mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-10 18:23:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

Malibu Phase Sync

Browse Source
This commit is contained in:
firestar5683
2026-01-12 23:31:50 -06:00
parent 0b193e90f0
commit 4c9430caf1
2 changed files with 24 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/carcontroller.py
+22 -8
View File
@@ -58,6 +58,7 @@ class CarController(CarControllerBase):
self.airDensity = 1.225
self.params_ = Params()
self.malibu_cancel_phase = 0
self.malibu_cancel_last_ts = 0.0
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@@ -91,6 +92,7 @@ class CarController(CarControllerBase):
hud_v_cruise = hud_control.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0
now_sec = now_nanos * 1e-9
# Send CAN commands.
can_sends = []
@@ -292,14 +294,19 @@ class CarController(CarControllerBase):
(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:
cancel_interval = 0.03 if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC else 0.04
if (self.frame - self.last_button_frame) * DT_CTRL > cancel_interval:
self.last_button_frame = self.frame
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
# Match the car's 33 Hz button cadence to keep checksum phase aligned.
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
# Match the car's 33 Hz cadence and align phase to the last seen checksum.
if (now_sec - self.malibu_cancel_last_ts) > 0.03:
self.malibu_cancel_last_ts = now_sec
phase_map = {175: 0, 1438: 1, 2701: 2, 3964: 3}
if CS.steering_button_checksum in phase_map:
self.malibu_cancel_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
else:
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
can_sends.append(gmcan.create_buttons_malibu_cancel(CanBus.POWERTRAIN, self.malibu_cancel_phase))
else:
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:
@@ -312,7 +319,14 @@ class CarController(CarControllerBase):
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
self.last_button_frame = self.frame
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, 0, CruiseButtons.CANCEL))
if (now_sec - self.malibu_cancel_last_ts) > 0.03:
self.malibu_cancel_last_ts = now_sec
phase_map = {175: 0, 1438: 1, 2701: 2, 3964: 3}
if CS.steering_button_checksum in phase_map:
self.malibu_cancel_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
else:
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
can_sends.append(gmcan.create_buttons_malibu_cancel(CanBus.POWERTRAIN, self.malibu_cancel_phase))
else:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
selfdrive/car/gm/carstate.py
+2
View File
@@ -26,6 +26,7 @@ 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.prev_distance_button = 0
self.distance_button = 0
@@ -42,6 +43,7 @@ class CarState(CarStateBase):
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"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)