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firestar5683
2026-02-06 13:08:34 -06:00
parent b9ae966de7
commit 2b5a613c65
16 changed files with 127 additions and 60 deletions
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frogpilot/controls/lib/frogpilot_acceleration.py
+2 -2
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@@ -55,8 +55,8 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
A_CRUISE_MAX_BP_CUSTOM = [0.0, 5., 10., 15., 20., 25., 40.]
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_GAS = [5.5, 1.25, 0.70, 0.65, 0.60, 0.55, 0.42]
A_CRUISE_MAX_VALS_SPORT_GAS = [6.0, 1.50, 0.80, 0.75, 0.70, 0.65, 0.50]
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
frogpilot/ui/qt/offroad/frogpilot_settings.cc
+4 -1
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@@ -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;
panda/board/safety/safety_gm.h
+15 -1
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@@ -9,6 +9,17 @@ 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 = 8191,
.min_gas = 5500,
@@ -23,6 +34,7 @@ const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_brake = 400,
};
const SteeringLimits *gm_steer_limits;
const LongitudinalLimits *gm_long_limits;
const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
@@ -69,6 +81,7 @@ 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_BOLT_2017 = 512;
enum {
GM_BTN_UNPRESS = 1,
@@ -214,7 +227,7 @@ 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;
}
}
@@ -311,6 +324,7 @@ static safety_config gm_init(uint16_t param) {
}
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;
panda/python/__init__.py
+1
View File
@@ -238,6 +238,7 @@ class Panda:
FLAG_GM_NO_ACC = 64
FLAG_GM_PEDAL_LONG = 128 # TODO: This can be inferred
FLAG_GM_GAS_INTERCEPTOR = 256
FLAG_GM_BOLT_2017 = 512
FLAG_FORD_LONG_CONTROL = 1
FLAG_FORD_CANFD = 2
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
+3 -3
View File
@@ -214,7 +214,7 @@ 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
@@ -233,7 +233,7 @@ 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
@@ -267,7 +267,7 @@ 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
selfdrive/car/gm/fingerprints.py
+19 -14
View File
@@ -67,14 +67,31 @@ 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 +112,6 @@ 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
selfdrive/car/gm/gmcan.py
+6 -3
View File
@@ -81,7 +81,7 @@ 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 +177,11 @@ 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,
selfdrive/car/gm/interface.py
+18 -7
View File
@@ -27,21 +27,29 @@ CAM_MSG = 0x320 # AEBCmd
ACCELERATOR_POS_MSG = 0xbe
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, 0.21, 0.0465122],
"right": [3.8, 0.81, 0.21, 0.0465122],
},
}
@@ -235,7 +243,7 @@ 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)
@@ -245,6 +253,9 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.torque.kd = 0.93
ret.lateralTuning.torque.kfDEPRECATED = 0.02
if candidate == CAR.CHEVROLET_BOLT_CC_2017:
ret.safetyConfigs[0].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
selfdrive/car/gm/values.py
+45 -21
View File
@@ -37,12 +37,28 @@ 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_FACTOR = 6
# 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
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
@@ -51,16 +67,16 @@ class CarControllerParams:
self.max_regen_acceleration = 0.
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_GAS = 8191
self.MAX_GAS_PLUS = 8191
self.MAX_ACC_REGEN = 5500
self.INACTIVE_REGEN = 5500
self.max_regen_acceleration = 0.
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.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
@@ -146,10 +162,10 @@ 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),
)
@@ -174,12 +190,20 @@ 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")],
@@ -311,17 +335,17 @@ 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}
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2017}
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}
CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2017}
# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
# We're integrated at the Safety Data Gateway Module on these cars
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
# 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}
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})
# CAMERA_ACC_CAR.update(CC_ONLY_CAR)
STEER_THRESHOLD = 1.0
selfdrive/car/tests/routes.py
+2 -2
View File
@@ -66,8 +66,8 @@ routes = [
CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.CADILLAC_ESCALADE_ESV),
CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.CADILLAC_ESCALADE_ESV_2019),
CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.CHEVROLET_VOLT),
CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.CHEVROLET_BOLT_EUV, segment=1),
CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.CHEVROLET_BOLT_EUV, segment=14), # Bolt EV
CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.CHEVROLET_BOLT_ACC_2022_2023, segment=1),
CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.CHEVROLET_BOLT_ACC_2022_2023, segment=14), # Bolt EV
CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.CHEVROLET_SILVERADO),
CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.CHEVROLET_TRAILBLAZER),
selfdrive/car/tests/test_can_fingerprint.py
+1 -1
View File
@@ -26,7 +26,7 @@ class TestCanFingerprint:
def test_timing(self, subtests):
# just pick any CAN fingerprinting car
car_model = "CHEVROLET_BOLT_EUV"
car_model = "CHEVROLET_BOLT_ACC_2022_2023"
fingerprint = FINGERPRINTS[car_model][0]
cases = []
selfdrive/car/torque_data/override.toml
+1 -1
View File
@@ -43,7 +43,7 @@ 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_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.09]
"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
selfdrive/car/torque_data/substitute.toml
+3 -1
View File
@@ -58,7 +58,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
"CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
"CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
"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/test/process_replay/test_processes.py
+1 -1
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@@ -30,7 +30,7 @@ source_segments = [
("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500_5TH_GEN
("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.SUBARU_OUTBACK
("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.CHEVROLET_VOLT
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_ACC_2022_2023
("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.NISSAN_XTRAIL
("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF
("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021