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GM: Fix noisy brake pressed (#23712)

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* GM: Use ECMEngineStatus.Brake_Pressed

* consistent style

* add TODO

* bump panda

bump panda

* it should

* bump panda

Co-authored-by: Jason Shuler <jshuler@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: dd76cfcf28f95354e78abc5786db0cef75cb23cf
This commit is contained in:
Shane Smiskol
2022-02-10 13:08:19 -08:00
committed by GitHub
parent 86fba9f36d
commit 2675996ef3
1 changed files with 4 additions and 6 deletions
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selfdrive/car/gm/carstate.py
+4 -6
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@@ -30,10 +30,8 @@ class CarState(CarStateBase):
ret.standstill = ret.vEgoRaw < 0.01
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]["PRNDL"], None))
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["Brake_Pressed"] != 0
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
# Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
if ret.brake < 10/0xd0:
ret.brake = 0.
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
ret.gasPressed = ret.gas > 1e-5
@@ -62,14 +60,13 @@ class CarState(CarStateBase):
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
self.park_brake = pt_cp.vl["EPBStatus"]["EPBClosed"]
ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"])
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
ret.brakePressed = ret.brake > 1e-5
# Regen braking is braking
if self.car_fingerprint == CAR.VOLT:
ret.brakePressed = ret.brakePressed or bool(pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"])
ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
@@ -104,6 +101,7 @@ class CarState(CarStateBase):
("TractionControlOn", "ESPStatus"),
("EPBClosed", "EPBStatus"),
("CruiseMainOn", "ECMEngineStatus"),
("Brake_Pressed", "ECMEngineStatus"),
]
checks = [