candidate}{extension}" if theme_component == "boot_logos" else download_link + extension
print(f"Downloading theme from GitLab: {theme_name}")
download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)
if verify_download(theme_path, theme_url):
print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
if extension == ".zip":
params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
extract_zip(theme_path, download_path)
if extension == ".zip":
params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
extract_zip(theme_path, download_path)
params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
params_memory.remove(asset_param)
params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
params_memory.remove(asset_param)
self.downloading_theme = False
self.downloading_theme = False
self.update_themes(frogpilot_toggles)
return True
self.update_themes(frogpilot_toggles)
return True
handle_error(None, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
self.downloading_theme = False
# Let the caller continue trying alternate extensions before surfacing failure.
return False
@staticmethod
@@ -415,6 +454,8 @@ class ThemeManager:
return random.choice(candidates) if candidates else "stock"
def update_active_theme(self, time_validated, frogpilot_toggles, boot_run=False, randomize_theme=False):
boot_logo = getattr(frogpilot_toggles, "boot_logo", "stock")
if time_validated and frogpilot_toggles.holiday_themes:
self.holiday_theme = self.update_holiday()
else:
@@ -422,6 +463,7 @@ class ThemeManager:
if self.holiday_theme != "stock":
asset_mappings = {
"boot_logo": ("boot_logo", boot_logo),
"color_scheme": ("colors", self.holiday_theme),
"distance_icons": ("distance_icons", self.holiday_theme),
"icon_pack": ("icons", self.holiday_theme),
@@ -434,6 +476,7 @@ class ThemeManager:
selected_theme = self.randomize_theme_asset(available_themes)
asset_mappings = {
"boot_logo": ("boot_logo", boot_logo),
"color_scheme": ("colors", selected_theme.replace("-animated", "")),
"distance_icons": ("distance_icons", self.randomize_distance_icons(available_themes, selected_theme.replace("-animated", ""))),
"icon_pack": ("icons", selected_theme),
@@ -444,6 +487,7 @@ class ThemeManager:
elif not frogpilot_toggles.random_themes:
asset_mappings = {
"boot_logo": ("boot_logo", boot_logo),
"color_scheme": ("colors", frogpilot_toggles.color_scheme),
"distance_icons": ("distance_icons", frogpilot_toggles.distance_icons),
"icon_pack": ("icons", frogpilot_toggles.icon_pack),
@@ -458,7 +502,9 @@ class ThemeManager:
for asset, (asset_type, current_value) in asset_mappings.items():
print(f"Updating {asset}: {asset_type} with value {current_value}")
if asset_type == "wheel_image":
if asset_type == "boot_logo":
self.update_boot_logo(current_value)
elif asset_type == "wheel_image":
self.update_wheel_image(current_value, boot_run=boot_run)
else:
self.update_theme_asset(asset_type, current_value, boot_run=boot_run)
@@ -499,9 +545,16 @@ class ThemeManager:
save_location.symlink_to(asset_location, target_is_directory=True)
print(f"Linked {save_location} to {asset_location}")
def update_theme_params(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
def update_theme_params(self, downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
def update_param(key, assets, subfolder):
if subfolder == "steering_wheels":
if subfolder == "boot_logos":
themes_path = THEME_SAVE_PATH / "bootlogos"
existing_assets = {item.stem.lower() for item in themes_path.glob("*") if item.is_file()}
pending_assets = [asset for asset in assets if asset.lower() not in existing_assets]
params.put(key, ",".join(sorted(set(pending_assets))))
print(f"{key} updated successfully")
return
elif subfolder == "steering_wheels":
themes_path = THEME_SAVE_PATH / subfolder
existing_assets = {self.format_name(item.name, "steering_wheels") for item in themes_path.glob("*") if item.is_file()}
else:
@@ -511,6 +564,7 @@ class ThemeManager:
params.put(key, ",".join(sorted(set(assets) - existing_assets)))
print(f"{key} updated successfully")
update_param("DownloadableBootLogos", downloadable_boot_logos, "boot_logos")
update_param("DownloadableColors", downloadable_colors, "colors")
update_param("DownloadableDistanceIcons", downloadable_distance_icons, "distance_icons")
update_param("DownloadableIcons", downloadable_icons, "icons")
@@ -529,12 +583,20 @@ class ThemeManager:
theme_name = self.format_name(theme_dir.name, "theme_packs")
downloaded_themes[theme_name] = sorted(components)
(THEME_SAVE_PATH / "bootlogos").mkdir(parents=True, exist_ok=True)
downloaded_boot_logos = []
for boot_logo_file in (THEME_SAVE_PATH / "bootlogos").iterdir():
if boot_logo_file.is_file():
downloaded_boot_logos.append(self.format_name(boot_logo_file.name, "boot_logos"))
downloaded_wheels = []
for wheel_file in (THEME_SAVE_PATH / "steering_wheels").iterdir():
if wheel_file.is_file():
downloaded_wheels.append(self.format_name(wheel_file.name, "steering_wheels"))
params.put("ThemesDownloaded", json.dumps({
"boot_logos": sorted(downloaded_boot_logos),
"themes": {key: downloaded_themes[key] for key in sorted(downloaded_themes)},
"steering_wheels": sorted(downloaded_wheels)
}))
@@ -542,7 +604,9 @@ class ThemeManager:
print("ThemesDownloaded updated successfully")
def update_theme_size(self, theme_component, theme_name, file_size):
if theme_component == "steering_wheels":
if theme_component == "boot_logos":
key = "boot_logos"
elif theme_component == "steering_wheels":
key = "wheels"
else:
key = "themes"
@@ -550,7 +614,7 @@ class ThemeManager:
if key not in self.theme_sizes:
self.theme_sizes[key] = {}
if key == "wheels":
if key in {"boot_logos", "wheels"}:
self.theme_sizes[key][theme_name] = file_size
else:
if theme_name not in self.theme_sizes[key]:
@@ -572,6 +636,7 @@ class ThemeManager:
if not assets:
return
downloadable_boot_logos = []
downloadable_colors = []
downloadable_distance_icons = []
downloadable_icons = []
@@ -593,8 +658,10 @@ class ThemeManager:
if "sounds" in available_assets:
downloadable_sounds.append(theme_name)
downloadable_boot_logos = [Path(boot_logo).stem for boot_logo in assets["boot_logos"]]
downloadable_wheels = [self.format_name(wheel, "steering_wheels") for wheel in assets["wheels"]]
print(f"Downloadable Boot Logos: {downloadable_boot_logos}")
print(f"Downloadable Colors: {downloadable_colors}")
print(f"Downloadable Icons: {downloadable_icons}")
print(f"Downloadable Signals: {downloadable_signals}")
@@ -605,7 +672,21 @@ class ThemeManager:
if boot_run:
self.validate_themes(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles)
self.update_theme_params(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
self.update_theme_params(downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
@staticmethod
def update_boot_logo(image):
boot_logo_location = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
image_name = image.replace(" ", "_").lower()
source_file = next((file for file in (THEME_SAVE_PATH / "bootlogos").glob("*") if file.is_file() and file.stem.lower() == image_name), boot_logo_location)
# Avoid SameFileError when the selected/fallback source is already the active boot logo.
if source_file.resolve() == boot_logo_location.resolve():
print(f"Boot logo unchanged: {boot_logo_location}")
return
shutil.copy2(source_file, boot_logo_location)
print(f"Copied {source_file} to {boot_logo_location}")
def update_wheel_image(self, image, boot_run=False, random_event=False):
wheel_save_location = ACTIVE_THEME_PATH / "steering_wheel"
@@ -641,6 +722,15 @@ class ThemeManager:
def validate_themes(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles):
downloaded_data = json.loads(params.get("ThemesDownloaded") or "{}")
boot_logos_path = THEME_SAVE_PATH / "bootlogos"
for display_name in downloaded_data.get("boot_logos", []):
file_stem = display_name.replace(" ", "_").lower()
matching_files = list(boot_logos_path.glob(f"{file_stem}.*"))
if not matching_files:
print(f"Missing boot logo '{display_name}'. Downloading...")
self.download_theme("boot_logos", file_stem, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
self.update_active_theme(True, frogpilot_toggles)
for display_name, components in downloaded_data.get("themes", {}).items():
raw_name = display_name.lower().replace(" ", "_").replace("(", "").replace(")", "")
theme_folder_name = raw_name.replace("_animated", "-animated")
frogpilot/common/frogpilot_utilities.py
+13 -2
View File
@@ -2,6 +2,7 @@
import json
import math
import numpy as np
import os
import requests
import shutil
import subprocess
@@ -22,7 +23,7 @@ from opendbc.can.parser import CANParser
from openpilot.common.realtime import DT_DMON, DT_HW
from openpilot.selfdrive.car.toyota.carcontroller import LOCK_CMD
from openpilot.system.hardware import HARDWARE
from panda import Panda
from panda import Panda, FW_PATH
from openpilot.frogpilot.common.frogpilot_variables import EARTH_RADIUS, KONIK_PATH, MAPD_PATH, MAPS_PATH, params, params_cache, params_memory
@@ -151,11 +152,21 @@ def extract_zip(zip_file, extract_path):
print(f"Extraction completed: {zip_file} has been removed")
def flash_panda():
remote_start = params.get_bool("RemoteStartBootsComma")
for serial in Panda.list():
try:
panda = Panda(serial)
flash_fn = None
if remote_start:
app_fn = panda.get_mcu_type().config.app_fn
remote_fn = "panda_h7_remote.bin.signed" if app_fn == "panda_h7.bin.signed" else "panda_remote.bin.signed"
candidate = os.path.join(FW_PATH, remote_fn)
if os.path.isfile(candidate):
flash_fn = candidate
else:
print(f"Remote-start panda firmware missing: {candidate}. Falling back to default firmware.")
panda.reset(enter_bootstub=True)
panda.flash()
panda.flash(fn=flash_fn)
panda.close()
except Exception as exception:
print(f"Error flashing Panda {serial}: {exception}")
frogpilot/common/frogpilot_variables.py
+35 -5
View File
@@ -133,6 +133,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
("AdvancedLateralTune", "1", 2, "0"),
("AdvancedLongitudinalTune", "0", 3, "0"),
("EVTuning", "", 3, "0"),
("TruckTuning", "0", 3, "0"),
("AggressiveFollow", "1.25", 2, "1.25"),
("AggressiveFollowHigh", "1.25", 2, "1.25"),
("AggressiveJerkAcceleration", "50", 3, "50"),
@@ -159,6 +160,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
("BlacklistedModels", "", 2, ""),
("BlindSpotMetrics", "1", 3, "0"),
("BlindSpotPath", "1", 1, "0"),
("BootLogo", "starpilot", 0, "stock"),
("BorderMetrics", "1", 3, "0"),
("CalibratedLateralAcceleration", str(DEFAULT_LATERAL_ACCELERATION), 2, str(DEFAULT_LATERAL_ACCELERATION)),
("CalibrationProgress", "0", 3, "0"),
@@ -237,6 +239,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
("FullMap", "0", 2, "0"),
("GasRegenCmd", "1", 2, "0"),
("GMPedalLongitudinal", "1", 2, "1"),
("RedPanda", "0", 3, "0"),
("RemoteStartBootsComma", "0", 3, "0"),
("GithubSshKeys", "", 0, ""),
("GithubUsername", "", 0, ""),
("GoatScream", "0", 1, "0"),
@@ -620,19 +624,34 @@ class FrogPilotVariables:
toggle.steer_offset = np.clip(params.get_float("SteerOffset"), -0.2, 0.2) if advanced_lateral_tuning and tuning_level >= level["SteerOffset"] and toggle.car_make == "gm" else 0.0
toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
toggle.steerKp = [[0], [np.clip(params.get_float("SteerKP"), steerKp * 0.5, steerKp * 1.5) if advanced_lateral_tuning and is_torque_car and tuning_level >= level["SteerKP"] else steerKp]]
toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.75, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.5, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.25, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
ev_vehicle = toggle.car_make == "gm" and toggle.car_model != "CHEVROLET_VOLT" and CP.carFingerprint in GM_EV_CAR or toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR
gm_ev_vehicle = toggle.car_make == "gm" and CP.carFingerprint in GM_EV_CAR
gm_ev_vehicle &= not (toggle.car_model.startswith("CHEVROLET_VOLT") and not toggle.car_model.endswith("_CC"))
gm_ev_vehicle &= toggle.car_model != "CHEVROLET_MALIBU_HYBRID_CC"
ev_vehicle = gm_ev_vehicle or (toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR)
ev_vehicle |= CP.transmissionType == TransmissionType.direct
if params.get("EVTuning") == b"":
params.put_bool("EVTuning", ev_vehicle)
toggle.ev_tuning = params.get_bool("EVTuning") if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
if params.get("TruckTuning") == b"":
params.put_bool("TruckTuning", False)
ev_tuning_param = params.get_bool("EVTuning")
truck_tuning_param = params.get_bool("TruckTuning")
# Enforce exclusivity between EV and Truck tuning.
if truck_tuning_param and ev_tuning_param:
ev_tuning_param = False
params.put_bool("EVTuning", False)
toggle.ev_tuning = ev_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
toggle.truck_tuning = truck_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["TruckTuning"] else False
toggle.longitudinalActuatorDelay = np.clip(params.get_float("LongitudinalActuatorDelay"), 0, 1) if advanced_longitudinal_tuning and tuning_level >= level["LongitudinalActuatorDelay"] else longitudinalActuatorDelay
toggle.startAccel = np.clip(params.get_float("StartAccel"), 0, 4) if advanced_longitudinal_tuning and tuning_level >= level["StartAccel"] else startAccel
toggle.stopAccel = np.clip(params.get_float("StopAccel"), -4, 0) if advanced_longitudinal_tuning and tuning_level >= level["StopAccel"] else stopAccel
@@ -808,6 +827,9 @@ class FrogPilotVariables:
toggle.vEgoStarting = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStarting
toggle.vEgoStopping = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStopping
toggle.red_panda = toggle.car_make == "gm" and (params.get_bool("RedPanda") if tuning_level >= level["RedPanda"] else default.get_bool("RedPanda"))
toggle.remote_start_boots_comma = toggle.car_make == "gm" and (params.get_bool("RemoteStartBootsComma") if tuning_level >= level["RemoteStartBootsComma"] else default.get_bool("RemoteStartBootsComma"))
toggle.force_fingerprint = (params.get_bool("ForceFingerprint") if tuning_level >= level["ForceFingerprint"] else default.get_bool("ForceFingerprint")) and toggle.car_model is not None
toggle.frogsgomoo_tweak = toggle.openpilot_longitudinal and toggle.car_make == "toyota" and (params.get_bool("FrogsGoMoosTweak") if tuning_level >= level["FrogsGoMoosTweak"] else default.get_bool("FrogsGoMoosTweak"))
@@ -917,6 +939,7 @@ class FrogPilotVariables:
toggle.old_long_api |= toggle.openpilot_longitudinal and toggle.car_make == "hyundai" and not (params.get_bool("NewLongAPI") if tuning_level >= level["NewLongAPI"] else default.get_bool("NewLongAPI"))
personalize_openpilot = params.get_bool("PersonalizeOpenpilot") if tuning_level >= level["PersonalizeOpenpilot"] else default.get_bool("PersonalizeOpenpilot")
toggle.boot_logo = params.get("BootLogo", encoding="utf-8") or "starpilot"
toggle.color_scheme = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomColors", encoding="utf-8") if personalize_openpilot else "stock"
toggle.distance_icons = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomDistanceIcons", encoding="utf-8") if personalize_openpilot else "stock"
toggle.icon_pack = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomIcons", encoding="utf-8") if personalize_openpilot else "stock"
@@ -1006,7 +1029,14 @@ class FrogPilotVariables:
toggle.lock_doors = toyota_doors and (params.get_bool("LockDoors") if tuning_level >= level["LockDoors"] else default.get_bool("LockDoors"))
toggle.unlock_doors = toyota_doors and (params.get_bool("UnlockDoors") if tuning_level >= level["UnlockDoors"] else default.get_bool("UnlockDoors"))
toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
volt_models = {
"CHEVROLET_VOLT",
"CHEVROLET_VOLT_2019",
"CHEVROLET_VOLT_ASCM",
"CHEVROLET_VOLT_CAMERA",
}
toggle.volt_sng = toggle.car_model in volt_models and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
toggle.gm_pedal_longitudinal = params.get_bool("GMPedalLongitudinal") if tuning_level >= level["GMPedalLongitudinal"] else default.get_bool("GMPedalLongitudinal")
frogpilot/controls/lib/frogpilot_acceleration.py
+21 -8
View File
@@ -51,13 +51,25 @@ A_CRUISE_MAX_VALS_ECO_EV = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
A_CRUISE_MAX_VALS_SPORT_EV = [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
A_CRUISE_MAX_VALS_ECO_GAS = [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
A_CRUISE_MAX_VALS_SPORT_GAS = [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
A_CRUISE_MAX_VALS_ECO_TRUCK = [6.0, 1.40, 0.90, 0.65, 0.60, 0.55, 0.42]
A_CRUISE_MAX_VALS_SPORT_TRUCK = [6.0, 1.50, 1.00, 0.72, 0.65, 0.60, 0.45]
def get_max_accel_eco(v_ego, ev_tuning=True):
cruise_vals = A_CRUISE_MAX_VALS_ECO_EV if ev_tuning else A_CRUISE_MAX_VALS_ECO_GAS
def get_max_accel_eco(v_ego, ev_tuning=True, truck_tuning=False):
if ev_tuning:
cruise_vals = A_CRUISE_MAX_VALS_ECO_EV
elif truck_tuning:
cruise_vals = A_CRUISE_MAX_VALS_ECO_TRUCK
else:
cruise_vals = A_CRUISE_MAX_VALS_ECO_GAS
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
def get_max_accel_sport(v_ego, ev_tuning=True):
cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV if ev_tuning else A_CRUISE_MAX_VALS_SPORT_GAS
def get_max_accel_sport(v_ego, ev_tuning=True, truck_tuning=False):
if ev_tuning:
cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV
elif truck_tuning:
cruise_vals = A_CRUISE_MAX_VALS_SPORT_TRUCK
else:
cruise_vals = A_CRUISE_MAX_VALS_SPORT_GAS
return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
def get_max_accel_low_speeds(max_accel, v_cruise):
@@ -80,22 +92,23 @@ class FrogPilotAcceleration:
eco_gear = sm["frogpilotCarState"].ecoGear
sport_gear = sm["frogpilotCarState"].sportGear
ev_tuning = frogpilot_toggles.ev_tuning
truck_tuning = frogpilot_toggles.truck_tuning
if sm["frogpilotCarState"].trafficModeEnabled:
self.max_accel = get_max_accel(v_ego)
elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
if eco_gear:
self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
else:
if frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
else:
self.max_accel = get_max_allowed_accel(v_ego)
else:
if frogpilot_toggles.acceleration_profile == 1:
self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
elif frogpilot_toggles.acceleration_profile == 2:
self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
elif frogpilot_toggles.acceleration_profile == 3:
self.max_accel = get_max_allowed_accel(v_ego)
else:
frogpilot/ui/qt/offroad/frogpilot_settings.cc
+4 -1
View File
@@ -273,7 +273,10 @@ void FrogPilotSettingsWindow::updateVariables() {
hasSNG = hasOpenpilotLongitudinal && CP.getAutoResumeSng();
hasZSS = frogpilot_toggles.value("has_zss").toBool();
isAngleCar = CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE;
isBolt = carFingerprint == "CHEVROLET_BOLT_CC" || carFingerprint == "CHEVROLET_BOLT_EUV";
isBolt = carFingerprint == "CHEVROLET_BOLT_ACC_2022_2023" ||
carFingerprint == "CHEVROLET_BOLT_CC_2022_2023" ||
carFingerprint == "CHEVROLET_BOLT_CC_2019_2021" ||
carFingerprint == "CHEVROLET_BOLT_CC_2017";
isGM = carMake == "gm";
isHKG = carMake == "hyundai";
isHKGCanFd = isHKG && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD;
frogpilot/ui/qt/offroad/longitudinal_settings.cc
+25
View File
@@ -103,6 +103,10 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
"vehicle's detected powertrain type but can be overridden if the "
"automatic choice doesn't match."),
""},
{"TruckTuning", tr("Truck Tuning"),
tr("<b>Use aggressive acceleration profiles tuned for trucks.</b> "
"Intended for heavy vehicles that need stronger throttle."),
""},
{"LongitudinalActuatorDelay",
longitudinalActuatorDelay != 0
? QString(tr("Actuator Delay (Default: %1)"))
@@ -1125,6 +1129,21 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
&FrogPilotLongitudinalPanel::updateToggles);
}
QObject::connect(static_cast<ToggleControl *>(toggles["EVTuning"]),
&ToggleControl::toggleFlipped, this, [this]() {
if (params.getBool("EVTuning")) {
params.putBool("TruckTuning", false);
}
updateToggles();
});
QObject::connect(static_cast<ToggleControl *>(toggles["TruckTuning"]),
&ToggleControl::toggleFlipped, this, [this]() {
if (params.getBool("TruckTuning")) {
params.putBool("EVTuning", false);
}
updateToggles();
});
FrogPilotParamValueControl *trafficFollowToggle =
static_cast<FrogPilotParamValueControl *>(toggles["TrafficFollow"]);
FrogPilotParamValueControl *trafficAccelerationToggle =
@@ -1636,6 +1655,12 @@ void FrogPilotLongitudinalPanel::updateToggles() {
setVisible &= !isToyota || !params.getBool("FrogsGoMoosTweak");
}
if (key == "EVTuning") {
toggle->setEnabled(!params.getBool("TruckTuning"));
} else if (key == "TruckTuning") {
toggle->setEnabled(!params.getBool("EVTuning"));
}
toggle->setVisible(setVisible);
if (setVisible) {
frogpilot/ui/qt/offroad/longitudinal_settings.h
+1 -1
View File
@@ -40,7 +40,7 @@ private:
std::map<QString, AbstractControl*> toggles;
QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "TruckTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveFollowHigh", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
QSet<QString> conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "ShowCEMStatus"};
QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
frogpilot/ui/qt/offroad/theme_settings.cc
+65
View File
@@ -66,6 +66,11 @@ void deleteThemeAsset(QDir &directory, const QString &subFolder, const QString &
}
void downloadThemeAsset(const QString &input, const std::string &paramKey, const QString &assetParam, Params &params, Params &params_memory) {
if (paramKey == "BootLogoToDownload") {
params_memory.put(paramKey, input.trimmed().toStdString());
return;
}
QString output = input;
int tilde = output.indexOf("~");
if (tilde >= 0) {
@@ -228,6 +233,7 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
const std::vector<std::tuple<QString, QString, QString, QString>> themeToggles {
{"PersonalizeOpenpilot", tr("Custom Themes"), tr("<b>The overall look and feel of openpilot.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), "../../frogpilot/assets/toggle_icons/icon_frog.png"},
{"BootLogo", tr("Boot Logo"), tr("<b>The boot logo shown while the device starts.</b>"), ""},
{"CustomColors", tr("Color Scheme"), tr("<b>The color scheme used throughout openpilot.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), ""},
{"CustomDistanceIcons", tr("Distance Button"), tr("<b>The distance button icons shown on the driving screen.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), ""},
{"CustomIcons", tr("Icon Pack"), tr("<b>The icon style used across openpilot.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), ""},
@@ -252,6 +258,57 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
themesLayout->setCurrentWidget(customThemesPanel);
});
themeToggle = personalizeOpenpilotToggle;
} else if (param == "BootLogo") {
manageBootLogosButton = new FrogPilotButtonsControl(title, desc, icon, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")});
QObject::connect(manageBootLogosButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
// Show all downloaded boot logos, including the currently selected one.
QStringList bootLogos = getThemeList(true, QDir(bootLogosDirectory.path()), "", "BootLogo", params);
if (id == 0) {
QString bootLogoToDelete = MultiOptionDialog::getSelection(tr("Select a boot logo to delete"), bootLogos, "", this);
if (!bootLogoToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Delete the \"%1\" boot logo?").arg(bootLogoToDelete), tr("Delete"), this)) {
bootLogosDownloaded = false;
deleteThemeAsset(bootLogosDirectory, "", "DownloadableBootLogos", bootLogoToDelete, params);
}
} else if (id == 1) {
if (bootLogoDownloading) {
cancellingDownload = true;
params_memory.putBool("CancelThemeDownload", true);
QTimer::singleShot(2500, [this]() {
bootLogoDownloading = false;
cancellingDownload = false;
themeDownloading = false;
params_memory.putBool("CancelThemeDownload", false);
});
} else {
QStringList downloadableBootLogos = QString::fromStdString(params.get("DownloadableBootLogos")).split(",");
bootLogoToDownload = MultiOptionDialog::getSelection(tr("Select a boot logo to download"), downloadableBootLogos, "", this);
if (!bootLogoToDownload.isEmpty()) {
manageBootLogosButton->setValue(storeThemeName(bootLogoToDownload, "BootLogo", params));
bootLogoDownloading = true;
themeDownloading = true;
params_memory.put("ThemeDownloadProgress", "Downloading...");
downloadThemeAsset(bootLogoToDownload, "BootLogoToDownload", "DownloadableBootLogos", params, params_memory);
downloadStatusLabel->setText("Downloading...");
}
}
} else if (id == 2) {
QString bootLogoToSelect = MultiOptionDialog::getSelection(tr("Select a boot logo"), bootLogos, getThemeName("BootLogo", params), this);
if (!bootLogoToSelect.isEmpty()) {
manageBootLogosButton->setValue(storeThemeName(bootLogoToSelect, "BootLogo", params));
}
}
});
manageBootLogosButton->setValue(getThemeName(param.toStdString(), params));
themeToggle = manageBootLogosButton;
} else if (param == "CustomColors") {
manageCustomColorsButton = new FrogPilotButtonsControl(title, desc, icon, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")});
QObject::connect(manageCustomColorsButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
@@ -704,6 +761,7 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
}
void FrogPilotThemesPanel::showEvent(QShowEvent *event) {
bootLogosDownloaded = params.get("DownloadableBootLogos").empty();
colorsDownloaded = params.get("DownloadableColors").empty();
distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty();
iconsDownloaded = params.get("DownloadableIcons").empty();
@@ -756,6 +814,7 @@ void FrogPilotThemesPanel::updateState(const UIState &s, const FrogPilotUIState
finalizingDownload = true;
QTimer::singleShot(2500, [this]() {
bootLogoDownloading = false;
colorDownloading = false;
distanceIconDownloading = false;
finalizingDownload = false;
@@ -765,6 +824,7 @@ void FrogPilotThemesPanel::updateState(const UIState &s, const FrogPilotUIState
themeDownloading = false;
wheelDownloading = false;
bootLogosDownloaded = params.get("DownloadableBootLogos").empty();
colorsDownloaded = params.get("DownloadableColors").empty();
distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty();
iconsDownloaded = params.get("DownloadableIcons").empty();
@@ -782,6 +842,11 @@ void FrogPilotThemesPanel::updateState(const UIState &s, const FrogPilotUIState
bool parked = !s.scene.started || fs.frogpilot_scene.parked || fs.frogpilot_toggles.value("frogs_go_moo").toBool();
manageBootLogosButton->setText(1, bootLogoDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
manageBootLogosButton->setEnabledButtons(0, !themeDownloading);
manageBootLogosButton->setEnabledButtons(1, fs.frogpilot_scene.online && (!themeDownloading || bootLogoDownloading) && !cancellingDownload && !finalizingDownload && !bootLogosDownloaded && parked);
manageBootLogosButton->setEnabledButtons(2, !themeDownloading);
manageCustomColorsButton->setText(1, colorDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
manageCustomColorsButton->setEnabledButtons(0, !themeDownloading);
manageCustomColorsButton->setEnabledButtons(1, fs.frogpilot_scene.online && (!themeDownloading || colorDownloading) && !cancellingDownload && !finalizingDownload && !colorsDownloaded && parked);
frogpilot/ui/qt/offroad/theme_settings.h
+6 -1
View File
@@ -19,6 +19,8 @@ private:
void updateToggles();
bool cancellingDownload;
bool bootLogoDownloading = false;
bool bootLogosDownloaded = false;
bool colorDownloading;
bool colorsDownloaded;
bool distanceIconDownloading;
@@ -40,10 +42,11 @@ private:
std::map<QString, AbstractControl*> toggles;
QSet<QString> customThemeKeys = {"CustomColors", "CustomDistanceIcons", "CustomIcons", "CustomSignals", "CustomSounds", "DownloadStatusLabel", "WheelIcon"};
QSet<QString> customThemeKeys = {"BootLogo", "CustomColors", "CustomDistanceIcons", "CustomIcons", "CustomSignals", "CustomSounds", "DownloadStatusLabel", "WheelIcon"};
QSet<QString> parentKeys;
FrogPilotButtonsControl *manageBootLogosButton;
FrogPilotButtonsControl *manageCustomColorsButton;
FrogPilotButtonsControl *manageCustomIconsButton;
FrogPilotButtonsControl *manageCustomSignalsButton;
@@ -55,11 +58,13 @@ private:
LabelControl *downloadStatusLabel;
QDir bootLogosDirectory{"/data/themes/bootlogos/"};
QDir themePacksDirectory{"/data/themes/theme_packs/"};
QDir wheelsDirectory{"/data/themes/steering_wheels/"};
QJsonObject frogpilotToggleLevels;
QString bootLogoToDownload;
QString colorSchemeToDownload;
QString distanceIconPackToDownload;
QString iconPackToDownload;
frogpilot/ui/qt/offroad/vehicle_settings.cc
+24
View File
@@ -1,6 +1,9 @@
#include <QRegularExpression>
#include <QTextStream>
#include <chrono>
#include <thread>
#include "frogpilot/ui/qt/offroad/vehicle_settings.h"
QStringList getCarNames(const QString &carMake, QMap<QString, QString> &carModels) {
@@ -170,6 +173,8 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
{"ExperimentalGMTune", tr("FrogsGoMoo's Experimental Tune"), tr("<b>Experimental GM tune by FrogsGoMoo</b> that attempts to smoothen stopping and takeoff control. Use at your own risk!"), ""},
{"GMPedalLongitudinal", tr("Use Pedal for Longitudinal Control"), tr("<b>Use the pedal interceptor for longitudinal control</b> instead of camera ACC/Redneck when available."), ""},
{"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
{"RedPanda", tr("Red Panda"), tr("<b>Enable Red Panda behavior</b> for GM (alternate safety config and bus numbering). Requires a reboot to take effect."), ""},
{"RemoteStartBootsComma", tr("Remote Start Boots Comma"), tr("<b>Use GM C9 SystemPowerMode</b> for ignition detection. Toggle requires a panda firmware update and a reboot to take effect."), ""},
{"VoltSNG", tr("Stop-and-Go Hack"), tr("<b>Force stop-and-go</b> on the 2017 Chevy Volt."), ""},
{"HKGToggles", tr("Hyundai/Kia/Genesis Settings"), tr("<b>FrogPilot features for Genesis, Hyundai, and Kia vehicles.</b>"), ""},
@@ -300,6 +305,25 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
});
}
ParamControl *remoteStartToggle = static_cast<ParamControl*>(toggles["RemoteStartBootsComma"]);
QObject::connect(remoteStartToggle, &ToggleControl::toggleFlipped, [parent, remoteStartToggle, this](bool state) {
const QString prompt = tr("Remote Start requires a Panda firmware update. Flash the Panda now?");
if (!FrogPilotConfirmationDialog::yesorno(prompt, this)) {
params.putBool("RemoteStartBootsComma", !state);
remoteStartToggle->refresh();
return;
}
std::thread([parent, this]() {
parent->keepScreenOn = true;
params_memory.putBool("FlashPanda", true);
while (params_memory.getBool("FlashPanda")) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
Hardware::reboot();
}).detach();
});
openDescriptions(forceOpenDescriptions, toggles);
QObject::connect(uiState(), &UIState::offroadTransition, [selectMakeButton, selectModelButton, this]() {
frogpilot/ui/qt/offroad/vehicle_settings.h
+2 -1
View File
@@ -36,7 +36,7 @@ private:
std::map<QString, AbstractControl*> toggles;
QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "VoltSNG"};
QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "RedPanda", "RemoteStartBootsComma", "VoltSNG"};
QSet<QString> hkgKeys = {"NewLongAPI", "TacoTuneHacks"};
QSet<QString> longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "SNGHack", "VoltSNG"};
QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
@@ -50,6 +50,7 @@ private:
ParamControl *forceFingerprint;
Params params;
Params params_memory{"/dev/shm/params"};
Params params_default{"/dev/shm/params_default"};
QJsonObject frogpilotToggleLevels;
opendbc/gm_global_a_powertrain_generated.dbc
+1
View File
@@ -171,6 +171,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO
SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
SG_ ACCHiddenBit : 30|1@0+ (1,0) [0|1] "" XXX
SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
panda/.gitignore
+5
View File
@@ -13,6 +13,11 @@ a.out
dist/
pandacan.egg-info/
obj/
!board/obj/
!board/obj/bootstub.panda_remote.bin
!board/obj/bootstub.panda_h7_remote.bin
!board/obj/panda_remote.bin.signed
!board/obj/panda_h7_remote.bin.signed
examples/output.csv
.DS_Store
.vscode*
panda/board/drivers/can_common.h
+17 -4
View File
@@ -33,6 +33,7 @@ extern bool can_loopback;
// Ignition detected from CAN meessages
bool ignition_can = false;
uint32_t ignition_can_cnt = 0U;
extern bool gm_remote_start_boots_comma;
#define ALL_CAN_SILENT 0xFF
#define ALL_CAN_LIVE 0
@@ -202,10 +203,22 @@ void ignition_can_hook(CANPacket_t *to_push) {
int len = GET_LEN(to_push);
// GM exception
if ((addr == 0xC9) && (len == 8)) {
// Matches SystemPowerMode (1=Run, 0=Off)
ignition_can = (GET_BYTE(to_push, 6) & 0x10U) != 0U;
ignition_can_cnt = 0U;
#ifdef PANDA_GM_REMOTE_START_C9
if (true) {
#else
if (gm_remote_start_boots_comma) {
#endif
if ((addr == 0xC9) && (len == 8)) {
// Matches SystemPowerMode (1=Run, 0=Off)
ignition_can = (GET_BYTE(to_push, 6) & 0x10U) != 0U;
ignition_can_cnt = 0U;
}
} else {
if ((addr == 0x1F1) && (len == 8)) {
// SystemPowerMode (2=Run, 3=Crank Request)
ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
ignition_can_cnt = 0U;
}
}
// Tesla exception
panda/board/obj/bootstub.panda.bin
BIN
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Binary file not shown.
panda/board/obj/bootstub.panda_h7.bin
BIN
View File
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panda/board/obj/bootstub.panda_h7_remote.bin
Executable
BIN
View File
Binary file not shown.
panda/board/obj/bootstub.panda_remote.bin
Executable
BIN
View File
Binary file not shown.
panda/board/obj/gitversion.h
+1 -1
View File
@@ -1 +1 @@
const uint8_t gitversion[] = "DEV-87d2f6ab-DEBUG";
const uint8_t gitversion[] = "DEV-4d1efbb2-DEBUG";
panda/board/obj/panda.bin.signed
BIN
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Binary file not shown.
panda/board/obj/panda_h7.bin.signed
BIN
View File
Binary file not shown.
panda/board/obj/panda_h7_remote.bin
Executable
BIN
View File
Binary file not shown.
panda/board/obj/panda_h7_remote.bin.signed
BIN
View File
Binary file not shown.
panda/board/safety/safety_gm.h
+104 -82
View File
@@ -9,20 +9,32 @@ const SteeringLimits GM_STEERING_LIMITS = {
.type = TorqueDriverLimited,
};
const SteeringLimits GM_BOLT_2017_STEERING_LIMITS = {
.max_steer = 450,
.max_rate_up = 15,
.max_rate_down = 34,
.driver_torque_allowance = 78,
.driver_torque_factor = 6,
.max_rt_delta = 345,
.max_rt_interval = 200000,
.type = TorqueDriverLimited,
};
const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 3072,
.min_gas = 1404,
.inactive_gas = 1404,
.max_gas = 8191,
.min_gas = 5500,
.inactive_gas = 5500,
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 3400,
.min_gas = 1514,
.inactive_gas = 1554,
.max_gas = 8848,
.min_gas = 5610,
.inactive_gas = 5650,
.max_brake = 400,
};
const SteeringLimits *gm_steer_limits;
const LongitudinalLimits *gm_long_limits;
const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
@@ -40,7 +52,7 @@ const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
{0x315, 2, 5}, {0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
{0x184, 2, 8}}; // camera bus
@@ -62,13 +74,18 @@ RxCheck gm_rx_checks[] = {
const uint16_t GM_PARAM_HW_CAM = 1;
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
const uint16_t GM_PARAM_HW_SDGM = 4;
const uint16_t GM_PARAM_CC_LONG = 8;
const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
const uint16_t GM_PARAM_NO_CAMERA = 32;
const uint16_t GM_PARAM_NO_ACC = 64;
const uint16_t GM_PARAM_PEDAL_LONG = 128; // TODO: this can be inferred
const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256;
const uint16_t GM_PARAM_CC_LONG = 4;
const uint16_t GM_PARAM_HW_ASCM_LONG = 8;
const uint16_t GM_PARAM_NO_CAMERA = 16;
const uint16_t GM_PARAM_NO_ACC = 32;
const uint16_t GM_PARAM_PEDAL_LONG = 64; // TODO: this can be inferred
const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 128;
const uint16_t GM_PARAM_ASCM_INT = 256;
const uint16_t GM_PARAM_FORCE_BRAKE_C9 = 512;
const uint16_t GM_PARAM_HW_SDGM = 1024;
const uint16_t GM_PARAM_BOLT_2017 = 2048;
const uint16_t GM_PARAM_BOLT_2022_PEDAL = 4096;
const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
enum {
GM_BTN_UNPRESS = 1,
@@ -90,30 +107,12 @@ bool gm_pedal_long = false;
bool gm_cc_long = false;
bool gm_skip_relay_check = false;
bool gm_force_ascm = false;
static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
// enter controls on falling edge of set or rising edge of resume (avoids fault)
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
if (set || res) {
controls_allowed = true;
}
// exit controls on cancel press
if (button == GM_BTN_CANCEL) {
controls_allowed = false;
}
cruise_button_prev = button;
}
bool gm_bolt_2022_pedal = false;
bool gm_ascm_int = false;
bool gm_force_brake_c9 = false;
bool gm_remote_start_boots_comma = false;
static void gm_rx_hook(const CANPacket_t *to_push) {
if ((GET_BUS(to_push) == 2U) && (GET_ADDR(to_push) == 0x1E1) && (gm_hw == GM_SDGM)) {
// SDGM buttons are on bus 2
handle_gm_wheel_buttons(to_push);
}
if (GET_BUS(to_push) == 0U) {
int addr = GET_ADDR(to_push);
@@ -131,19 +130,34 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
}
// ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM)
if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long) && (gm_hw != GM_SDGM)) {
handle_gm_wheel_buttons(to_push);
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long)) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
// enter controls on falling edge of set or rising edge of resume (avoids fault)
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
if (set || res) {
controls_allowed = true;
}
// exit controls on cancel press
if (button == GM_BTN_CANCEL) {
controls_allowed = false;
}
cruise_button_prev = button;
}
// Reference for brake pressed signals:
// https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
// Prefer 0xC9 (ECMEngineStatus) when gm_force_brake_c9 is set, otherwise keep legacy behavior.
if ((addr == 0xC9) && gm_force_brake_c9) {
brake_pressed = GET_BIT(to_push, 40U) != 0U;
} else if ((addr == 0xBE) && ((gm_hw == GM_ASCM) || (gm_hw == GM_SDGM))) {
brake_pressed = GET_BYTE(to_push, 1) >= 8U;
}
if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
brake_pressed = GET_BIT(to_push, 40U);
} else if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
brake_pressed = GET_BIT(to_push, 40U) != 0U;
}
if (addr == 0xC9) {
@@ -162,6 +176,11 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
}
// Cruise check for ACC models with pedal interceptor - block stock ACC
if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor && gm_bolt_2022_pedal) {
cruise_engaged_prev = false;
}
// Cruise check for CC only cars
if ((addr == 0x3D1) && !gm_has_acc) {
bool cruise_engaged = (GET_BYTE(to_push, 4) >> 7) != 0U;
@@ -172,13 +191,6 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
}
// Cruise check for ACC models with pedal interceptor - block stock ACC
if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor) {
// When pedal interceptor is active on ACC models, ignore stock cruise state
// to prevent conflicts between pedal interceptor and stock ACC
cruise_engaged_prev = false;
}
if (addr == 0xBD) {
regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
}
@@ -199,11 +211,18 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
generic_rx_checks(stock_ecu_detected);
}
// Cruise check for Gen2 Bolt (ASCMActiveCruiseControlStatus on bus 2)
int addr = GET_ADDR(to_push);
if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
// Cruise check for ASCMActiveCruiseControlStatus on bus 2.
// Keep kaofui behavior for non-Bolt paths; Bolt pedal path keeps local tracking.
if ((GET_ADDR(to_push) == 0x370) && (GET_BUS(to_push) == 2U)) {
bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U; // ACCCmdActive
cruise_engaged_prev = cruise_engaged;
if (gm_bolt_2022_pedal) {
cruise_engaged_prev = cruise_engaged;
} else if (gm_pcm_cruise && gm_has_acc) {
pcm_cruise_check(cruise_engaged);
} else {
cruise_engaged_prev = cruise_engaged;
}
}
}
@@ -227,7 +246,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
bool steer_req = GET_BIT(to_send, 3U);
if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) {
if (steer_torque_cmd_checks(desired_torque, steer_req, *gm_steer_limits)) {
tx = false;
}
}
@@ -242,10 +261,10 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
// GAS/REGEN: safety check
if (addr == 0x2CB) {
bool apply = GET_BIT(to_send, 0U);
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
bool violation = false;
// Allow apply bit in pre-enabled and overriding states, except for inactive gas // Allow apply bit in pre-enabled and overriding states
// Allow apply bit in pre-enabled and overriding states
violation |= !controls_allowed && apply;
violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
@@ -259,13 +278,11 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
// For ACC cars with pedal interceptor, allow cancel even if cruise_engaged_prev is false
// (since we set it to false to prevent conflicts, but still need to cancel cruise)
if (gm_hw == GM_CAM && enable_gas_interceptor && button == GM_BTN_CANCEL) {
if (gm_hw == GM_CAM && enable_gas_interceptor && gm_bolt_2022_pedal && button == GM_BTN_CANCEL) {
allowed_btn = true;
}
// For standard CC, allow spamming of SET / RESUME
if (gm_cc_long) {
// For CC_LONG or PCM cruise vehicles, allow SET/RESUME when cruise is engaged
if (gm_cc_long || gm_pcm_cruise) {
allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
}
@@ -306,14 +323,20 @@ static int gm_fwd_hook(int bus_num, int addr) {
}
if (bus_num == 2) {
// block lkas message and acc messages
// Block 0x370 only for experimental long without pedal interceptor
bool is_lkas_msg = (addr == 0x180);
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
if (gm_cam_long && !enable_gas_interceptor) {
is_acc_msg = is_acc_msg || (addr == 0x370);
bool block_msg = false;
if (gm_bolt_2022_pedal) {
// Block 0x370 only for experimental long without pedal interceptor
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
if (gm_cam_long && !enable_gas_interceptor) {
is_acc_msg = is_acc_msg || (addr == 0x370);
}
block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
} else {
// block lkas message and acc messages if gm_cam_long, forward all others
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
}
bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
if (!block_msg) {
bus_fwd = 0;
}
@@ -324,34 +347,35 @@ static int gm_fwd_hook(int bus_num, int addr) {
}
static safety_config gm_init(uint16_t param) {
if GET_FLAG(param, GM_PARAM_HW_CAM) {
gm_ascm_int = GET_FLAG(param, GM_PARAM_ASCM_INT);
if (GET_FLAG(param, GM_PARAM_HW_CAM)) {
gm_hw = GM_CAM;
} else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
} else if (GET_FLAG(param, GM_PARAM_HW_SDGM)) {
gm_hw = GM_SDGM;
} else {
gm_hw = GM_ASCM;
}
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
gm_steer_limits = GET_FLAG(param, GM_PARAM_BOLT_2017) ? &GM_BOLT_2017_STEERING_LIMITS : &GM_STEERING_LIMITS;
if (gm_hw == GM_ASCM || gm_force_ascm) {
gm_long_limits = &GM_ASCM_LONG_LIMITS;
if (gm_hw == GM_ASCM || gm_force_ascm || gm_ascm_int) {
gm_long_limits = &GM_ASCM_LONG_LIMITS;
} else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
gm_long_limits = &GM_CAM_LONG_LIMITS;
gm_long_limits = &GM_CAM_LONG_LIMITS;
} else {
}
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
// Block ACC messages when pedal interceptor is active on ACC models
if (gm_hw == GM_CAM && enable_gas_interceptor) {
gm_cam_long = true;
}
gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
gm_bolt_2022_pedal = GET_FLAG(param, GM_PARAM_BOLT_2022_PEDAL);
gm_pcm_cruise = (((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
if (gm_hw == GM_CAM) {
@@ -362,8 +386,6 @@ static safety_config gm_init(uint16_t param) {
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
}
} else if (gm_hw == GM_SDGM) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
}
return ret;
}
panda/python/__init__.py
+12 -7
View File
@@ -231,13 +231,18 @@ class Panda:
FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
FLAG_GM_HW_SDGM = 4
FLAG_GM_CC_LONG = 8
FLAG_GM_HW_ASCM_LONG = 16
FLAG_GM_NO_CAMERA = 32
FLAG_GM_NO_ACC = 64
FLAG_GM_PEDAL_LONG = 128 # TODO: This can be inferred
FLAG_GM_GAS_INTERCEPTOR = 256
FLAG_GM_CC_LONG = 4
FLAG_GM_HW_ASCM_LONG = 8
FLAG_GM_NO_CAMERA = 16
FLAG_GM_NO_ACC = 32
FLAG_GM_PEDAL_LONG = 64 # TODO: This can be inferred
FLAG_GM_GAS_INTERCEPTOR = 128
FLAG_GM_ASCM_INT = 256
FLAG_GM_FORCE_BRAKE_C9 = 512
FLAG_GM_HW_SDGM = 1024
FLAG_GM_BOLT_2017 = 2048
FLAG_GM_BOLT_2022_PEDAL = 4096
FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
FLAG_FORD_LONG_CONTROL = 1
FLAG_FORD_CANFD = 2
selfdrive/car/car_helpers.py
+124
View File
@@ -11,12 +11,14 @@ from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, al
from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
from openpilot.selfdrive.car.mock.values import CAR as MOCK
from openpilot.selfdrive.car.gm.values import CAR as GM_CAR, CanBus as GMCanBus
from openpilot.common.swaglog import cloudlog
import cereal.messaging as messaging
from openpilot.selfdrive.car import gen_empty_fingerprint
from openpilot.system.version import get_build_metadata
FRAME_FINGERPRINT = 100 # 1s
SOURCE_BRANCH_FILE = "/data/media/0/starpilot_source_branch"
EventName = car.CarEvent.EventName
FrogPilotEventName = custom.FrogPilotCarEvent.EventName
@@ -188,6 +190,64 @@ def get_car_interface(CP, FPCP):
CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
return CarInterface(CP, FPCP, CarController, CarState)
def get_cached_car_fingerprint(params: Params) -> str | None:
for key in ("CarParamsPersistent", "CarParamsCache", "CarParams"):
cp_bytes = params.get(key)
if cp_bytes is None:
continue
try:
with car.CarParams.from_bytes(cp_bytes) as cached_cp:
if cached_cp.carFingerprint:
return cached_cp.carFingerprint
except Exception:
continue
return None
def clear_stale_car_params(params: Params, candidate: str) -> None:
cached_fingerprint = get_cached_car_fingerprint(params)
if cached_fingerprint is None or cached_fingerprint == candidate:
return
stale_keys = (
"CarParams",
"CarParamsCache",
"CarParamsPersistent",
"FrogPilotCarParams",
"FrogPilotCarParamsPersistent",
"CarModelName",
)
for key in stale_keys:
params.remove(key)
cloudlog.warning("cleared stale car params after fingerprint change: %s -> %s", cached_fingerprint, candidate)
def migrate_legacy_bolt_candidate(candidate: str) -> str:
source_branch = ""
try:
with open(SOURCE_BRANCH_FILE, encoding="utf-8") as f:
source_branch = f.read().strip()
except OSError:
pass
migration_branch = source_branch or get_build_metadata().channel
replacements = {}
if migration_branch in {"TorqueTune", "TorquePedal"}:
replacements = {
"CHEVROLET_BOLT_EUV": GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
"CHEVROLET_BOLT_CC": GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
}
elif migration_branch in {"TotallyTune", "StarPilot-2017", "StarPilot 2017"}:
replacements = {
"CHEVROLET_BOLT_CC": GM_CAR.CHEVROLET_BOLT_CC_2017,
}
elif migration_branch in {"StarPilot"}:
replacements = {
"CHEVROLET_BOLT_CC": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
}
normalized_candidate = candidate[4:] if candidate.startswith("CAR.") else candidate
return replacements.get(normalized_candidate, normalized_candidate)
def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, frogpilot_toggles=None):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
@@ -202,10 +262,74 @@ def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, fr
params.put_nonblocking("CarMake", candidate.split('_')[0].title())
params.put_nonblocking("CarModel", candidate)
# Branch migration can leave legacy Bolt candidate names active in params/cache.
# Remap the selected candidate itself so fingerprint selection and params stay in sync.
migrated_candidate = migrate_legacy_bolt_candidate(candidate)
if candidate != migrated_candidate:
cloudlog.warning("legacy Bolt candidate migration: %s -> %s", candidate, migrated_candidate)
candidate = migrated_candidate
params.put_nonblocking("CarMake", candidate.split('_')[0].title())
params.put_nonblocking("CarModel", candidate)
params.remove("CarModelName")
# VIN-based Bolt year mapping (selfdrive-only, bolt variants only)
if not frogpilot_toggles.force_fingerprint and is_valid_vin(vin):
bolt_variants = {
"CHEVROLET_BOLT_EUV",
"CHEVROLET_BOLT_CC",
"CAR.CHEVROLET_BOLT_EUV",
"CAR.CHEVROLET_BOLT_CC",
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
GM_CAR.CHEVROLET_BOLT_CC_2017,
}
if candidate in bolt_variants:
year_code = vin[9:10]
year_map = {
"H": GM_CAR.CHEVROLET_BOLT_CC_2017, # 2017
"J": GM_CAR.CHEVROLET_BOLT_CC_2019_2021, # 2018
"K": GM_CAR.CHEVROLET_BOLT_CC_2019_2021, # 2019
"L": GM_CAR.CHEVROLET_BOLT_CC_2019_2021, # 2020
"M": GM_CAR.CHEVROLET_BOLT_CC_2019_2021, # 2021
"N": GM_CAR.CHEVROLET_BOLT_ACC_2022_2023, # 2022
"P": GM_CAR.CHEVROLET_BOLT_ACC_2022_2023, # 2023
}
if year_code in year_map:
vin_candidate = year_map[year_code]
if vin_candidate == GM_CAR.CHEVROLET_BOLT_ACC_2022_2023:
has_acc_msg = (
0x370 in fingerprints.get(GMCanBus.CAMERA, {}) or
0x370 in fingerprints.get(GMCanBus.POWERTRAIN, {})
)
vin_candidate = GM_CAR.CHEVROLET_BOLT_ACC_2022_2023 if has_acc_msg else GM_CAR.CHEVROLET_BOLT_CC_2022_2023
if candidate != vin_candidate:
prev_candidate = candidate
candidate = vin_candidate
params.put_nonblocking("CarMake", candidate.split('_')[0].title())
params.put_nonblocking("CarModel", candidate)
params.remove("CarModelName")
cloudlog.warning("VIN Bolt override: %s -> %s", prev_candidate, candidate)
# Always prefer live fingerprint naming for Bolt variants to avoid stale manual labels.
if candidate in {
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
GM_CAR.CHEVROLET_BOLT_CC_2017,
"CHEVROLET_BOLT_EUV",
"CHEVROLET_BOLT_CC",
"CAR.CHEVROLET_BOLT_EUV",
"CAR.CHEVROLET_BOLT_CC",
}:
params.remove("CarModelName")
if frogpilot_toggles.block_user:
candidate = MOCK.MOCK
sentry.capture_block()
clear_stale_car_params(params, candidate)
CarInterface, _, _ = interfaces[candidate]
CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, frogpilot_toggles, docs=False)
FPCP = CarInterface.get_frogpilot_params(candidate, fingerprints, car_fw, CP, frogpilot_toggles)
selfdrive/car/fingerprints.py
+1 -1
View File
@@ -158,7 +158,7 @@ MIGRATION = {
"CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
"CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
"CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
"CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
"CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_ACC_2022_2023,
"CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
"CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
"CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,
selfdrive/car/gm/carcontroller.py
+150 -49
View File
@@ -1,5 +1,7 @@
from typing import Tuple
import time
import math
from openpilot.common.swaglog import cloudlog
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.common.filter_simple import FirstOrderFilter
@@ -9,7 +11,7 @@ from openpilot.common.params_pyx import Params
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, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CC_REGEN_PADDLE_CAR
from openpilot.selfdrive.car.gm.values import CAR, DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, EV_CAR, CC_REGEN_PADDLE_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
@@ -62,15 +64,29 @@ class CarController(CarControllerBase):
self.lka_icon_status_last = (False, False)
self.params = CarControllerParams(self.CP)
self.is_volt = self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC)
self.pedal_scale = 1.0
self.params_ = Params()
self.mass = CP.mass
self.tireRadius = 0.075 * CP.wheelbase + 0.1453
self.frontalArea = 1.05 * CP.wheelbase + 0.0679
self.coeffDrag = 0.30
self.airDensity = 1.225
self.malibu_cancel_phase = 0
self.malibu_cancel_last_ts = 0.0
self.malibu_cancel_frame = 0
self.malibu_button_phase = 0
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
# FrogPilot variables
self.accel_g = 0.0
self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz
self.accel_g = 0.0
self.regen_paddle_pressed = False
@@ -137,6 +153,22 @@ class CarController(CarControllerBase):
actuators = CC.actuators
accel = brake_accel = actuators.accel
press_regen_paddle = False
kaofui_cars = SDGM_CAR | ASCM_INT | {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
volt_like = {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
}
# Planner-driven regen hold: gate by car support and OP long active, use commanded accel thresholds
if (self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR
@@ -162,6 +194,13 @@ class CarController(CarControllerBase):
can_sends = []
paddle_sends = []
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
phase_map = gmcan.malibu_phase_map_for_acc(CS.cruise_buttons)
if phase_map and CS.steering_button_checksum in phase_map:
phase = (phase_map[CS.steering_button_checksum] + 1) % 4
self.malibu_cancel_phase = phase
self.malibu_button_phase = phase
raw_regen_active = (
self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
self.CP.openpilotLongitudinalControl and
@@ -204,11 +243,6 @@ class CarController(CarControllerBase):
# Midpoint spoof: one per interval
if not self.spoof_mid_sent and interval_ns > 0:
midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
cloudlog.error("PADDLE MID: Δafter=%.1fms Δbefore=%.1fms credits=%.3f timer=%d",
(now_nanos - self.last_steer_ts_ns) * 1e-6,
(now_nanos - self.prev_steer_ts_ns) * 1e-6,
self.spoof_accum,
self.regen_paddle_timer)
# Compute spacing to last and next steer (two-sided guard)
next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
delta_after_ns = now_nanos - self.last_steer_ts_ns
@@ -219,7 +253,7 @@ class CarController(CarControllerBase):
and delta_before_ns >= gap_ns):
# Non-blocking 1 ms spacing for paddle frames
if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True, self.CP))
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
self.last_paddle_ts_ns = now_nanos
self.last_spoof_ts_ns = now_nanos
@@ -228,12 +262,6 @@ class CarController(CarControllerBase):
# Overflow spoof: insert extra when accumulator allows
if self.spoof_accum >= OVERFLOW_THRESH and not self.spoof_over_sent and interval_ns > 0:
slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
cloudlog.error("PADDLE OFL: Δafter=%.1fms Δbefore=%.1fms credits=%.3f thresh=%.1f timer=%d",
(now_nanos - self.last_steer_ts_ns) * 1e-6,
(now_nanos - self.prev_steer_ts_ns) * 1e-6,
self.spoof_accum,
OVERFLOW_THRESH,
self.regen_paddle_timer)
# Two-sided spacing relative to steer
next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
delta_after_ns = now_nanos - self.last_steer_ts_ns
@@ -244,7 +272,7 @@ class CarController(CarControllerBase):
and delta_before_ns >= gap_ns):
# Non-blocking 1 ms spacing for paddle frames
if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True, self.CP))
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
self.last_paddle_ts_ns = now_nanos
self.last_spoof_ts_ns = now_nanos
@@ -266,11 +294,6 @@ class CarController(CarControllerBase):
if hasattr(self, "off_schedule_ns"):
for i, t_ns in enumerate(self.off_schedule_ns):
if not self.off_sent[i] and now_nanos >= (t_ns - PADDLE_SLOT_EARLY_NS):
cloudlog.error("PADDLE OFF %d: Δafter=%.1fms Δto_slot=%.1fms timer=%d",
i,
(now_nanos - self.last_steer_ts_ns) * 1e-6,
(now_nanos - t_ns) * 1e-6,
self.regen_paddle_timer)
# Two-sided spacing to steer before sending
interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
@@ -283,7 +306,7 @@ class CarController(CarControllerBase):
if (delta_after_ns >= gap_ns and delta_before_ns >= gap_ns):
# Non-blocking 1 ms spacing for paddle frames
if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False))
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False, self.CP))
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
self.last_paddle_ts_ns = now_nanos
self.off_sent[i] = True
@@ -350,14 +373,6 @@ class CarController(CarControllerBase):
if self.frame % 4 == 0:
stopping = actuators.longControlState == LongCtrlState.stopping
# Pitch compensated acceleration;
# TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1:
self.pitch.update(CC.orientationNED[1])
self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
accel += self.accel_g
brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
interceptor_gas_cmd = 0
@@ -369,9 +384,54 @@ class CarController(CarControllerBase):
self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = int(min(-100 * frogpilot_toggles.stopAccel, self.params.MAX_BRAKE))
else:
# Normal operation
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
if self.is_volt:
if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
volt_pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
else:
volt_pitch_accel = 0.0
aero_drag_accel = (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2) / self.mass
accel += aero_drag_accel + volt_pitch_accel
brake_accel = actuators.accel + aero_drag_accel + volt_pitch_accel * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
accel = clip(accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
brake_accel = clip(brake_accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
if self.CP.carFingerprint in EV_CAR:
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
if self.apply_brake > 0:
# Volt should never present positive torque alongside friction braking
self.apply_gas = self.params.INACTIVE_REGEN
else:
if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
else:
accel_due_to_pitch = 0.0
gas_max = self.params.MAX_GAS
accel_max = self.params.ACCEL_MAX
accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
scaled_torque = torque + self.params.ZERO_GAS
apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
self.apply_gas = int(round(apply_gas_torque))
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
if self.apply_brake > 0:
self.apply_gas = self.params.INACTIVE_REGEN
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop
if stopping:
@@ -394,7 +454,13 @@ class CarController(CarControllerBase):
can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, frogpilot_toggles))
elif (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and
CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise):
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
can_sends.append(gmcan.create_buttons_malibu(
self.packer_pt, CanBus.POWERTRAIN, CruiseButtons.DECEL_SET,
self.malibu_button_phase, CS.steering_button_prefix))
self.malibu_button_phase = (self.malibu_button_phase + 1) % 4
else:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
if self.CP.enableGasInterceptor:
can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
if self.CP.carFingerprint not in CC_ONLY_CAR:
@@ -404,6 +470,8 @@ class CarController(CarControllerBase):
if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
at_full_stop = at_full_stop and stopping
friction_brake_bus = CanBus.POWERTRAIN
if self.CP.carFingerprint in SDGM_CAR:
friction_brake_bus = CanBus.CAMERA
if self.CP.autoResumeSng:
resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
@@ -430,26 +498,52 @@ class CarController(CarControllerBase):
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (5hz, previously 10hz)
if not self.CP.radarUnavailable:
tt = self.frame * DT_CTRL
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))
send_adas = True
if self.CP.carFingerprint in kaofui_cars:
send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % (self.params.ADAS_KEEPALIVE_STEP * 2) == 0:
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))
if self.CP.networkLocation == NetworkLocation.gateway and (self.frame % (self.params.ADAS_KEEPALIVE_STEP if self.CP.carFingerprint in kaofui_cars else self.params.ADAS_KEEPALIVE_STEP * 2)) == 0:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
# TODO: integrate this with the code block below?
stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
if (
(self.CP.flags & GMFlags.PEDAL_LONG.value) # Always cancel stock CC when using pedal interceptor
or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled) # Cancel stock CC if OP is not active
) and CS.out.cruiseState.enabled:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
) and stock_cc_active:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
# Match 33 Hz cadence (every 3 frames) and align phase to the last seen checksum.
if self.malibu_cancel_frame % 3 == 0:
can_sends.append(gmcan.create_buttons_malibu_cancel(
CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
self.malibu_cancel_frame += 1
else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
else:
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
@@ -460,14 +554,21 @@ class CarController(CarControllerBase):
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
self.last_button_frame = self.frame
if self.CP.carFingerprint in SDGM_CAR:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
if self.malibu_cancel_frame % 3 == 0:
can_sends.append(gmcan.create_buttons_malibu_cancel(
CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
self.malibu_cancel_frame += 1
elif self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in (volt_like | {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE}):
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
else:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
cancel_bus = CanBus.POWERTRAIN if (self.CP.enableGasInterceptor and self.CP.carFingerprint == CAR.CHEVROLET_BOLT_CC_2022_2023) else CanBus.CAMERA
can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, CS.buttons_counter, CruiseButtons.CANCEL))
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
if self.frame % 20 == 0:
if self.frame % 10 == 0:
can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
new_actuators = actuators.as_builder()
selfdrive/car/gm/carstate.py
+76 -21
View File
@@ -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, CC_REGEN_PADDLE_CAR
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR, ASCM_INT, CAR
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
@@ -26,6 +26,8 @@ class CarState(CarStateBase):
self.pt_lka_steering_cmd_counter = 0
self.cam_lka_steering_cmd_counter = 0
self.buttons_counter = 0
self.steering_button_checksum = 0
self.steering_button_prefix = 0x01
self.prev_distance_button = 0
self.distance_button = 0
@@ -36,13 +38,26 @@ class CarState(CarStateBase):
def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
ret = car.CarState.new_message()
fp_ret = custom.FrogPilotCarState.new_message()
volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and \
self.CP.carFingerprint not in kaofui_state_cars
self.prev_cruise_buttons = self.cruise_buttons
self.prev_distance_button = self.distance_button
if self.CP.carFingerprint not in SDGM_CAR:
if not sdgm_non_volt:
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.steering_button_checksum = pt_cp.vl["ASCMSteeringButton"]["SteeringButtonChecksum"]
acc_always_one = pt_cp.vl["ASCMSteeringButton"]["ACCAlwaysOne"]
acc_hidden_bit = pt_cp.vl["ASCMSteeringButton"].get("ACCHiddenBit", 0)
self.steering_button_prefix = (int(acc_always_one) & 1) | ((int(acc_hidden_bit) & 1) << 6)
else:
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
@@ -78,25 +93,41 @@ class CarState(CarStateBase):
# sample rear wheel speeds, standstill=True if ECM allows engagement with brake
ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
ret.gearShifter = self.parse_gear_shifter("T")
else:
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
if self.CP.carFingerprint in kaofui_state_cars:
ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
else:
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.networkLocation == NetworkLocation.fwdCamera:
if self.CP.carFingerprint in kaofui_state_cars:
ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.carFingerprint == CAR.CHEVROLET_BLAZER:
# Blazer can miss light taps on analog threshold; include digital brake switch.
ret.brakePressed = (pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0) or (ret.brake >= 0.7)
elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (self.CP.networkLocation == NetworkLocation.fwdCamera):
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
else:
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
# that the brake is being intermittently pressed without user interaction.
# To avoid a cruise fault we need to use a conservative brake position threshold
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
ret.brakePressed = ret.brake >= 8
analog_thresh = 0.15 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
ret.brakePressed = ret.brake >= analog_thresh
# Regen braking is braking
if self.CP.transmissionType == TransmissionType.direct:
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic)
self.single_pedal_mode = (ret.gearShifter == GearShifter.low or
pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or
(ret.regenBraking and GearShifter.manumatic) or
(self.CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_CC_2022_2023) and self.CP.enableGasInterceptor))
if self.CP.enableGasInterceptor:
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
@@ -117,7 +148,7 @@ class CarState(CarStateBase):
ret.steerFaultTemporary = self.lkas_status == 2
ret.steerFaultPermanent = self.lkas_status == 3
if self.CP.carFingerprint not in SDGM_CAR:
if not sdgm_non_volt:
# 1 - open, 0 - closed
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
@@ -153,29 +184,33 @@ class CarState(CarStateBase):
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
if self.CP.carFingerprint not in CC_ONLY_CAR:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
if self.CP.carFingerprint not in SDGM_CAR:
if self.CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
else:
ret.stockAeb = False
# openpilot controls nonAdaptive when not pcmCruise
if self.CP.pcmCruise:
if self.CP.pcmCruise and self.CP.carFingerprint not in ASCM_INT:
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
if self.CP.carFingerprint in CC_ONLY_CAR:
ret.accFaulted = False
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
# Try ECM first for cars that might have it (like most GMs), fall back to ASCM
try:
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
except:
ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
if self.CP.enableBsm:
if self.CP.carFingerprint not in SDGM_CAR:
if not sdgm_non_volt:
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
else:
ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
# FrogPilot CarState functions
self.lkas_previously_enabled = self.lkas_enabled
if self.CP.carFingerprint in SDGM_CAR:
if sdgm_non_volt:
self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
else:
self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
@@ -190,10 +225,19 @@ class CarState(CarStateBase):
def get_cam_can_parser(CP, FPCP):
messages = []
if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
CP.carFingerprint not in kaofui_state_cars
messages += [
("ASCMLKASteeringCmd", 10),
]
if CP.carFingerprint in SDGM_CAR:
if sdgm_non_volt:
messages += [
("BCMTurnSignals", 1),
("BCMDoorBeltStatus", 10),
@@ -202,7 +246,7 @@ class CarState(CarStateBase):
]
if CP.enableBsm:
messages.append(("BCMBlindSpotMonitor", 10))
else:
elif CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
messages += [
("AEBCmd", 10),
]
@@ -226,15 +270,25 @@ class CarState(CarStateBase):
("SportMode", 0),
]
if CP.carFingerprint in SDGM_CAR:
volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
prndl2_rate = 10 if CP.carFingerprint in kaofui_state_cars else 40
sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
CP.carFingerprint not in kaofui_state_cars
if sdgm_non_volt:
messages += [
("ECMPRDNL2", 40),
("ECMPRDNL2", prndl2_rate),
("AcceleratorPedal2", 40),
("ECMEngineStatus", 80),
]
else:
messages += [
("ECMPRDNL2", 40),
("ECMPRDNL2", prndl2_rate),
("AcceleratorPedal2", 33),
("ECMEngineStatus", 100),
("BCMTurnSignals", 1),
@@ -255,8 +309,9 @@ class CarState(CarStateBase):
messages.append(("EBCMBrakePedalPosition", 100))
if CP.transmissionType == TransmissionType.direct:
regen_paddle_rate = 50 if CP.carFingerprint in kaofui_state_cars else 40
messages += [
("EBCMRegenPaddle", 40),
("EBCMRegenPaddle", regen_paddle_rate),
("EVDriveMode", 0),
]
selfdrive/car/gm/fingerprints.py
+59 -17
View File
@@ -26,6 +26,20 @@ FINGERPRINTS = {
{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
}],
CAR.CHEVROLET_VOLT_ASCM: [
# Causes errors with normal OBD install
# {
# 189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1922: 7, 1930: 7
# }
],
CAR.CHEVROLET_VOLT_CAMERA: [
# Volt Premier 2017 w/ flashed firmware, cam harness + pedal (no 0x170/0x171 on PT bus)
{
# 189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
}],
CAR.GMC_ACADIA_ASCM: [
# Causes errors with normal OBD install
],
CAR.BUICK_LACROSSE: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 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, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 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, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
}],
@@ -52,6 +66,9 @@ FINGERPRINTS = {
CAR.CHEVROLET_MALIBU: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 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, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 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, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.CHEVROLET_MALIBU_ASCM: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 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, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 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, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.GMC_ACADIA: [{
190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
},
@@ -67,14 +84,31 @@ FINGERPRINTS = {
CAR.CADILLAC_ESCALADE_ESV_2019: [{
715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
}],
CAR.CHEVROLET_BOLT_EUV: [{
CAR.CHEVROLET_BOLT_ACC_2022_2023: [{
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
CAR.CHEVROLET_BOLT_CC: [
CAR.CHEVROLET_BOLT_CC_2022_2023: [{
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
CAR.CHEVROLET_BOLT_CC_2017: [
# Bolt Premier w/o ACC 2017
{
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
},
# Bolt EV Premier 2017
{
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
},
# Bolt EV Premier 2017 w Pedal
{ # pylint: disable=duplicate-key
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 # pylint: disable=duplicate-key # noqa: F601
},
# Bolt EV Premier 2017 2 w Pedal
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
}],
CAR.CHEVROLET_BOLT_CC_2019_2021: [
# Chevy Bolt EV 2019-2021
# Bolt Premier no ACC 2018 + Pedal
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8
@@ -95,18 +129,6 @@ FINGERPRINTS = {
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
},
# Bolt EV Premier 2017
{
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
},
# Bolt EV Premier 2017 w Pedal
{ # pylint: disable=duplicate-key
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 # pylint: disable=duplicate-key # noqa: F601
},
# Bolt EV Premier 2017 2 w Pedal
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
},
# Bolt EV Premier no ACC 2023
{
170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 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, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1601: 8, 1616: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
@@ -178,31 +200,51 @@ FINGERPRINTS = {
CAR.CADILLAC_XT4: [
# Cadillac XT4 w/ ACC 2023
{
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
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, 767: 4, 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.CADILLAC_XT5_CC: [
# TRain's 2017 XT5
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
}],
CAR.CADILLAC_XT6: [
#{}
],
CAR.CHEVROLET_BLAZER: [{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 289: 8, 298: 8, 304: 3, 309: 8, 313: 8, 322: 7, 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, 510: 8, 532: 6, 560: 8, 562: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1296: 4
}],
CAR.CHEVROLET_TRAVERSE: [
# Chevy Traverse w/ ACC 2023
{
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, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 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, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 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, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 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, 1105: 5, 1217: 8, 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, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
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, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 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, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 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, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 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, 1105: 5, 1217: 8, 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, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
}],
CAR.CHEVROLET_MALIBU_SDGM: [
# Chevy Malibu w/ SDGM Harness 2019
{
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 5, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 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, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 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, 1353: 8, 1355: 8, 1611: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1843: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1916: 7, 1920: 8, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8
}],
CAR.BUICK_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
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, 767: 4, 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.CHEVROLET_MALIBU_CC: [
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 409: 8, 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, 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, 717: 5, 730: 4, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 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, 1037: 5, 1105: 5, 1187: 6, 1189: 1, 1195: 3, 1217: 8, 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, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
}],
CAR.CHEVROLET_MALIBU_HYBRID_CC: [
{
193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 352: 5, 386: 8, 451: 8, 452: 8, 453: 6, 481: 7, 485: 8, 489: 8, 493: 8, 500: 6, 560: 8, 562: 8, 566: 6, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4
}],
CAR.CHEVROLET_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
}],
CAR.CHEVROLET_VOLT_2019: [
# Chevy Volt w/ ACC 2019
{
170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
}],
}
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
selfdrive/car/gm/gmcan.py
+74 -3
View File
@@ -6,6 +6,56 @@ from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import make_can_msg
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
MALIBU_BUTTON_TABLE = {
0: [0x2FBC, 0x25DE, 0x15EE, 0x1FCC],
1: [0x55AE, 0x5F8C, 0x6F7C, 0x659E],
4: [0x2ACD, 0x20EF, 0x1ADD, 0x10FF],
5: [0x50BF, 0x5A9D, 0x60AF, 0x6A8D],
}
MALIBU_BUTTON_MAP = {
CruiseButtons.UNPRESS: 0,
CruiseButtons.RES_ACCEL: 1,
CruiseButtons.MAIN: 4,
CruiseButtons.CANCEL: 5,
}
def malibu_phase_map_for_button(button):
key = MALIBU_BUTTON_MAP.get(button, None)
if key is None or key not in MALIBU_BUTTON_TABLE:
return None
return {v: i for i, v in enumerate(MALIBU_BUTTON_TABLE[key])}
def malibu_phase_map_for_acc(acc_value):
seq = MALIBU_BUTTON_TABLE.get(acc_value)
if not seq:
return None
return {v: i for i, v in enumerate(seq)}
def create_buttons_malibu(packer, bus, button, phase, prefix=0x41):
key = MALIBU_BUTTON_MAP.get(button, None)
if key is None or key not in MALIBU_BUTTON_TABLE:
# fallback to standard checksum for unsupported buttons
return create_buttons(packer, bus, 0, button)
values = {
"ACCButtons": button,
"RollingCounter": 0,
"ACCAlwaysOne": 1,
"DistanceButton": 0,
}
dat = packer.make_can_msg("ASCMSteeringButton", bus, values)[2]
data = bytearray(dat)
data[3] = prefix & 0xFF
seq = MALIBU_BUTTON_TABLE[key]
val = seq[phase % len(seq)]
data[5] = (val >> 8) & 0xFF
data[6] = val & 0xFF
return make_can_msg(0x1e1, bytes(data), bus)
def create_buttons(packer, bus, idx, button):
values = {
@@ -23,6 +73,17 @@ def create_buttons(packer, bus, idx, button):
values["SteeringButtonChecksum"] = checksum
return packer.make_can_msg("ASCMSteeringButton", bus, values)
def create_buttons_malibu_cancel(bus, phase, prefix=0x41):
# Malibu Hybrid CC cancel frames use a 4-value pattern in the last 2 bytes.
data = bytearray(7)
data[3] = prefix & 0xFF
data[4] = 0x00
cancel_bytes = (0x60, 0xAF, 0x65, 0x9E, 0x6A, 0x8D, 0x6F, 0x7C)
idx = ((phase + 2) % 4) * 2
data[5] = cancel_bytes[idx]
data[6] = cancel_bytes[idx + 1]
return make_can_msg(0x1e1, bytes(data), bus)
def create_pscm_status(packer, bus, pscm_status):
values = {s: pscm_status[s] for s in [
@@ -81,7 +142,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
mode = 0x1
# TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023,):
mode = 0x9
if apply_brake > 0:
@@ -177,8 +238,11 @@ def create_lka_icon_command(bus, active, critical, steer):
dat = b"\x00\x00\x00"
return make_can_msg(0x104c006c, dat, bus)
def create_prndl2_command(packer, bus, press_regen_paddle):
prndl2_value = 7 if press_regen_paddle else 6
def create_prndl2_command(packer, bus, press_regen_paddle, CP):
if CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_CC_2022_2023):
prndl2_value = 5 if press_regen_paddle else 6
else:
prndl2_value = 7 if press_regen_paddle else 6
manual_mode = 1 if press_regen_paddle else 0
values = {
"Byte0": 0x0C,
@@ -242,6 +306,13 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggl
# 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
if CS.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
phase_map = malibu_phase_map_for_button(cruiseBtn)
if phase_map:
msgs = [create_buttons_malibu(packer, CanBus.POWERTRAIN, cruiseBtn, controller.malibu_button_phase,
CS.steering_button_prefix)]
controller.malibu_button_phase = (controller.malibu_button_phase + 1) % 4
return msgs
idx = (CS.buttons_counter + 1) % 4 # Need to predict the next idx for '22-23 EUV
return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
else:
selfdrive/car/gm/interface.py
+247 -64
View File
@@ -7,7 +7,7 @@ from panda import Panda
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, set_red_panda_canbus
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold
from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
@@ -26,22 +26,43 @@ CAM_MSG = 0x320 # AEBCmd
# TODO: Is this always linked to camera presence?
ACCELERATOR_POS_MSG = 0xbe
VOLT_LIKE_CARS = {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_MALIBU,
CAR.CHEVROLET_MALIBU_ASCM,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: {
CAR.CHEVROLET_BOLT_ACC_2022_2023: {
"left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
"right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
},
CAR.CHEVROLET_BOLT_CC_2022_2023: {
"left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
"right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
},
CAR.CHEVROLET_BOLT_CC_2019_2021: {
"left": [1.8, 1.1, 0.27, 0.0],
"right": [2.0, 1.0, 0.205, 0.0],
},
CAR.CHEVROLET_BOLT_CC: {
"left": [1.8, 1.1, 0.27, 0.0],
"right": [2.0, 1.0, 0.205, 0.0],
CAR.CHEVROLET_BOLT_CC_2017: {
"left": [2.15, 1.0, 0.21, 0.0],
"right": [2.15, 1.0, 0.21, 0.0],
},
CAR.GMC_ACADIA: {
"left": [4.78003305, 1.0, 0.3122, 0.05591772],
"right": [4.78003305, 1.0, 0.3122, 0.05591772],
},
CAR.CHEVROLET_SILVERADO: {
"left": [3.29974374, 1.0, 0.25571356, 0.0465122],
"right": [3.29974374, 1.0, 0.25571356, 0.0465122],
"left": [3.8, 0.81, 0.24, 0.0465122],
"right": [3.8, 0.81, 0.24, 0.0465122],
},
}
@@ -63,7 +84,7 @@ class CarInterface(CarInterfaceBase):
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
def get_steer_feedforward_function(self):
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
if self.CP.carFingerprint in VOLT_LIKE_CARS:
return self.get_steer_feedforward_volt
else:
return CarInterfaceBase.get_steer_feedforward_default
@@ -120,33 +141,85 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles):
ret.carName = "gm"
red_panda = getattr(frogpilot_toggles, "red_panda", False)
set_red_panda_canbus(red_panda)
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
if red_panda:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), ret.safetyConfigs[0]]
gm_safety_cfg = ret.safetyConfigs[-1] if red_panda else ret.safetyConfigs[0]
ret.autoResumeSng = False
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
ret.enableBsm = 0x142 in fingerprint.get(CanBus.POWERTRAIN, {})
def has_sascm(fingerprint):
return 0x2FF in fingerprint.get(CanBus.POWERTRAIN, {})
# Detect Beartech SASCM allows openpilot longitudinal control on SDGM and ASCM_INT vehicles
if 0x2FF in fingerprint[0]:
if has_sascm(fingerprint):
ret.flags |= GMFlags.SASCM.value
if PEDAL_MSG in fingerprint[0]:
if PEDAL_MSG in fingerprint.get(CanBus.POWERTRAIN, {}):
ret.enableGasInterceptor = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
# When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
experimental_long = False
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
if candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023:
# Hard-block pedal interceptor for ACC fingerprinted Bolts
ret.enableGasInterceptor = False
gm_safety_cfg.safetyParam &= ~Panda.FLAG_GM_GAS_INTERCEPTOR
else:
# When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
experimental_long = False
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.automatic
ret.longitudinalTuning.kiBP = [5., 35., 60.]
kaofui_cars = SDGM_CAR | ASCM_INT | VOLT_LIKE_CARS | {CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC}
ret.longitudinalTuning.kiBP = [5., 35.] if candidate in kaofui_cars else [5., 35., 60.]
if candidate in CAMERA_ACC_CAR:
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_CC_2022_2023 and ret.enableGasInterceptor
kaofui_camera_cars = {
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
bolt_cc_camera_cars = {
CAR.CHEVROLET_BOLT_CC_2017,
CAR.CHEVROLET_BOLT_CC_2019_2021,
CAR.CHEVROLET_BOLT_CC_2022_2023,
}
is_camera_acc = candidate in CAMERA_ACC_CAR and candidate not in kaofui_cars and \
(candidate not in CC_ONLY_CAR or candidate in bolt_cc_camera_cars)
if candidate in kaofui_camera_cars:
# Keep Volt/Malibu camera path functionally aligned with kaofui.
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
ret.pcmCruise = True
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
# Tuning for experimental long
ret.longitudinalTuning.kiV = [0.5, 0.5]
ret.stoppingDecelRate = 1.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stopAccel = -0.25
if ret.experimentalLongitudinalAvailable and experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
elif is_camera_acc:
# TorqueTune camera-ACC behavior
ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = True # no radar
ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.pcmCruise = not ret.enableGasInterceptor
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
@@ -163,33 +236,89 @@ class CarInterface(CarInterfaceBase):
if ret.experimentalLongitudinalAvailable and experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
elif candidate in SDGM_CAR:
ret.longitudinalTuning.kiV = [0., 0., 0.] # TODO: tuning
ret.experimentalLongitudinalAvailable = False
# kaofui parity: SDGM cars require SASCM for experimental long
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
ret.pcmCruise = True
ret.radarUnavailable = True
ret.minEnableSpeed = -1. # engage speed is decided by ASCM
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_SDGM
# Use C9 brake bit only on SDGM variants that lack 0xBE (ECMAcceleratorPos)
if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
ret.flags |= GMFlags.FORCE_BRAKE_C9.value
# Tuning for experimental long
ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
ret.vEgoStopping = 0.1
ret.vEgoStarting = 0.1
ret.stoppingDecelRate = 1.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stopAccel = -0.25
if ret.experimentalLongitudinalAvailable and experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
if is_bolt_2022_2023_pedal:
ret.experimentalLongitudinalAvailable = False
ret.pcmCruise = False
elif candidate in ASCM_INT:
# kaofui parity: ASCM_INT cars require SASCM for experimental long
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
ret.pcmCruise = True
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_ASCM_INT
# Tuning for experimental long
ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
ret.vEgoStopping = 0.1
ret.vEgoStarting = 0.1
ret.stoppingDecelRate = 1.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stopAccel = -0.25
if ret.experimentalLongitudinalAvailable and experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
if is_bolt_2022_2023_pedal:
ret.experimentalLongitudinalAvailable = False
ret.pcmCruise = False
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
ret.networkLocation = NetworkLocation.gateway
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint.get(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 = 7 * CV.MPH_TO_MS
# Tuning
ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
if candidate in kaofui_cars:
ret.stoppingDecelRate = 3
ret.vEgoStopping = 0.75
ret.vEgoStarting = 0.75
ret.stopAccel = -1.5
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
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
if getattr(frogpilot_toggles, "remote_start_boots_comma", False):
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_REMOTE_START_BOOTS_COMMA
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@@ -203,14 +332,17 @@ class CarInterface(CarInterfaceBase):
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA):
ret.minEnableSpeed = -1
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
if candidate == CAR.CHEVROLET_VOLT_2019 and not ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1
if candidate in VOLT_LIKE_CARS:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.steerActuatorDelay = 0.2
if candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC and ret.enableGasInterceptor:
ret.flags |= GMFlags.PEDAL_LONG.value
elif candidate == CAR.GMC_ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
@@ -235,7 +367,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
elif candidate in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2017):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -245,11 +377,20 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.torque.kd = 0.93
ret.lateralTuning.torque.kfDEPRECATED = 0.02
if candidate == CAR.CHEVROLET_BOLT_CC_2017:
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
if ret.enableGasInterceptor:
# ACC Bolts use pedal for full longitudinal control, not just sng
ret.flags |= GMFlags.PEDAL_LONG.value
elif candidate == CAR.CHEVROLET_SILVERADO:
# Enable pedal interceptor for ACC models when detected
if is_bolt_2022_2023_pedal:
ret.flags |= GMFlags.PEDAL_LONG.value
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_ACC
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2022_PEDAL
if candidate == CAR.CHEVROLET_SILVERADO:
# 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
@@ -272,22 +413,34 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_XT6:
ret.steerActuatorDelay = 0.2
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_XT4:
ret.steerActuatorDelay = 0.2
if not ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_XT5_CC:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_TRAVERSE:
elif candidate in (CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER):
ret.steerActuatorDelay = 0.2
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
if not ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if candidate == CAR.CHEVROLET_BLAZER:
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
elif candidate == CAR.BUICK_BABYENCLAVE:
ret.steerActuatorDelay = 0.2
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
if not ret.openpilotLongitudinalControl:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_CT6_CC:
@@ -302,30 +455,50 @@ class CarInterface(CarInterfaceBase):
if ret.enableGasInterceptor and frogpilot_toggles.gm_pedal_longitudinal:
ret.networkLocation = NetworkLocation.fwdCamera
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = -1
ret.pcmCruise = False
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
ret.stoppingControl = True
ret.autoResumeSng = True
if candidate in CC_ONLY_CAR: #pedal interceptor tuning
if candidate in CC_ONLY_CAR or (candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor): #pedal interceptor tuning
ret.flags |= GMFlags.PEDAL_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
# Note: Low speed, stop and go not tested. Should be fairly smooth on highway
ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
ret.longitudinalTuning.kfDEPRECATED = 0.25
ret.stoppingDecelRate = 0.8
if candidate in (CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
ret.longitudinalTuning.kfDEPRECATED = 0.15
ret.stoppingDecelRate = 0.8
ret.minEnableSpeed = -1
ret.pcmCruise = False
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
else:
ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
ret.longitudinalTuning.kfDEPRECATED = 0.25
ret.stoppingDecelRate = 0.8
else: # Pedal used for SNG, ACC for longitudinal control otherwise
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
ret.startingState = True
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
elif candidate in CC_ONLY_CAR:
if ret.enableGasInterceptor and candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
ret.flags |= GMFlags.PEDAL_LONG.value
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
ret.longitudinalTuning.kiV = [0.0, 0.18, 0.25]
ret.longitudinalTuning.kfDEPRECATED = 0.15
ret.stoppingDecelRate = 0.8
ret.minEnableSpeed = -1
ret.pcmCruise = False
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
elif candidate in CC_ONLY_CAR and not ret.enableGasInterceptor:
ret.flags |= GMFlags.CC_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_CC_LONG
ret.radarUnavailable = True
ret.experimentalLongitudinalAvailable = False
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
@@ -333,24 +506,29 @@ class CarInterface(CarInterfaceBase):
ret.pcmCruise = False
if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph
ret.longitudinalTuning.kpV = [0., 5., 2.] # set lower end to 0 since we can't drive below that speed
ret.longitudinalTuning.deadzoneBP = [0., 1.]
ret.longitudinalTuning.deadzoneV = [0.9, 0.9] # == 2 km/h/s, 1.25 mph/s
ret.longitudinalActuatorDelay = 1. # TODO: measure this
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.1]
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
if candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
pass
else:
ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph
ret.longitudinalTuning.kpV = [0., 5., 2.] # set lower end to 0 since we can't drive below that speed
ret.longitudinalTuning.deadzoneBP = [0., 1.]
ret.longitudinalTuning.deadzoneV = [0.9, 0.9] # == 2 km/h/s, 1.25 mph/s
ret.longitudinalActuatorDelay = 1. # TODO: measure this
if candidate == CAR.CHEVROLET_MALIBU_CC:
ret.longitudinalTuning.kpV = [0., 20., 20.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.1]
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
if candidate in CC_ONLY_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_ACC
# 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:
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint.get(CanBus.CAMERA, {}) and not candidate in (SDGM_CAR | ASCM_INT):
ret.flags |= GMFlags.NO_CAMERA.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_CAMERA
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
return ret
@@ -382,7 +560,8 @@ 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
(self.CP.carFingerprint in VOLT_LIKE_CARS or self.CP.carFingerprint in {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE} or self.CP.carFingerprint not in SDGM_CAR))):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill and not self.CP.autoResumeSng:
events.add(EventName.resumeRequired)
@@ -395,10 +574,14 @@ class CarInterface(CarInterfaceBase):
if (self.CP.flags & GMFlags.PEDAL_LONG.value) and \
self.CP.transmissionType == TransmissionType.direct and \
self.CP.carFingerprint != CAR.CHEVROLET_MALIBU_HYBRID_CC and \
not self.CS.single_pedal_mode and \
c.longActive:
events.add(FrogPilotEventName.pedalInterceptorNoBrake)
if self.CS.lkas_status == 3:
events.add(EventName.steerUnavailable)
ret.events = events.to_msg()
return ret, fp_ret
selfdrive/car/gm/values.py
+210 -43
View File
@@ -37,44 +37,123 @@ class CarControllerParams:
ACCEL_MIN = -4. # m/s^2
def __init__(self, CP):
self.STEER_MAX = CarControllerParams.STEER_MAX
self.STEER_STEP = CarControllerParams.STEER_STEP
self.INACTIVE_STEER_STEP = CarControllerParams.INACTIVE_STEER_STEP
self.STEER_DELTA_UP = CarControllerParams.STEER_DELTA_UP
self.STEER_DELTA_DOWN = CarControllerParams.STEER_DELTA_DOWN
self.STEER_DRIVER_ALLOWANCE = CarControllerParams.STEER_DRIVER_ALLOWANCE
self.STEER_DRIVER_MULTIPLIER = CarControllerParams.STEER_DRIVER_MULTIPLIER
self.STEER_DRIVER_FACTOR = CarControllerParams.STEER_DRIVER_FACTOR
if CP.carFingerprint == CAR.CHEVROLET_BOLT_CC_2017:
self.STEER_MAX = 450
self.STEER_DELTA_UP = 15
self.STEER_DELTA_DOWN = 34
self.STEER_DRIVER_ALLOWANCE = 78
self.STEER_DRIVER_MULTIPLIER = 6
self.STEER_DRIVER_FACTOR = 100
# Gas/brake lookups
self.ZERO_GAS = 6144 # Coasting
self.ZERO_GAS = 6150 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
self.MAX_GAS = 7496
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
self.max_regen_acceleration = 0.
kaofui_cars = SDGM_CAR | ASCM_INT | {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
volt_like = {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
}
elif CP.carFingerprint in SDGM_CAR:
self.MAX_GAS = 7496
self.MAX_GAS_PLUS = 7496
self.MAX_ACC_REGEN = 7110
self.INACTIVE_REGEN = 5650
self.max_regen_acceleration = 0.
if CP.carFingerprint in kaofui_cars:
if (CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and
CP.carFingerprint not in CC_ONLY_CAR and
CP.carFingerprint != CAR.CHEVROLET_BOLT_ACC_2022_2023):
self.MAX_GAS = 8848
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
max_regen_acceleration = 0.
else:
self.MAX_GAS = 8191 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 8191
self.MAX_ACC_REGEN = 5500 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 5500
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
if CP.carFingerprint in volt_like:
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
else:
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
else:
self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
self.MAX_ACC_REGEN = 7110 # Increased for stronger regen braking
self.INACTIVE_REGEN = 5500
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1 # More aggressive regen for EVs
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
self.MAX_GAS = 8848
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
max_regen_acceleration = 0.
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
elif CP.carFingerprint in SDGM_CAR:
self.MAX_GAS = 8191
self.MAX_GAS_PLUS = 8191
self.MAX_ACC_REGEN = 5500
self.INACTIVE_REGEN = 5500
max_regen_acceleration = 0.
self.BRAKE_SWITCH_MAX = self.ZERO_GAS
else:
self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 7168 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
self.MAX_ACC_REGEN = 5500 # Max ACC regen is slightly less than max paddle regen
self.INACTIVE_REGEN = 5500
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
self.max_regen_acceleration = max_regen_acceleration
self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
# determined by letting Volt regen to a stop in L gear from 89mph,
# and by letting off gas and allowing car to creep, for determining
# the positive threshold values at very low speed
EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
def update_ev_gas_brake_threshold(self, v_ego):
gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
@dataclass
class GMCarDocs(CarDocs):
@@ -114,6 +193,16 @@ class CAR(Platforms):
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')
)
CHEVROLET_VOLT_ASCM = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18 ASCM Harness", 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')
)
CHEVROLET_VOLT_CAMERA = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18 Camera Harness", "Flashed camera-forward integration with ACC")],
CHEVROLET_VOLT.specs,
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
)
CADILLAC_ATS = GMASCMPlatformConfig(
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
@@ -122,10 +211,19 @@ class CAR(Platforms):
[GMCarDocs("Chevrolet Malibu Premier 2017")],
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
)
CHEVROLET_MALIBU_ASCM = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu 2017-19 ASCM Harness")],
CHEVROLET_MALIBU.specs,
)
GMC_ACADIA = GMASCMPlatformConfig(
[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),
)
GMC_ACADIA_ASCM = GMPlatformConfig(
[GMCarDocs("GMC Acadia 2018 ASCM Harness", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
dbc_dict=dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
)
BUICK_LACROSSE = GMASCMPlatformConfig(
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
@@ -146,10 +244,10 @@ class CAR(Platforms):
[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
CADILLAC_ESCALADE_ESV.specs,
)
CHEVROLET_BOLT_EUV = GMPlatformConfig(
CHEVROLET_BOLT_ACC_2022_2023 = GMPlatformConfig(
[
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"),
GMCarDocs("Chevrolet Bolt ACC 2022-2023", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarDocs("Chevrolet Bolt EV ACC 2022-2023", "2LT Trim with Adaptive Cruise Control Package"),
],
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
@@ -158,7 +256,7 @@ class CAR(Platforms):
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),
GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
)
CHEVROLET_EQUINOX = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22")],
@@ -174,12 +272,20 @@ class CAR(Platforms):
[GMCarDocs("Chevrolet Volt 2017-18 - No-ACC", min_enable_speed=0)],
CHEVROLET_VOLT.specs,
)
CHEVROLET_BOLT_CC = GMPlatformConfig(
CHEVROLET_BOLT_CC_2019_2021 = GMPlatformConfig(
[GMCarDocs("Chevrolet Bolt EV 2019-2021 - No-ACC")],
CHEVROLET_BOLT_ACC_2022_2023.specs,
)
CHEVROLET_BOLT_CC_2022_2023 = GMPlatformConfig(
[
GMCarDocs("Chevrolet Bolt EUV 2022-23 - No-ACC"),
GMCarDocs("Chevrolet Bolt EV 2017-23 - No-ACC"),
GMCarDocs("Chevrolet Bolt EUV 2022-2023 - No-ACC"),
GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
],
CHEVROLET_BOLT_EUV.specs,
CHEVROLET_BOLT_ACC_2022_2023.specs,
)
CHEVROLET_BOLT_CC_2017 = GMPlatformConfig(
[GMCarDocs("Chevrolet Bolt EV 2017 - No-ACC")],
CHEVROLET_BOLT_ACC_2022_2023.specs,
)
CHEVROLET_EQUINOX_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
@@ -194,15 +300,15 @@ class CAR(Platforms):
CHEVROLET_SUBURBAN.specs,
)
GMC_YUKON_CC = GMPlatformConfig(
[GMCarDocs("GMC Yukon No ACC")],
[GMCarDocs("GMC Yukon - No-ACC")],
CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
)
CADILLAC_CT6_CC = GMPlatformConfig(
[GMCarDocs("Cadillac CT6 No ACC")],
[GMCarDocs("Cadillac CT6 - No-ACC")],
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
)
CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
[GMCarDocs("Chevrolet Trailblazer 2021-22 - No-ACC")],
CHEVROLET_TRAILBLAZER.specs,
)
CADILLAC_XT4 = GMPlatformConfig(
@@ -210,25 +316,45 @@ class CAR(Platforms):
CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
)
CADILLAC_XT5_CC = GMPlatformConfig(
[GMCarDocs("Cadillac XT5 No ACC")],
[GMCarDocs("Cadillac XT5 - No-ACC")],
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
)
CHEVROLET_BLAZER = GMPlatformConfig(
[GMCarDocs("Chevrolet Blazer 2019-2025", "Driver Assist Package")],
CarSpecs(mass=1850, wheelbase=3.10, steerRatio=17.9, centerToFrontRatio=0.4),
)
CHEVROLET_TRAVERSE = GMPlatformConfig(
[GMCarDocs("Chevrolet Traverse 2023", "Driver Assist Package")],
CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
)
CHEVROLET_MALIBU_SDGM = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu 2019", "SDGM Harness (Optional SASCM)")],
CHEVROLET_MALIBU.specs,
)
BUICK_BABYENCLAVE = GMPlatformConfig(
[GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")],
CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
)
CHEVROLET_MALIBU_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu 2023 No ACC")],
[GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=18.25, centerToFrontRatio=0.4, tireStiffnessFactor=0.997),
)
CHEVROLET_MALIBU_HYBRID_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu Hybrid 2017 - No-ACC")],
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
)
CHEVROLET_TRAX = GMPlatformConfig(
[GMCarDocs("Chevrolet TRAX 2024")],
CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
)
CHEVROLET_VOLT_2019 = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2019")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
)
CADILLAC_XT6 = GMPlatformConfig(
[GMCarDocs("Cadillac XT6 2020", "Driver Assist Package")],
GMCarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.5, centerToFrontRatio=0.4),
)
class CruiseButtons:
@@ -253,6 +379,22 @@ class CanBus:
LOOPBACK = 128
DROPPED = 192
def set_red_panda_canbus(enabled: bool) -> None:
if enabled:
CanBus.POWERTRAIN = 4
CanBus.OBSTACLE = 5
CanBus.CAMERA = 6
CanBus.CHASSIS = 6
CanBus.LOOPBACK = 132
CanBus.DROPPED = 196
else:
CanBus.POWERTRAIN = 0
CanBus.OBSTACLE = 1
CanBus.CAMERA = 2
CanBus.CHASSIS = 2
CanBus.LOOPBACK = 128
CanBus.DROPPED = 192
class GMFlags(IntFlag):
PEDAL_LONG = 1
CC_LONG = 2
@@ -311,17 +453,42 @@ FW_QUERY_CONFIG = FwQueryConfig(
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
)
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
EV_CAR = {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_BOLT_ACC_2022_2023,
CAR.CHEVROLET_BOLT_CC_2019_2021,
CAR.CHEVROLET_BOLT_CC_2022_2023,
CAR.CHEVROLET_BOLT_CC_2017,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
CC_ONLY_CAR = {
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_BOLT_CC_2019_2021,
CAR.CHEVROLET_BOLT_CC_2022_2023,
CAR.CHEVROLET_BOLT_CC_2017,
CAR.CHEVROLET_EQUINOX_CC,
CAR.CHEVROLET_SUBURBAN_CC,
CAR.GMC_YUKON_CC,
CAR.CADILLAC_CT6_CC,
CAR.CHEVROLET_TRAILBLAZER_CC,
CAR.CADILLAC_XT5_CC,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2017}
# We're integrated at the Safety Data Gateway Module on these cars
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_BLAZER}
CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2017, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC})
# CAMERA_ACC_CAR.update(CC_ONLY_CAR)
STEER_THRESHOLD = 1.0
selfdrive/car/torque_data/override.toml
+4 -2
View File
@@ -43,8 +43,10 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
"CADILLAC_XT4" = [1.45, 1.6, 0.2]
"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.09]
"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
"CADILLAC_XT6" = [1.33, 1.9, 0.16]
"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.09]
"CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
"CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]
"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
"CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
selfdrive/car/torque_data/params.toml
+1
View File
@@ -5,6 +5,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
"AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
"CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
"CHEVROLET_MALIBU_HYBRID_CC" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
"CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
"CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
selfdrive/car/torque_data/substitute.toml
+9 -1
View File
@@ -56,9 +56,17 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
"CADILLAC_ATS" = "CHEVROLET_VOLT"
"CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
"CHEVROLET_MALIBU_ASCM" = "CHEVROLET_VOLT"
"CHEVROLET_MALIBU_SDGM" = "CHEVROLET_VOLT"
"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
"CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
"CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
"CHEVROLET_VOLT_CAMERA" = "CHEVROLET_VOLT"
"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
"GMC_ACADIA_ASCM" = "GMC_ACADIA"
"CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
"CHEVROLET_BOLT_CC_2019_2021" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_BOLT_CC_2022_2023" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_BOLT_CC_2017" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
"CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO"
"CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"
selfdrive/controls/lib/latcontrol_torque.py
+5 -1
View File
@@ -43,7 +43,11 @@ DEADZONE_BOOST_LAT_ACCEL = 0.08
UNWIND_D_DES_THRESHOLD = -1.0
UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
BOLT_CARS = (GM_CAR.CHEVROLET_BOLT_EUV, GM_CAR.CHEVROLET_BOLT_CC)
BOLT_CARS = (
GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
)
class LatControlTorque(LatControl):
def __init__(self, CP, CI, dt):
selfdrive/pandad/panda.cc
+1 -1
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@@ -118,7 +118,7 @@ std::optional<std::string> Panda::get_serial() {
bool Panda::up_to_date() {
if (auto fw_sig = get_firmware_version()) {
for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed", "panda_remote.bin.signed", "panda_h7_remote.bin.signed" }) {
auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
if (content.size() >= fw_sig->size() &&
memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
selfdrive/pandad/pandad
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selfdrive/pandad/pandad.py
+24 -6
View File
@@ -13,15 +13,25 @@ from openpilot.system.hardware import HARDWARE
from openpilot.common.swaglog import cloudlog
def get_expected_signature(panda: Panda) -> bytes:
def get_expected_firmware_path(panda: Panda, remote_start: bool) -> str:
app_fn = panda.get_mcu_type().config.app_fn
if remote_start:
remote_fn = "panda_h7_remote.bin.signed" if app_fn == "panda_h7.bin.signed" else "panda_remote.bin.signed"
remote_path = os.path.join(FW_PATH, remote_fn)
if os.path.isfile(remote_path):
return remote_path
cloudlog.warning(f"Remote-start panda firmware not found: {remote_path}, falling back to default")
return os.path.join(FW_PATH, app_fn)
def get_expected_signature(panda: Panda, remote_start: bool) -> bytes:
try:
fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
fn = get_expected_firmware_path(panda, remote_start)
return Panda.get_signature_from_firmware(fn)
except Exception:
cloudlog.exception("Error computing expected signature")
return b""
def flash_panda(panda_serial: str) -> Panda:
def flash_panda(panda_serial: str, remote_start: bool) -> Panda:
try:
panda = Panda(panda_serial)
except PandaProtocolMismatch:
@@ -29,7 +39,8 @@ def flash_panda(panda_serial: str) -> Panda:
HARDWARE.recover_internal_panda()
raise
fw_signature = get_expected_signature(panda)
fw_path = get_expected_firmware_path(panda, remote_start)
fw_signature = get_expected_signature(panda, remote_start)
internal_panda = panda.is_internal()
panda_version = "bootstub" if panda.bootstub else panda.get_version()
@@ -38,7 +49,7 @@ def flash_panda(panda_serial: str) -> Panda:
if panda.bootstub or panda_signature != fw_signature:
cloudlog.info("Panda firmware out of date, update required")
panda.flash()
panda.flash(fn=fw_path)
cloudlog.info("Done flashing")
if panda.bootstub:
@@ -105,8 +116,9 @@ def main() -> NoReturn:
# Flash pandas
pandas: list[Panda] = []
remote_start = params.get_bool("RemoteStartBootsComma")
for serial in panda_serials:
pandas.append(flash_panda(serial))
pandas.append(flash_panda(serial, remote_start))
# Ensure internal panda is present if expected
internal_pandas = [panda for panda in pandas if panda.is_internal()]
@@ -158,6 +170,12 @@ def main() -> NoReturn:
first_run = False
# run pandad with all connected serials as arguments
# BOARDD_SKIP_FW_CHECK is needed for remote-start alternate panda firmware on
# precompiled builds where native pandad may not include updated allowlist entries yet.
if params.get_bool("RemoteStartBootsComma"):
os.environ["BOARDD_SKIP_FW_CHECK"] = "1"
else:
os.environ.pop("BOARDD_SKIP_FW_CHECK", None)
os.environ['MANAGER_DAEMON'] = 'pandad'
os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
subprocess.run(["./pandad", *panda_serials], check=True)
selfdrive/pandad/pandad_api_impl.so
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selfdrive/ui/_spinner
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selfdrive/ui/_text
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selfdrive/ui/qt/home.cc
+28
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@@ -2,6 +2,7 @@
#include <QHBoxLayout>
#include <QMouseEvent>
#include <QSet>
#include <QStackedWidget>
#include <QVBoxLayout>
@@ -172,6 +173,22 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
main_layout->addLayout(header_layout);
branch_merge_banner = new QLabel(this);
branch_merge_banner->setAlignment(Qt::AlignCenter);
branch_merge_banner->setWordWrap(true);
branch_merge_banner->setAttribute(Qt::WA_TransparentForMouseEvents, true);
branch_merge_banner->setVisible(false);
branch_merge_banner->setStyleSheet(R"(
background-color: #E22C2C;
color: white;
border-radius: 16px;
padding: 24px;
font-size: 44px;
font-weight: 700;
)");
branch_merge_banner->setText(tr("Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch."));
main_layout->addWidget(branch_merge_banner);
// main content
main_layout->addSpacing(25);
center_layout = new QStackedLayout();
@@ -268,10 +285,21 @@ void OffroadHome::hideEvent(QHideEvent *event) {
}
void OffroadHome::refresh() {
static const QSet<QString> deprecated_branches = {
"TorqueTune",
"TorquePedal",
"Kaofui",
"Red-Kao",
"TotallyTune",
"StarPilot-2017",
"TRX",
};
date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
date->setVisible(util::system_time_valid());
version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + processModelName(frogpilotUIState()->frogpilot_toggles.value("model_name").toString()));
branch_merge_banner->setVisible(deprecated_branches.contains(QString::fromStdString(params.get("GitBranch"))));
bool updateAvailable = update_widget->refresh();
int alerts = alerts_widget->refresh();
selfdrive/ui/qt/home.h
+1
View File
@@ -41,6 +41,7 @@ private:
OffroadAlert* alerts_widget;
QPushButton* alert_notif;
QPushButton* update_notif;
QLabel* branch_merge_banner;
// FrogPilot variables
ElidedLabel* date;
selfdrive/ui/translations/main_ar.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>CANCEL</source>
<translation type="gpt-5-generated">إلغاء</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4756,6 +4808,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source> ALERT</source>
<translation> تنبيه</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_caveman.ts
+56
View File
@@ -2136,6 +2136,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3368,6 +3376,30 @@ Developer - Many custom setting for seasoned enthusiast</translation>
<source>CANCEL</source>
<translation type="gpt-5-generated">CANCEL</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3818,6 +3850,22 @@ Developer - Many custom setting for seasoned enthusiast</translation>
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3826,6 +3874,10 @@ Developer - Many custom setting for seasoned enthusiast</translation>
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4758,6 +4810,10 @@ Developer - Many custom setting for seasoned enthusiast</translation>
<source> ALERT</source>
<translation type="gpt-5-generated">ALERT</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_de.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
<source>CANCEL</source>
<translation type="gpt-5-generated">ABBRECHEN</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4752,6 +4804,10 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
<source> ALERT</source>
<translation> HINWEIS</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_duck.ts
+56
View File
@@ -2136,6 +2136,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3366,6 +3374,30 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
<source>CANCEL</source>
<translation type="gpt-5-generated">QUACK-CANCEL</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3816,6 +3848,22 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3824,6 +3872,10 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4754,6 +4806,10 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
<source> ALERT</source>
<translation type="gpt-5-generated">QUACK ALERT</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_es.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3363,6 +3371,30 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
<source>CANCEL</source>
<translation type="gpt-5-generated">CANCELAR</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3813,6 +3845,22 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3821,6 +3869,10 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
<source> ALERT</source>
<translation> ALERTA</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_fr.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3363,6 +3371,30 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
<source>CANCEL</source>
<translation type="gpt-5-generated">ANNULER</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3813,6 +3845,22 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3821,6 +3869,10 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
<source> ALERT</source>
<translation> ALERTE</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_frog.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
<source>CANCEL</source>
<translation type="gpt-5-generated">Ribbit! CANCEL croak!</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4752,6 +4804,10 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
<source> ALERT</source>
<translation type="gpt-5-generated">Ribbit! ALERT!</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_ja.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3362,6 +3370,30 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
<source>CANCEL</source>
<translation type="gpt-5-generated">キャンセル</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3812,6 +3844,22 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3820,6 +3868,10 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4749,6 +4801,10 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
<source> ALERT</source>
<translation> 警告</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_ko.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3363,6 +3371,30 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>CANCEL</source>
<translation type="gpt-5-generated">취소</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3813,6 +3845,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3821,6 +3869,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4750,6 +4802,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source> ALERT</source>
<translation> 알림</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_pirate.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
<source>CANCEL</source>
<translation type="gpt-5-generated">AVAST</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4752,6 +4804,10 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
<source> ALERT</source>
<translation type="gpt-5-generated">ALERT, arrr!</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_pt-BR.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
<source>CANCEL</source>
<translation type="gpt-5-generated">CANCELAR</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4752,6 +4804,10 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
<source> ALERT</source>
<translation> ALERTA</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_shakespearean.ts
+56
View File
@@ -2140,6 +2140,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3372,6 +3380,30 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
<source>CANCEL</source>
<translation type="gpt-5-generated">CANCEL</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3824,6 +3856,22 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3832,6 +3880,10 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4764,6 +4816,10 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
<source> ALERT</source>
<translation type="gpt-5-generated">ALERT</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_th.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>CANCEL</source>
<translation type="gpt-5-generated">ยกเลิก</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source> ALERT</source>
<translation> การแจ้งเตือน</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_tr.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3363,6 +3371,30 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
<source>CANCEL</source>
<translation type="gpt-5-generated">İPTAL</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3813,6 +3845,22 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3821,6 +3869,10 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4750,6 +4802,10 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
<source> ALERT</source>
<translation> UYARI</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_zh-CHS.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>CANCEL</source>
<translation type="gpt-5-generated">取消</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
<source> ALERT</source>
<translation> 警报</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/translations/main_zh-CHT.ts
+56
View File
@@ -2134,6 +2134,14 @@
<source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Truck Tuning</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>High Speed Following Distance</source>
<translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - 為資深愛好者提供高度自訂的設定</translation>
<source>CANCEL</source>
<translation type="gpt-5-generated">取消</translation>
</message>
<message>
<source>Boot Logo</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to delete</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Delete the "%1" boot logo?</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo to download</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Select a boot logo</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - 為資深愛好者提供高度自訂的設定</translation>
<source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Red Panda</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start Boots Comma</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>SASCM Support</source>
<translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - 為資深愛好者提供高度自訂的設定</translation>
<source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Developer - 為資深愛好者提供高度自訂的設定</translation>
<source> ALERT</source>
<translation> 提醒</translation>
</message>
<message>
<source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>OnroadAlerts</name>
selfdrive/ui/ui
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system/manager/manager.py
+57
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@@ -92,6 +92,63 @@ def manager_init() -> None:
params.put_bool("IsTestedBranch", build_metadata.tested_channel)
params.put_bool("IsReleaseBranch", build_metadata.release_channel)
# Legacy Bolt fingerprint migration after branch consolidation
bolt_source_branch_file = "/data/media/0/starpilot_source_branch"
bolt_fingerprint_migration_flag_file = "/data/media/0/frogpilot_bolt_fingerprint_migrated.flag"
source_branch = ""
try:
if os.path.exists(bolt_source_branch_file):
with open(bolt_source_branch_file, encoding="utf-8") as f:
source_branch = f.read().strip()
except OSError:
cloudlog.exception("failed reading StarPilot source branch file")
migration_branch = source_branch or build_metadata.channel
replacements = {}
if migration_branch in {"TorqueTune", "TorquePedal"}:
replacements = {
"CHEVROLET_BOLT_EUV": "CHEVROLET_BOLT_ACC_2022_2023",
"CHEVROLET_BOLT_CC": "CHEVROLET_BOLT_CC_2022_2023",
}
elif migration_branch in {"TotallyTune", "StarPilot-2017", "StarPilot 2017"}:
replacements = {
"CHEVROLET_BOLT_CC": "CHEVROLET_BOLT_CC_2017",
}
elif migration_branch in {"StarPilot"}:
replacements = {
"CHEVROLET_BOLT_CC": "CHEVROLET_BOLT_CC_2019_2021",
}
migrated_values = []
if replacements:
for param_key in ("CarModel", "CarModelName"):
current_value = params.get(param_key, encoding='utf-8')
normalized_value = current_value[4:] if current_value is not None and current_value.startswith("CAR.") else current_value
if normalized_value in replacements:
new_value = replacements[normalized_value]
params.put(param_key, new_value)
params_cache.put(param_key, new_value)
migrated_values.append(f"{param_key}: {current_value} -> {new_value}")
if migrated_values:
cloudlog.info(f"migrated legacy bolt fingerprint values from branch '{migration_branch}' (source='{source_branch}'): {', '.join(migrated_values)}")
# Keep Bolt display label aligned with live fingerprint selection
bolt_models = {
"CHEVROLET_BOLT_EUV",
"CHEVROLET_BOLT_CC",
"CHEVROLET_BOLT_ACC_2022_2023",
"CHEVROLET_BOLT_CC_2022_2023",
"CHEVROLET_BOLT_CC_2019_2021",
"CHEVROLET_BOLT_CC_2017",
}
if (params.get("CarModel", encoding='utf-8') or "") in bolt_models:
params.remove("CarModelName")
params_cache.remove("CarModelName")
with open(bolt_fingerprint_migration_flag_file, "w") as f:
f.write(migration_branch or "unknown")
# One-time migration to align FrogPilot defaults after install
frogpilot_migration_flag_file = "/data/media/0/frogpilot_migrated.flag"
if not os.path.exists(frogpilot_migration_flag_file):
system/updated/updated.py
+39
View File
@@ -36,6 +36,19 @@ OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init"))
DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days
DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days
MIGRATED_TARGET_BRANCH = "StarPilot"
MIGRATION_DONE_FILE = "/data/starpilot_branch_migrated"
MIGRATION_SOURCE_BRANCH_FILE = "/data/media/0/starpilot_source_branch"
MIGRATION_EXCLUDED_BRANCHES = {"Dom"}
MIGRATION_SOURCE_BRANCHES = {
"TorqueTune",
"TorquePedal",
"Kaofui",
"Red-Kao",
"TotallyTune",
"StarPilot-2017",
"TRX",
}
class UserRequest:
NONE = 0
@@ -280,6 +293,7 @@ class Updater:
self.params = Params()
self.branches = defaultdict(str)
self._has_internet: bool = False
self._migrate_target_branch()
@property
def has_internet(self) -> bool:
@@ -292,6 +306,31 @@ class Updater:
b = self.get_branch(BASEDIR)
return b
def _migrate_target_branch(self) -> None:
target_branch: str | None = self.params.get("UpdaterTargetBranch", encoding='utf-8')
current_branch = self.get_branch(BASEDIR)
if current_branch in MIGRATION_EXCLUDED_BRANCHES or target_branch in MIGRATION_EXCLUDED_BRANCHES:
cloudlog.info(f"skipping StarPilot branch migration on excluded branch: current={current_branch}, target={target_branch}")
return
if current_branch not in MIGRATION_SOURCE_BRANCHES and target_branch not in MIGRATION_SOURCE_BRANCHES:
cloudlog.info(f"skipping StarPilot branch migration on unmanaged branch: current={current_branch}, target={target_branch}")
return
if current_branch != MIGRATED_TARGET_BRANCH:
try:
Path(MIGRATION_SOURCE_BRANCH_FILE).write_text(current_branch, encoding='utf-8')
except OSError:
cloudlog.exception(f"failed to persist source branch for migration: {MIGRATION_SOURCE_BRANCH_FILE}")
if target_branch != MIGRATED_TARGET_BRANCH or current_branch != MIGRATED_TARGET_BRANCH:
self.params.put("UpdaterTargetBranch", MIGRATED_TARGET_BRANCH)
cloudlog.info(f"migrated updater target branch to {MIGRATED_TARGET_BRANCH} from target={target_branch}, current={current_branch}")
try:
Path(MIGRATION_DONE_FILE).touch()
except OSError:
cloudlog.exception(f"failed to write migration flag file: {MIGRATION_DONE_FILE}")
@property
def update_ready(self) -> bool:
consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))