mirror of
https://github.com/firestar5683/StarPilot.git
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Kaofui
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firestar5683
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|
||||
@@ -0,0 +1 @@
|
||||
{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
|
||||
@@ -0,0 +1 @@
|
||||
{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}
|
||||
@@ -1006,7 +1006,14 @@ class FrogPilotVariables:
|
||||
toggle.lock_doors = toyota_doors and (params.get_bool("LockDoors") if tuning_level >= level["LockDoors"] else default.get_bool("LockDoors"))
|
||||
toggle.unlock_doors = toyota_doors and (params.get_bool("UnlockDoors") if tuning_level >= level["UnlockDoors"] else default.get_bool("UnlockDoors"))
|
||||
|
||||
toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
|
||||
volt_models = {
|
||||
"CHEVROLET_VOLT",
|
||||
"CHEVROLET_VOLT_2019",
|
||||
"CHEVROLET_VOLT_ASCM",
|
||||
"CHEVROLET_VOLT_CAMERA",
|
||||
}
|
||||
|
||||
toggle.volt_sng = toggle.car_model in volt_models and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
|
||||
|
||||
toggle.gm_pedal_longitudinal = params.get_bool("GMPedalLongitudinal") if tuning_level >= level["GMPedalLongitudinal"] else default.get_bool("GMPedalLongitudinal")
|
||||
|
||||
|
||||
@@ -171,6 +171,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
|
||||
SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
|
||||
SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCHiddenBit : 30|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
|
||||
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
|
||||
|
||||
@@ -83,6 +83,8 @@ 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;
|
||||
const uint16_t GM_PARAM_BOLT_2022_PEDAL = 1024;
|
||||
const uint16_t GM_PARAM_ASCM_INT = 2048;
|
||||
const uint16_t GM_PARAM_FORCE_BRAKE_C9 = 4096;
|
||||
|
||||
enum {
|
||||
GM_BTN_UNPRESS = 1,
|
||||
@@ -105,6 +107,7 @@ bool gm_cc_long = false;
|
||||
bool gm_skip_relay_check = false;
|
||||
bool gm_force_ascm = false;
|
||||
bool gm_bolt_2022_pedal = false;
|
||||
bool gm_force_brake_c9 = false;
|
||||
|
||||
static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
|
||||
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
|
||||
@@ -153,11 +156,12 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
|
||||
|
||||
// Reference for brake pressed signals:
|
||||
// https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
|
||||
if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
|
||||
// Prefer 0xC9 (ECMEngineStatus) when gm_force_brake_c9 is set, otherwise keep legacy behavior.
|
||||
if ((addr == 0xC9) && gm_force_brake_c9) {
|
||||
brake_pressed = GET_BIT(to_push, 40U) != 0U;
|
||||
} else if ((addr == 0xBE) && ((gm_hw == GM_ASCM) || (gm_hw == GM_SDGM))) {
|
||||
brake_pressed = GET_BYTE(to_push, 1) >= 8U;
|
||||
}
|
||||
|
||||
if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
|
||||
} else if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
|
||||
brake_pressed = GET_BIT(to_push, 40U) != 0U;
|
||||
}
|
||||
|
||||
@@ -275,8 +279,8 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
|
||||
if (gm_hw == GM_CAM && enable_gas_interceptor && gm_bolt_2022_pedal && button == GM_BTN_CANCEL) {
|
||||
allowed_btn = true;
|
||||
}
|
||||
// For standard CC, allow spamming of SET / RESUME
|
||||
if (gm_cc_long) {
|
||||
// For CC_LONG or PCM cruise vehicles, allow SET/RESUME when cruise is engaged
|
||||
if (gm_cc_long || gm_pcm_cruise) {
|
||||
allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
|
||||
}
|
||||
|
||||
@@ -341,6 +345,7 @@ static int gm_fwd_hook(int bus_num, int addr) {
|
||||
}
|
||||
|
||||
static safety_config gm_init(uint16_t param) {
|
||||
const bool gm_ascm_int = GET_FLAG(param, GM_PARAM_ASCM_INT);
|
||||
if GET_FLAG(param, GM_PARAM_HW_CAM) {
|
||||
gm_hw = GM_CAM;
|
||||
} else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
|
||||
@@ -352,7 +357,7 @@ 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) {
|
||||
if (gm_hw == GM_ASCM || gm_force_ascm || gm_ascm_int) {
|
||||
gm_long_limits = &GM_ASCM_LONG_LIMITS;
|
||||
} else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
|
||||
gm_long_limits = &GM_CAM_LONG_LIMITS;
|
||||
@@ -370,6 +375,7 @@ static safety_config gm_init(uint16_t param) {
|
||||
gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
|
||||
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
|
||||
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
|
||||
gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
|
||||
|
||||
safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
|
||||
if (gm_hw == GM_CAM) {
|
||||
|
||||
@@ -240,6 +240,8 @@ class Panda:
|
||||
FLAG_GM_GAS_INTERCEPTOR = 256
|
||||
FLAG_GM_BOLT_2017 = 512
|
||||
FLAG_GM_BOLT_2022_PEDAL = 1024
|
||||
FLAG_GM_ASCM_INT = 2048
|
||||
FLAG_GM_FORCE_BRAKE_C9 = 4096
|
||||
|
||||
FLAG_FORD_LONG_CONTROL = 1
|
||||
FLAG_FORD_CANFD = 2
|
||||
|
||||
@@ -11,7 +11,7 @@ from openpilot.common.params_pyx import Params
|
||||
from opendbc.can.packer import CANPacker
|
||||
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
|
||||
from openpilot.selfdrive.car.gm import gmcan
|
||||
from openpilot.selfdrive.car.gm.values import CAR, DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CC_REGEN_PADDLE_CAR
|
||||
from openpilot.selfdrive.car.gm.values import CAR, DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, EV_CAR, CC_REGEN_PADDLE_CAR
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
|
||||
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
|
||||
@@ -64,6 +64,8 @@ class CarController(CarControllerBase):
|
||||
self.lka_icon_status_last = (False, False)
|
||||
|
||||
self.params = CarControllerParams(self.CP)
|
||||
self.is_volt = self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC)
|
||||
self.pedal_scale = 1.0
|
||||
self.params_ = Params()
|
||||
|
||||
self.mass = CP.mass
|
||||
@@ -74,6 +76,11 @@ class CarController(CarControllerBase):
|
||||
|
||||
|
||||
|
||||
self.malibu_cancel_phase = 0
|
||||
self.malibu_cancel_last_ts = 0.0
|
||||
self.malibu_cancel_frame = 0
|
||||
self.malibu_button_phase = 0
|
||||
|
||||
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
|
||||
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
|
||||
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
|
||||
@@ -146,6 +153,15 @@ class CarController(CarControllerBase):
|
||||
actuators = CC.actuators
|
||||
accel = brake_accel = actuators.accel
|
||||
press_regen_paddle = False
|
||||
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,
|
||||
}
|
||||
|
||||
# Planner-driven regen hold: gate by car support and OP long active, use commanded accel thresholds
|
||||
if (self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR
|
||||
@@ -171,6 +187,13 @@ class CarController(CarControllerBase):
|
||||
can_sends = []
|
||||
paddle_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
|
||||
|
||||
raw_regen_active = (
|
||||
self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
|
||||
self.CP.openpilotLongitudinalControl and
|
||||
@@ -354,25 +377,53 @@ class CarController(CarControllerBase):
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
self.apply_brake = int(min(-100 * frogpilot_toggles.stopAccel, self.params.MAX_BRAKE))
|
||||
else:
|
||||
if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
|
||||
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
|
||||
else:
|
||||
accel_due_to_pitch = 0.0
|
||||
if self.is_volt:
|
||||
if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
|
||||
volt_pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
|
||||
else:
|
||||
volt_pitch_accel = 0.0
|
||||
|
||||
gas_max = self.params.MAX_GAS
|
||||
accel_max = self.params.ACCEL_MAX
|
||||
|
||||
accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
|
||||
torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
|
||||
|
||||
scaled_torque = torque + self.params.ZERO_GAS
|
||||
apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
|
||||
BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
|
||||
brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
|
||||
self.apply_gas = int(round(apply_gas_torque))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
if self.apply_brake > 0:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
aero_drag_accel = (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2) / self.mass
|
||||
accel += aero_drag_accel + volt_pitch_accel
|
||||
brake_accel = actuators.accel + aero_drag_accel + volt_pitch_accel * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
|
||||
accel = clip(accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
|
||||
brake_accel = clip(brake_accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
|
||||
|
||||
if self.CP.carFingerprint in EV_CAR:
|
||||
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
|
||||
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
else:
|
||||
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
|
||||
# Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
|
||||
self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
|
||||
self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
|
||||
|
||||
if self.apply_brake > 0:
|
||||
# Volt should never present positive torque alongside friction braking
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
else:
|
||||
if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
|
||||
accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
|
||||
else:
|
||||
accel_due_to_pitch = 0.0
|
||||
|
||||
gas_max = self.params.MAX_GAS
|
||||
accel_max = self.params.ACCEL_MAX
|
||||
|
||||
accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
|
||||
torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
|
||||
|
||||
scaled_torque = torque + self.params.ZERO_GAS
|
||||
apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
|
||||
BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
|
||||
brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
|
||||
self.apply_gas = int(round(apply_gas_torque))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
if self.apply_brake > 0:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
|
||||
# Don't allow any gas above inactive regen while stopping
|
||||
# FIXME: brakes aren't applied immediately when enabling at a stop
|
||||
@@ -396,7 +447,13 @@ class CarController(CarControllerBase):
|
||||
can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, frogpilot_toggles))
|
||||
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):
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
|
||||
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
|
||||
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:
|
||||
can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
|
||||
if self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
@@ -406,6 +463,8 @@ class CarController(CarControllerBase):
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
at_full_stop = at_full_stop and stopping
|
||||
friction_brake_bus = CanBus.POWERTRAIN
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
friction_brake_bus = CanBus.CAMERA
|
||||
|
||||
if self.CP.autoResumeSng:
|
||||
resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
|
||||
@@ -432,16 +491,33 @@ class CarController(CarControllerBase):
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (5hz, previously 10hz)
|
||||
if not self.CP.radarUnavailable:
|
||||
tt = self.frame * DT_CTRL
|
||||
time_and_headlights_step = 20
|
||||
if self.frame % time_and_headlights_step == 0:
|
||||
idx = (self.frame // time_and_headlights_step) % 4
|
||||
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
||||
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
|
||||
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
||||
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
|
||||
send_adas = True
|
||||
if self.CP.carFingerprint in kaofui_cars:
|
||||
send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % (self.params.ADAS_KEEPALIVE_STEP * 2) == 0:
|
||||
if send_adas:
|
||||
tt = self.frame * DT_CTRL
|
||||
if self.CP.carFingerprint in kaofui_cars:
|
||||
time_and_headlights_step = 10
|
||||
speed_and_accelerometer_step = 2
|
||||
if self.frame % time_and_headlights_step == 0:
|
||||
idx = (self.frame // time_and_headlights_step) % 4
|
||||
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
||||
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
|
||||
if self.frame % speed_and_accelerometer_step == 0:
|
||||
idx = (self.frame // speed_and_accelerometer_step) % 4
|
||||
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
||||
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
|
||||
else:
|
||||
time_and_headlights_step = 20
|
||||
if self.frame % time_and_headlights_step == 0:
|
||||
idx = (self.frame // time_and_headlights_step) % 4
|
||||
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
||||
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
|
||||
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
||||
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.gateway and (self.frame % (self.params.ADAS_KEEPALIVE_STEP if self.CP.carFingerprint in kaofui_cars else self.params.ADAS_KEEPALIVE_STEP * 2)) == 0:
|
||||
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
||||
|
||||
# TODO: integrate this with the code block below?
|
||||
@@ -449,9 +525,17 @@ 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:
|
||||
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))
|
||||
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:
|
||||
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:
|
||||
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:
|
||||
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
|
||||
@@ -462,7 +546,13 @@ class CarController(CarControllerBase):
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
|
||||
self.last_button_frame = self.frame
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
|
||||
if self.malibu_cancel_frame % 3 == 0:
|
||||
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
|
||||
elif self.CP.carFingerprint in SDGM_CAR:
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
else:
|
||||
cancel_bus = CanBus.POWERTRAIN if (self.CP.enableGasInterceptor and self.CP.carFingerprint == CAR.CHEVROLET_BOLT_CC_2022_2023) else CanBus.CAMERA
|
||||
|
||||
@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
from openpilot.selfdrive.car.interfaces import CarStateBase
|
||||
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR, CAR
|
||||
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR, ASCM_INT, CAR
|
||||
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
@@ -26,6 +26,8 @@ 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.steering_button_prefix = 0x01
|
||||
|
||||
self.prev_distance_button = 0
|
||||
self.distance_button = 0
|
||||
@@ -36,13 +38,19 @@ class CarState(CarStateBase):
|
||||
def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
|
||||
ret = car.CarState.new_message()
|
||||
fp_ret = custom.FrogPilotCarState.new_message()
|
||||
volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
|
||||
sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in volt_like
|
||||
|
||||
self.prev_cruise_buttons = self.cruise_buttons
|
||||
self.prev_distance_button = self.distance_button
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
if not sdgm_non_volt:
|
||||
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"]
|
||||
acc_always_one = pt_cp.vl["ASCMSteeringButton"]["ACCAlwaysOne"]
|
||||
acc_hidden_bit = pt_cp.vl["ASCMSteeringButton"].get("ACCHiddenBit", 0)
|
||||
self.steering_button_prefix = (int(acc_always_one) & 1) | ((int(acc_hidden_bit) & 1) << 6)
|
||||
else:
|
||||
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
@@ -78,20 +86,24 @@ class CarState(CarStateBase):
|
||||
# sample rear wheel speeds, standstill=True if ECM allows engagement with brake
|
||||
ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
|
||||
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
|
||||
if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
|
||||
ret.gearShifter = self.parse_gear_shifter("T")
|
||||
else:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
|
||||
|
||||
if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
|
||||
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
|
||||
else:
|
||||
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
if (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
|
||||
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
|
||||
else:
|
||||
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
|
||||
# that the brake is being intermittently pressed without user interaction.
|
||||
# To avoid a cruise fault we need to use a conservative brake position threshold
|
||||
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
|
||||
ret.brakePressed = ret.brake >= 8
|
||||
analog_thresh = 0.10 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
|
||||
ret.brakePressed = ret.brake >= analog_thresh
|
||||
|
||||
# Regen braking is braking
|
||||
if self.CP.transmissionType == TransmissionType.direct:
|
||||
@@ -120,7 +132,7 @@ class CarState(CarStateBase):
|
||||
ret.steerFaultTemporary = self.lkas_status == 2
|
||||
ret.steerFaultPermanent = self.lkas_status == 3
|
||||
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
if not sdgm_non_volt:
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
@@ -156,12 +168,12 @@ class CarState(CarStateBase):
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
|
||||
if self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
if self.CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
|
||||
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
|
||||
else:
|
||||
ret.stockAeb = False
|
||||
# openpilot controls nonAdaptive when not pcmCruise
|
||||
if self.CP.pcmCruise:
|
||||
if self.CP.pcmCruise and self.CP.carFingerprint not in ASCM_INT:
|
||||
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
|
||||
if self.CP.carFingerprint in CC_ONLY_CAR:
|
||||
ret.accFaulted = False
|
||||
@@ -173,7 +185,7 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
|
||||
|
||||
if self.CP.enableBsm:
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
if not sdgm_non_volt:
|
||||
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
else:
|
||||
@@ -182,7 +194,7 @@ class CarState(CarStateBase):
|
||||
|
||||
# FrogPilot CarState functions
|
||||
self.lkas_previously_enabled = self.lkas_enabled
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
if sdgm_non_volt:
|
||||
self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
else:
|
||||
self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
@@ -197,10 +209,12 @@ class CarState(CarStateBase):
|
||||
def get_cam_can_parser(CP, FPCP):
|
||||
messages = []
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
|
||||
volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
|
||||
sdgm_non_volt = CP.carFingerprint in SDGM_CAR and CP.carFingerprint not in volt_like
|
||||
messages += [
|
||||
("ASCMLKASteeringCmd", 10),
|
||||
]
|
||||
if CP.carFingerprint in SDGM_CAR:
|
||||
if sdgm_non_volt:
|
||||
messages += [
|
||||
("BCMTurnSignals", 1),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
@@ -209,7 +223,7 @@ class CarState(CarStateBase):
|
||||
]
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
else:
|
||||
elif CP.carFingerprint not in ASCM_INT:
|
||||
messages += [
|
||||
("AEBCmd", 10),
|
||||
]
|
||||
@@ -233,7 +247,9 @@ class CarState(CarStateBase):
|
||||
("SportMode", 0),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in SDGM_CAR:
|
||||
volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
|
||||
sdgm_non_volt = CP.carFingerprint in SDGM_CAR and CP.carFingerprint not in volt_like
|
||||
if sdgm_non_volt:
|
||||
messages += [
|
||||
("ECMPRDNL2", 40),
|
||||
("AcceleratorPedal2", 40),
|
||||
|
||||
@@ -26,6 +26,20 @@ FINGERPRINTS = {
|
||||
{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT_ASCM: [
|
||||
# Causes errors with normal OBD install
|
||||
# {
|
||||
# 189: 7, 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, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1922: 7, 1930: 7
|
||||
# }
|
||||
],
|
||||
CAR.CHEVROLET_VOLT_CAMERA: [
|
||||
# Volt Premier 2017 w/ flashed firmware, cam harness + pedal (no 0x170/0x171 on PT bus)
|
||||
{
|
||||
# 189: 7, 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, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
|
||||
}],
|
||||
CAR.GMC_ACADIA_ASCM: [
|
||||
# Causes errors with normal OBD install
|
||||
],
|
||||
CAR.BUICK_LACROSSE: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
@@ -52,6 +66,9 @@ FINGERPRINTS = {
|
||||
CAR.CHEVROLET_MALIBU: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU_ASCM: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.GMC_ACADIA: [{
|
||||
190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
|
||||
},
|
||||
@@ -183,31 +200,51 @@ FINGERPRINTS = {
|
||||
CAR.CADILLAC_XT4: [
|
||||
# Cadillac XT4 w/ ACC 2023
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 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, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 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, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 767: 4, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.CADILLAC_XT5_CC: [
|
||||
# TRain's 2017 XT5
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
|
||||
}],
|
||||
CAR.CADILLAC_XT6: [
|
||||
#{}
|
||||
],
|
||||
CAR.CHEVROLET_BLAZER: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 289: 8, 298: 8, 304: 3, 309: 8, 313: 8, 322: 7, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 532: 6, 560: 8, 562: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1296: 4
|
||||
}],
|
||||
CAR.CHEVROLET_TRAVERSE: [
|
||||
# Chevy Traverse w/ ACC 2023
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU_SDGM: [
|
||||
# Chevy Malibu w/ SDGM Harness 2019
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 5, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1353: 8, 1355: 8, 1611: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1843: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1916: 7, 1920: 8, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8
|
||||
}],
|
||||
CAR.BUICK_BABYENCLAVE: [
|
||||
# Buick Baby Enclave w/ ACC 2020-23
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 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, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 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, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU_CC: [
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 409: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 730: 4, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 6, 1189: 1, 1195: 3, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU_HYBRID_CC: [
|
||||
{
|
||||
193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 352: 5, 386: 8, 451: 8, 452: 8, 453: 6, 481: 7, 485: 8, 489: 8, 493: 8, 500: 6, 560: 8, 562: 8, 566: 6, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4
|
||||
}],
|
||||
CAR.CHEVROLET_TRAX: [
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 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, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT_2019: [
|
||||
# Chevy Volt w/ ACC 2019
|
||||
{
|
||||
170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 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: 7, 567: 5, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
|
||||
|
||||
@@ -6,6 +6,56 @@ from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.selfdrive.car import make_can_msg
|
||||
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
|
||||
|
||||
MALIBU_BUTTON_TABLE = {
|
||||
0: [0x2FBC, 0x25DE, 0x15EE, 0x1FCC],
|
||||
1: [0x55AE, 0x5F8C, 0x6F7C, 0x659E],
|
||||
4: [0x2ACD, 0x20EF, 0x1ADD, 0x10FF],
|
||||
5: [0x50BF, 0x5A9D, 0x60AF, 0x6A8D],
|
||||
}
|
||||
|
||||
MALIBU_BUTTON_MAP = {
|
||||
CruiseButtons.UNPRESS: 0,
|
||||
CruiseButtons.RES_ACCEL: 1,
|
||||
CruiseButtons.MAIN: 4,
|
||||
CruiseButtons.CANCEL: 5,
|
||||
}
|
||||
|
||||
|
||||
def malibu_phase_map_for_button(button):
|
||||
key = MALIBU_BUTTON_MAP.get(button, None)
|
||||
if key is None or key not in MALIBU_BUTTON_TABLE:
|
||||
return None
|
||||
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:
|
||||
# fallback to standard checksum for unsupported buttons
|
||||
return create_buttons(packer, bus, 0, button)
|
||||
|
||||
values = {
|
||||
"ACCButtons": button,
|
||||
"RollingCounter": 0,
|
||||
"ACCAlwaysOne": 1,
|
||||
"DistanceButton": 0,
|
||||
}
|
||||
dat = packer.make_can_msg("ASCMSteeringButton", bus, values)[2]
|
||||
data = bytearray(dat)
|
||||
data[3] = prefix & 0xFF
|
||||
|
||||
seq = MALIBU_BUTTON_TABLE[key]
|
||||
val = seq[phase % len(seq)]
|
||||
data[5] = (val >> 8) & 0xFF
|
||||
data[6] = val & 0xFF
|
||||
return make_can_msg(0x1e1, bytes(data), bus)
|
||||
|
||||
def create_buttons(packer, bus, idx, button):
|
||||
values = {
|
||||
@@ -23,6 +73,17 @@ def create_buttons(packer, bus, idx, button):
|
||||
values["SteeringButtonChecksum"] = checksum
|
||||
return packer.make_can_msg("ASCMSteeringButton", bus, values)
|
||||
|
||||
def create_buttons_malibu_cancel(bus, phase, prefix=0x41):
|
||||
# Malibu Hybrid CC cancel frames use a 4-value pattern in the last 2 bytes.
|
||||
data = bytearray(7)
|
||||
data[3] = prefix & 0xFF
|
||||
data[4] = 0x00
|
||||
cancel_bytes = (0x60, 0xAF, 0x65, 0x9E, 0x6A, 0x8D, 0x6F, 0x7C)
|
||||
idx = (phase % 4) * 2
|
||||
data[5] = cancel_bytes[idx]
|
||||
data[6] = cancel_bytes[idx + 1]
|
||||
return make_can_msg(0x1e1, bytes(data), bus)
|
||||
|
||||
|
||||
def create_pscm_status(packer, bus, pscm_status):
|
||||
values = {s: pscm_status[s] for s in [
|
||||
@@ -66,6 +127,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
|
||||
"GasRegenFullStopActive": at_full_stop,
|
||||
"GasRegenAlwaysOne": 1,
|
||||
"GasRegenAlwaysOne2": 1,
|
||||
"GasRegenAlwaysOne3": 1,
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
|
||||
@@ -244,6 +306,13 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggl
|
||||
# TODO: Cleanup the timing - normal is every 30ms...
|
||||
if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
|
||||
controller.last_button_frame = controller.frame
|
||||
if CS.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
|
||||
phase_map = malibu_phase_map_for_button(cruiseBtn)
|
||||
if phase_map:
|
||||
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:
|
||||
|
||||
@@ -7,7 +7,7 @@ from panda import Panda
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car import create_button_events, get_safety_config
|
||||
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
|
||||
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
|
||||
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
|
||||
|
||||
@@ -26,6 +26,19 @@ CAM_MSG = 0x320 # AEBCmd
|
||||
# TODO: Is this always linked to camera presence?
|
||||
ACCELERATOR_POS_MSG = 0xbe
|
||||
|
||||
VOLT_LIKE_CARS = {
|
||||
CAR.CHEVROLET_VOLT,
|
||||
CAR.CHEVROLET_VOLT_2019,
|
||||
CAR.CHEVROLET_VOLT_CC,
|
||||
CAR.CHEVROLET_VOLT_CAMERA,
|
||||
CAR.CHEVROLET_VOLT_ASCM,
|
||||
CAR.CHEVROLET_MALIBU,
|
||||
CAR.CHEVROLET_MALIBU_ASCM,
|
||||
CAR.CHEVROLET_MALIBU_SDGM,
|
||||
CAR.CHEVROLET_MALIBU_CC,
|
||||
CAR.CHEVROLET_MALIBU_HYBRID_CC,
|
||||
}
|
||||
|
||||
NON_LINEAR_TORQUE_PARAMS = {
|
||||
CAR.CHEVROLET_BOLT_ACC_2022_2023: {
|
||||
"left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
|
||||
@@ -71,7 +84,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
|
||||
|
||||
def get_steer_feedforward_function(self):
|
||||
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
|
||||
if self.CP.carFingerprint in VOLT_LIKE_CARS:
|
||||
return self.get_steer_feedforward_volt
|
||||
else:
|
||||
return CarInterfaceBase.get_steer_feedforward_default
|
||||
@@ -132,8 +145,11 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.autoResumeSng = False
|
||||
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
|
||||
|
||||
def has_sascm(fingerprint):
|
||||
return 0x2FF in fingerprint.get(CanBus.POWERTRAIN, {})
|
||||
|
||||
# Detect Beartech SASCM allows openpilot longitudinal control on SDGM and ASCM_INT vehicles
|
||||
if 0x2FF in fingerprint[0]:
|
||||
if has_sascm(fingerprint):
|
||||
ret.flags |= GMFlags.SASCM.value
|
||||
|
||||
if PEDAL_MSG in fingerprint[0]:
|
||||
@@ -151,22 +167,35 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
|
||||
ret.longitudinalTuning.kiBP = [5., 35., 60.]
|
||||
kaofui_cars = SDGM_CAR | ASCM_INT | VOLT_LIKE_CARS | {CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC}
|
||||
ret.longitudinalTuning.kiBP = [5., 35.] if candidate in kaofui_cars else [5., 35., 60.]
|
||||
|
||||
is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_CC_2022_2023 and ret.enableGasInterceptor
|
||||
|
||||
if candidate in CAMERA_ACC_CAR:
|
||||
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
|
||||
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)
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.radarUnavailable = True # no radar
|
||||
ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
|
||||
ret.pcmCruise = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
# Use default minEnableSpeed for ACC models (will be overridden by pedal interceptor section if present)
|
||||
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
if candidate in SDGM_CAR:
|
||||
ret.safetyConfigs[0].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[CanBus.POWERTRAIN]:
|
||||
ret.safetyConfigs[0].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:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_ASCM_INT
|
||||
else:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
|
||||
# Tuning for experimental long
|
||||
ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
|
||||
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
|
||||
|
||||
@@ -183,16 +212,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.experimentalLongitudinalAvailable = False
|
||||
ret.pcmCruise = False
|
||||
|
||||
elif candidate in SDGM_CAR:
|
||||
ret.longitudinalTuning.kiV = [0., 0., 0.] # TODO: tuning
|
||||
ret.experimentalLongitudinalAvailable = False
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.pcmCruise = True
|
||||
ret.radarUnavailable = True
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by ASCM
|
||||
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
|
||||
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
@@ -203,7 +222,12 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
|
||||
# Tuning
|
||||
ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
|
||||
ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
|
||||
if candidate in kaofui_cars:
|
||||
ret.stoppingDecelRate = 3
|
||||
ret.vEgoStopping = 0.75
|
||||
ret.vEgoStarting = 0.75
|
||||
ret.stopAccel = -1.5
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
# Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
|
||||
@@ -221,7 +245,7 @@ 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):
|
||||
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA):
|
||||
ret.minEnableSpeed = -1
|
||||
ret.lateralTuning.pid.kpBP = [0., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 0.17]
|
||||
@@ -299,22 +323,34 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT6:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT4:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT5_CC:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAVERSE:
|
||||
elif candidate in (CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
if candidate == CAR.CHEVROLET_BLAZER:
|
||||
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
|
||||
|
||||
elif candidate == CAR.BUICK_BABYENCLAVE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_CT6_CC:
|
||||
@@ -340,16 +376,36 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.flags |= GMFlags.PEDAL_LONG.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
|
||||
# Note: Low speed, stop and go not tested. Should be fairly smooth on highway
|
||||
ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
|
||||
ret.longitudinalTuning.kfDEPRECATED = 0.25
|
||||
ret.stoppingDecelRate = 0.8
|
||||
if candidate in (CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
|
||||
ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
|
||||
ret.longitudinalTuning.kfDEPRECATED = 0.15
|
||||
ret.stoppingDecelRate = 0.8
|
||||
ret.minEnableSpeed = -1
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
|
||||
else:
|
||||
ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
|
||||
ret.longitudinalTuning.kfDEPRECATED = 0.25
|
||||
ret.stoppingDecelRate = 0.8
|
||||
else: # Pedal used for SNG, ACC for longitudinal control otherwise
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
||||
ret.startingState = True
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
|
||||
if ret.enableGasInterceptor and candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
|
||||
ret.flags |= GMFlags.PEDAL_LONG.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
|
||||
ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.0, 0.18, 0.25]
|
||||
ret.longitudinalTuning.kfDEPRECATED = 0.15
|
||||
ret.stoppingDecelRate = 0.8
|
||||
ret.minEnableSpeed = -1
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
|
||||
|
||||
elif candidate in CC_ONLY_CAR:
|
||||
ret.flags |= GMFlags.CC_LONG.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
|
||||
@@ -360,20 +416,25 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.pcmCruise = False
|
||||
|
||||
if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
|
||||
ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph
|
||||
ret.longitudinalTuning.kpV = [0., 5., 2.] # set lower end to 0 since we can't drive below that speed
|
||||
ret.longitudinalTuning.deadzoneBP = [0., 1.]
|
||||
ret.longitudinalTuning.deadzoneV = [0.9, 0.9] # == 2 km/h/s, 1.25 mph/s
|
||||
ret.longitudinalActuatorDelay = 1. # TODO: measure this
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [0.1]
|
||||
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
|
||||
if candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
|
||||
pass
|
||||
else:
|
||||
ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph
|
||||
ret.longitudinalTuning.kpV = [0., 5., 2.] # set lower end to 0 since we can't drive below that speed
|
||||
ret.longitudinalTuning.deadzoneBP = [0., 1.]
|
||||
ret.longitudinalTuning.deadzoneV = [0.9, 0.9] # == 2 km/h/s, 1.25 mph/s
|
||||
ret.longitudinalActuatorDelay = 1. # TODO: measure this
|
||||
if candidate == CAR.CHEVROLET_MALIBU_CC:
|
||||
ret.longitudinalTuning.kpV = [0., 20., 20.]
|
||||
ret.longitudinalTuning.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [0.1]
|
||||
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
|
||||
|
||||
if candidate in CC_ONLY_CAR:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
|
||||
|
||||
# Exception for flashed cars, or cars whose camera was removed
|
||||
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
|
||||
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in (SDGM_CAR | ASCM_INT):
|
||||
ret.flags |= GMFlags.NO_CAMERA.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
|
||||
|
||||
|
||||
@@ -147,6 +147,16 @@ class CAR(Platforms):
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
CHEVROLET_VOLT_ASCM = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2017-18 ASCM Harness", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
CHEVROLET_VOLT_CAMERA = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2017-18 Camera Harness", "Flashed camera-forward integration with ACC")],
|
||||
CHEVROLET_VOLT.specs,
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
CADILLAC_ATS = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
|
||||
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
|
||||
@@ -155,10 +165,19 @@ class CAR(Platforms):
|
||||
[GMCarDocs("Chevrolet Malibu Premier 2017")],
|
||||
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_MALIBU_ASCM = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu 2017-19 ASCM Harness")],
|
||||
CHEVROLET_MALIBU.specs,
|
||||
)
|
||||
GMC_ACADIA = GMASCMPlatformConfig(
|
||||
[GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
|
||||
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
GMC_ACADIA_ASCM = GMPlatformConfig(
|
||||
[GMCarDocs("GMC Acadia 2018 ASCM Harness", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
|
||||
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
BUICK_LACROSSE = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
|
||||
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
@@ -254,22 +273,42 @@ class CAR(Platforms):
|
||||
[GMCarDocs("Cadillac XT5 - No-ACC")],
|
||||
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
|
||||
)
|
||||
CHEVROLET_BLAZER = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Blazer 2019-2025", "Driver Assist Package")],
|
||||
CarSpecs(mass=1850, wheelbase=3.10, steerRatio=17.9, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_TRAVERSE = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Traverse 2023", "Driver Assist Package")],
|
||||
CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_MALIBU_SDGM = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu 2019", "SDGM Harness (Optional SASCM)")],
|
||||
CHEVROLET_MALIBU.specs,
|
||||
)
|
||||
BUICK_BABYENCLAVE = GMPlatformConfig(
|
||||
[GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")],
|
||||
CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
|
||||
)
|
||||
CHEVROLET_MALIBU_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
|
||||
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=18.25, centerToFrontRatio=0.4, tireStiffnessFactor=0.997),
|
||||
)
|
||||
CHEVROLET_MALIBU_HYBRID_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu Hybrid 2017 - No-ACC")],
|
||||
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_TRAX = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet TRAX 2024")],
|
||||
CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_VOLT_2019 = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2019")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
|
||||
)
|
||||
CADILLAC_XT6 = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT6 2020", "Driver Assist Package")],
|
||||
GMCarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.5, centerToFrontRatio=0.4),
|
||||
)
|
||||
|
||||
|
||||
class CruiseButtons:
|
||||
@@ -352,16 +391,42 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
|
||||
)
|
||||
|
||||
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}
|
||||
EV_CAR = {
|
||||
CAR.CHEVROLET_VOLT,
|
||||
CAR.CHEVROLET_VOLT_2019,
|
||||
CAR.CHEVROLET_VOLT_ASCM,
|
||||
CAR.CHEVROLET_VOLT_CAMERA,
|
||||
CAR.CHEVROLET_VOLT_CC,
|
||||
CAR.CHEVROLET_BOLT_ACC_2022_2023,
|
||||
CAR.CHEVROLET_BOLT_CC_2019_2021,
|
||||
CAR.CHEVROLET_BOLT_CC_2022_2023,
|
||||
CAR.CHEVROLET_BOLT_CC_2017,
|
||||
CAR.CHEVROLET_MALIBU_HYBRID_CC,
|
||||
}
|
||||
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,
|
||||
CAR.CHEVROLET_MALIBU_HYBRID_CC,
|
||||
}
|
||||
CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2017}
|
||||
|
||||
# We're integrated at the Safety Data Gateway Module on these cars
|
||||
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
|
||||
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
|
||||
|
||||
ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
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 = {CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_BLAZER}
|
||||
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, CAR.CHEVROLET_MALIBU_HYBRID_CC})
|
||||
# CAMERA_ACC_CAR.update(CC_ONLY_CAR)
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
@@ -43,8 +43,10 @@ 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]
|
||||
"CADILLAC_XT6" = [1.33, 1.9, 0.16]
|
||||
"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.09]
|
||||
"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
|
||||
"CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
|
||||
"CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]
|
||||
"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
|
||||
"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
|
||||
"CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
|
||||
|
||||
@@ -5,6 +5,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
|
||||
"AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
|
||||
"CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
|
||||
"CHEVROLET_MALIBU_HYBRID_CC" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
|
||||
"CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
|
||||
"CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
|
||||
"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
|
||||
|
||||
@@ -56,8 +56,14 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
|
||||
"CADILLAC_ATS" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_MALIBU_ASCM" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_MALIBU_SDGM" = "CHEVROLET_VOLT"
|
||||
"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_VOLT_CAMERA" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
|
||||
"GMC_ACADIA_ASCM" = "GMC_ACADIA"
|
||||
"CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
|
||||
"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"
|
||||
|
||||
Reference in New Issue
Block a user