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firestar5683
2026-02-10 17:53:34 -06:00
parent bbdb6b99bf
commit 2a67bdb589
2 changed files with 138 additions and 48 deletions
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selfdrive/car/gm/interface.py
+68 -23
View File
@@ -179,27 +179,69 @@ class CarInterface(CarInterfaceBase):
is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_CC_2022_2023 and ret.enableGasInterceptor
if candidate in (CAMERA_ACC_CAR | SDGM_CAR | ASCM_INT) or candidate == CAR.CHEVROLET_VOLT_CAMERA:
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
is_camera_acc = candidate in CAMERA_ACC_CAR and candidate not in CC_ONLY_CAR and candidate not in kaofui_cars
if is_camera_acc:
# TorqueTune camera-ACC behavior
ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
ret.networkLocation = NetworkLocation.fwdCamera
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
# Tuning for experimental long
ret.longitudinalTuning.kiV = [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
elif candidate in SDGM_CAR:
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR or has_sascm(fingerprint)
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
ret.pcmCruise = True
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:
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_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
if candidate in SDGM_CAR:
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
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
elif candidate in ASCM_INT:
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_ASCM_INT
else:
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
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]
@@ -254,14 +296,17 @@ 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, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA):
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
selfdrive/car/gm/values.py
+70 -25
View File
@@ -58,33 +58,79 @@ class CarControllerParams:
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:
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
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,
}
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
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 = 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
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]
@@ -92,7 +138,6 @@ class CarControllerParams:
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, 0.]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]