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malibu buttons

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firestar5683
2026-01-26 00:08:27 -06:00
parent 6a702911ab
commit 5338f9a5d5
2 changed files with 20 additions and 20 deletions
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selfdrive/car/gm/carcontroller.py
+10 -15
View File
@@ -99,6 +99,13 @@ class CarController(CarControllerBase):
# Send CAN commands.
can_sends = []
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
phase_map = gmcan.malibu_phase_map_for_acc(CS.cruise_buttons)
if phase_map and CS.steering_button_checksum in phase_map:
phase = (phase_map[CS.steering_button_checksum] + 1) % 4
self.malibu_cancel_phase = phase
self.malibu_button_phase = phase
# Steering (Active: 50Hz, inactive: 10Hz)
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
@@ -236,14 +243,10 @@ class CarController(CarControllerBase):
elif (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and
CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise):
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
phase_map = gmcan.malibu_phase_map_for_button(CruiseButtons.DECEL_SET)
if phase_map and CS.steering_button_checksum in phase_map:
self.malibu_button_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
else:
self.malibu_button_phase = (self.malibu_button_phase + 1) % 4
can_sends.append(gmcan.create_buttons_malibu(
self.packer_pt, CanBus.POWERTRAIN, CruiseButtons.DECEL_SET,
self.malibu_button_phase, CS.steering_button_prefix))
self.malibu_button_phase = (self.malibu_button_phase + 1) % 4
else:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
if self.CP.enableGasInterceptor:
@@ -307,13 +310,9 @@ class CarController(CarControllerBase):
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
# Match 33 Hz cadence (every 3 frames) and align phase to the last seen checksum.
if self.malibu_cancel_frame % 3 == 0:
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, CS.steering_button_prefix))
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
self.malibu_cancel_frame += 1
else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
@@ -329,13 +328,9 @@ class CarController(CarControllerBase):
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
if self.malibu_cancel_frame % 3 == 0:
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, CS.steering_button_prefix))
self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
self.malibu_cancel_frame += 1
else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
selfdrive/car/gm/gmcan.py
+10 -5
View File
@@ -29,6 +29,13 @@ def malibu_phase_map_for_button(button):
return {v: i for i, v in enumerate(MALIBU_BUTTON_TABLE[key])}
def malibu_phase_map_for_acc(acc_value):
seq = MALIBU_BUTTON_TABLE.get(acc_value)
if not seq:
return None
return {v: i for i, v in enumerate(seq)}
def create_buttons_malibu(packer, bus, button, phase, prefix=0x41):
key = MALIBU_BUTTON_MAP.get(button, None)
if key is None or key not in MALIBU_BUTTON_TABLE:
@@ -275,12 +282,10 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggl
if CS.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
phase_map = malibu_phase_map_for_button(cruiseBtn)
if phase_map:
if CS.steering_button_checksum in phase_map:
controller.malibu_button_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
else:
controller.malibu_button_phase = (controller.malibu_button_phase + 1) % 4
return [create_buttons_malibu(packer, CanBus.POWERTRAIN, cruiseBtn, controller.malibu_button_phase,
msgs = [create_buttons_malibu(packer, CanBus.POWERTRAIN, cruiseBtn, controller.malibu_button_phase,
CS.steering_button_prefix)]
controller.malibu_button_phase = (controller.malibu_button_phase + 1) % 4
return msgs
idx = (CS.buttons_counter + 1) % 4 # Need to predict the next idx for '22-23 EUV
return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
else: