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firestar5683
2026-06-27 15:37:25 -05:00
parent ee1f0bbe83
commit 0f43f042fb
1 changed files with 7 additions and 5 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+7 -5
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@@ -420,7 +420,7 @@ class CarController(CarControllerBase):
self.last_button_frame = 0
self.cancel_counter = 0
self.lka_steering_cmd_counter = -1
self.lka_steering_cmd_counter = 0
self.lka_icon_status_last = (False, False)
self.params = CarControllerParams(self.CP)
@@ -836,17 +836,20 @@ class CarController(CarControllerBase):
# - on startup, first few msgs are blocked
# - until we're in sync with camera so counters align when relay closes, preventing a fault.
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
next_lka_steering_cmd_counter = get_lka_steering_cmd_counter(self.lka_steering_cmd_counter, CS)
out_of_sync = next_lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
steer_step = self.params.STEER_STEP
self.lka_steering_cmd_counter = get_lka_steering_cmd_counter(self.lka_steering_cmd_counter, CS)
self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
# received the ASCMLKASteeringCmd loopback confirmation too recently
last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
# Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
if CS.loopback_lka_steering_cmd_ts_nanos == 0:
self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
if CC.latActive:
new_torque = int(round(actuators.torque * self.params.STEER_MAX))
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
@@ -861,7 +864,6 @@ class CarController(CarControllerBase):
self.apply_torque_last = apply_torque
idx = self.lka_steering_cmd_counter % 4
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_torque, idx, CC.latActive))
self.lka_steering_cmd_counter = (idx + 1) % 4
if should_spoof_ecm_cruise_status(self.CP) and self.frame % 4 == 0:
can_sends.append(gmcan.create_ecm_cruise_control_command(