mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-21 16:23:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Remove Cadillac CT6 port (#1359)

Browse Source 
* remove CT6 port

* dont need this route

* extra char

* fix carcontroller params
old-commit-hash: e22482eb31f0dd7851fec6ecf448cf99a14b7f5c
This commit is contained in:
Adeeb
2020-04-13 15:53:24 -07:00
committed by GitHub
parent 9c9b8b2aa8
commit 7f2008aa0b
6 changed files with 94 additions and 232 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/carcontroller.py
+61 -84
View File
@@ -4,27 +4,19 @@ from common.numpy_fast import interp
from selfdrive.config import Conversions as CV from selfdrive.config import Conversions as CV
from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS, CanBus from selfdrive.car.gm.values import DBC, CanBus
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarControllerParams(): class CarControllerParams():
def __init__(self, car_fingerprint): def __init__(self):
if car_fingerprint in SUPERCRUISE_CARS: self.STEER_MAX = 300
self.STEER_MAX = 150 self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_STEP = 1 # how often we update the steer cmd self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
self.STEER_DELTA_UP = 2 # 0.75s time to peak torque self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
self.STEER_DELTA_DOWN = 5 # 0.3s from peak torque to zero self.MIN_STEER_SPEED = 3.
self.MIN_STEER_SPEED = -1. # can steer down to zero
else:
self.STEER_MAX = 300
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
self.MIN_STEER_SPEED = 3.
self.STEER_DRIVER_ALLOWANCE = 50 # allowed driver torque before start limiting self.STEER_DRIVER_ALLOWANCE = 50 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 4 # weight driver torque heavily self.STEER_DRIVER_MULTIPLIER = 4 # weight driver torque heavily
self.STEER_DRIVER_FACTOR = 100 # from dbc self.STEER_DRIVER_FACTOR = 100 # from dbc
@@ -61,23 +53,15 @@ def actuator_hystereses(final_pedal, pedal_steady):
return final_pedal, pedal_steady return final_pedal, pedal_steady
def process_hud_alert(hud_alert):
# initialize to no alert
steer = 0
if hud_alert == VisualAlert.steerRequired:
steer = 1
return steer
class CarController(): class CarController():
def __init__(self, dbc_name, CP, VM): def __init__(self, dbc_name, CP, VM):
self.pedal_steady = 0. self.pedal_steady = 0.
self.start_time = 0. self.start_time = 0.
self.apply_steer_last = 0 self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.lka_icon_status_last = (False, False) self.lka_icon_status_last = (False, False)
self.steer_rate_limited = False self.steer_rate_limited = False
self.params = CarControllerParams(CP.carFingerprint) self.params = CarControllerParams()
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt']) self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis']) self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
@@ -90,9 +74,6 @@ class CarController():
# Send CAN commands. # Send CAN commands.
can_sends = [] can_sends = []
alert_out = process_hud_alert(hud_alert)
steer = alert_out
### STEER ### ### STEER ###
if (frame % P.STEER_STEP) == 0: if (frame % P.STEER_STEP) == 0:
@@ -107,76 +88,72 @@ class CarController():
self.apply_steer_last = apply_steer self.apply_steer_last = apply_steer
idx = (frame // P.STEER_STEP) % 4 idx = (frame // P.STEER_STEP) % 4
if self.car_fingerprint in SUPERCRUISE_CARS: can_sends.append(gmcan.create_steering_control(self.packer_pt,
can_sends += gmcan.create_steering_control_ct6(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
CanBus, apply_steer, CS.out.vEgo, idx, lkas_enabled)
else:
can_sends.append(gmcan.create_steering_control(self.packer_pt,
CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
### GAS/BRAKE ### ### GAS/BRAKE ###
if self.car_fingerprint not in SUPERCRUISE_CARS: # no output if not enabled, but keep sending keepalive messages
# no output if not enabled, but keep sending keepalive messages # treat pedals as one
# treat pedals as one final_pedal = actuators.gas - actuators.brake
final_pedal = actuators.gas - actuators.brake
# *** apply pedal hysteresis *** # *** apply pedal hysteresis ***
final_brake, self.brake_steady = actuator_hystereses( final_brake, self.brake_steady = actuator_hystereses(
final_pedal, self.pedal_steady) final_pedal, self.pedal_steady)
if not enabled: if not enabled:
# Stock ECU sends max regen when not enabled. # Stock ECU sends max regen when not enabled.
apply_gas = P.MAX_ACC_REGEN apply_gas = P.MAX_ACC_REGEN
apply_brake = 0 apply_brake = 0
else: else:
apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V))) apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V))) apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
# Gas/regen and brakes - all at 25Hz # Gas/regen and brakes - all at 25Hz
if (frame % 4) == 0: if (frame % 4) == 0:
idx = (frame // 4) % 4 idx = (frame // 4) % 4
at_full_stop = enabled and CS.out.standstill at_full_stop = enabled and CS.out.standstill
near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE) near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx, near_stop, at_full_stop)) can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx, near_stop, at_full_stop))
at_full_stop = enabled and CS.out.standstill at_full_stop = enabled and CS.out.standstill
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, apply_gas, idx, enabled, at_full_stop)) can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, apply_gas, idx, enabled, at_full_stop))
# Send dashboard UI commands (ACC status), 25hz # Send dashboard UI commands (ACC status), 25hz
if (frame % 4) == 0: if (frame % 4) == 0:
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car)) can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
# Radar needs to know current speed and yaw rate (50hz), # Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz) # and that ADAS is alive (10hz)
time_and_headlights_step = 10 time_and_headlights_step = 10
tt = frame * DT_CTRL tt = frame * DT_CTRL
if frame % time_and_headlights_step == 0: if frame % time_and_headlights_step == 0:
idx = (frame // time_and_headlights_step) % 4 idx = (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_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
can_sends.append(gmcan.create_adas_headlights_status(CanBus.OBSTACLE)) can_sends.append(gmcan.create_adas_headlights_status(CanBus.OBSTACLE))
speed_and_accelerometer_step = 2 speed_and_accelerometer_step = 2
if frame % speed_and_accelerometer_step == 0: if frame % speed_and_accelerometer_step == 0:
idx = (frame // speed_and_accelerometer_step) % 4 idx = (frame // speed_and_accelerometer_step) % 4
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx)) 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)) can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
if frame % P.ADAS_KEEPALIVE_STEP == 0: if frame % P.ADAS_KEEPALIVE_STEP == 0:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
# Show green icon when LKA torque is applied, and # Show green icon when LKA torque is applied, and
# alarming orange icon when approaching torque limit. # alarming orange icon when approaching torque limit.
# If not sent again, LKA icon disappears in about 5 seconds. # If not sent again, LKA icon disappears in about 5 seconds.
# Conveniently, sending camera message periodically also works as a keepalive. # Conveniently, sending camera message periodically also works as a keepalive.
lka_active = CS.lkas_status == 1 lka_active = CS.lkas_status == 1
lka_critical = lka_active and abs(actuators.steer) > 0.9 lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical) lka_icon_status = (lka_active, lka_critical)
if frame % P.CAMERA_KEEPALIVE_STEP == 0 \ if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
or lka_icon_status != self.lka_icon_status_last: or lka_icon_status != self.lka_icon_status_last:
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer)) steer_alert = hud_alert == VisualAlert.steerRequired
self.lka_icon_status_last = lka_icon_status can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
self.lka_icon_status_last = lka_icon_status
return can_sends return can_sends
selfdrive/car/gm/carstate.py
+13 -27
View File
@@ -6,7 +6,7 @@ from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \ from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
CruiseButtons, is_eps_status_ok, \ CruiseButtons, is_eps_status_ok, \
STEER_THRESHOLD, SUPERCRUISE_CARS STEER_THRESHOLD
class CarState(CarStateBase): class CarState(CarStateBase):
@@ -53,21 +53,14 @@ class CarState(CarStateBase):
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1 ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2 ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
if self.car_fingerprint in SUPERCRUISE_CARS: self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
self.park_brake = False ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]['CruiseMainOn'])
ret.cruiseState.available = False ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
ret.espDisabled = False self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
regen_pressed = False
self.pcm_acc_status = int(pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']) regen_pressed = False
else: if self.car_fingerprint == CAR.VOLT:
self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed'] regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]['CruiseMainOn'])
ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
if self.car_fingerprint == CAR.VOLT:
regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
else:
regen_pressed = False
# Regen braking is braking # Regen braking is braking
ret.brakePressed = ret.brake > 1e-5 or regen_pressed ret.brakePressed = ret.brake > 1e-5 or regen_pressed
@@ -94,6 +87,7 @@ class CarState(CarStateBase):
("RightSeatBelt", "BCMDoorBeltStatus", 0), ("RightSeatBelt", "BCMDoorBeltStatus", 0),
("TurnSignals", "BCMTurnSignals", 0), ("TurnSignals", "BCMTurnSignals", 0),
("AcceleratorPedal", "AcceleratorPedal", 0), ("AcceleratorPedal", "AcceleratorPedal", 0),
("CruiseState", "AcceleratorPedal2", 0),
("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS), ("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
("SteeringWheelAngle", "PSCMSteeringAngle", 0), ("SteeringWheelAngle", "PSCMSteeringAngle", 0),
("FLWheelSpd", "EBCMWheelSpdFront", 0), ("FLWheelSpd", "EBCMWheelSpdFront", 0),
@@ -103,22 +97,14 @@ class CarState(CarStateBase):
("PRNDL", "ECMPRDNL", 0), ("PRNDL", "ECMPRDNL", 0),
("LKADriverAppldTrq", "PSCMStatus", 0), ("LKADriverAppldTrq", "PSCMStatus", 0),
("LKATorqueDeliveredStatus", "PSCMStatus", 0), ("LKATorqueDeliveredStatus", "PSCMStatus", 0),
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
] ]
if CP.carFingerprint == CAR.VOLT: if CP.carFingerprint == CAR.VOLT:
signals += [ signals += [
("RegenPaddle", "EBCMRegenPaddle", 0), ("RegenPaddle", "EBCMRegenPaddle", 0),
] ]
if CP.carFingerprint in SUPERCRUISE_CARS:
signals += [
("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
]
else:
signals += [
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
("CruiseState", "AcceleratorPedal2", 0),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN) return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)
selfdrive/car/gm/gmcan.py
-70
View File
@@ -11,32 +11,6 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
return packer.make_can_msg("ASCMLKASteeringCmd", bus, values) return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
def create_steering_control_ct6(packer, CanBus, apply_steer, v_ego, idx, enabled):
values = {
"LKASteeringCmdActive": 1 if enabled else 0,
"LKASteeringCmd": apply_steer,
"RollingCounter": idx,
"SetMe1": 1,
"LKASVehicleSpeed": abs(v_ego * 3.6),
"LKASMode": 2 if enabled else 0,
"LKASteeringCmdChecksum": 0 # assume zero and then manually compute it
}
dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
# the checksum logic is weird
values['LKASteeringCmdChecksum'] = (0x2a +
sum(dat[:4]) +
values['LKASMode']) & 0x3ff
# pack again with checksum
dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
return [0x152, 0, dat, CanBus.POWERTRAIN], \
[0x154, 0, dat, CanBus.POWERTRAIN], \
[0x151, 0, dat, CanBus.CHASSIS], \
[0x153, 0, dat, CanBus.CHASSIS]
def create_adas_keepalive(bus): def create_adas_keepalive(bus):
dat = b"\x00\x00\x00\x00\x00\x00\x00" dat = b"\x00\x00\x00\x00\x00\x00\x00"
return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)] return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
@@ -147,47 +121,3 @@ def create_lka_icon_command(bus, active, critical, steer):
dat = b"\x00\x00\x00" dat = b"\x00\x00\x00"
return make_can_msg(0x104c006c, dat, bus) return make_can_msg(0x104c006c, dat, bus)
# TODO: WIP
'''
def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):
# counters loops across [0, 29, 42, 55] but checksum only considers 0, 1, 2, 3
cntrs = [0, 29, 42, 55]
if apply_brake == 0:
mode = 0x1
else:
mode = 0xa
if at_full_stop:
mode = 0xd
elif near_stop:
mode = 0xb
brake = (0x1000 - apply_brake) & 0xfff
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
values = {
"RollingCounter" : cntrs[idx],
"FrictionBrakeMode" : mode,
"FrictionBrakeChecksum": checksum,
"FrictionBrakeCmd" : -apply_brake
}
dat = packer.make_can_msg("EBCMFrictionBrakeCmd", 0, values)[2]
# msg is 0x315 but we are doing the panda forwarding
return make_can_msg(0x314, dat, 2)
def create_gas_regen_command_ct6(bus, throttle, idx, acc_engaged, at_full_stop):
cntrs = [0, 7, 10, 13]
eng_bit = 1 if acc_engaged else 0
gas_high = (throttle >> 8) | 0x80
gas_low = (throttle) & 0xff
full_stop = 0x20 if at_full_stop else 0
chk1 = (0x100 - gas_high - 1) & 0xff
chk2 = (0x100 - gas_low - idx) & 0xff
dat = [(idx << 6) | eng_bit, 0xc2 | full_stop, gas_high, gas_low,
(1 - eng_bit) | (cntrs[idx] << 1), 0x5d - full_stop, chk1, chk2]
return make_can_msg(0x2cb, "".join(map(chr, dat)), bus)
'''
selfdrive/car/gm/interface.py
+19 -34
View File
@@ -3,7 +3,7 @@ from cereal import car
from selfdrive.config import Conversions as CV from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \ from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
SUPERCRUISE_CARS, AccState, FINGERPRINTS AccState, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@@ -29,9 +29,7 @@ class CarInterface(CarInterfaceBase):
# Presence of a camera on the object bus is ok. # Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars), # Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC). # or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or \ ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
has_relay or \
candidate == CAR.CADILLAC_CT6
ret.openpilotLongitudinalControl = ret.enableCamera ret.openpilotLongitudinalControl = ret.enableCamera
tire_stiffness_factor = 0.444 # not optimized yet tire_stiffness_factor = 0.444 # not optimized yet
@@ -93,16 +91,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatioRear = 0. ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49 ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1.
ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# TODO: get actual value, for now starting with reasonable value for # TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase # civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -159,28 +147,25 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = buttonEvents ret.buttonEvents = buttonEvents
supercruise = self.CS.car_fingerprint in SUPERCRUISE_CARS events = self.create_common_events(ret, pcm_enable=False)
events = self.create_common_events(ret, pcm_enable=supercruise)
if not supercruise: if ret.vEgo < self.CP.minEnableSpeed:
# TODO: why is this only not supercruise? ignore supercruise? events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if ret.vEgo < self.CP.minEnableSpeed: if self.CS.park_brake:
events.append(create_event('speedTooLow', [ET.NO_ENTRY])) events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
if self.CS.park_brake: if ret.cruiseState.standstill:
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE])) events.append(create_event('resumeRequired', [ET.WARNING]))
if ret.cruiseState.standstill: if self.CS.pcm_acc_status == AccState.FAULTED:
events.append(create_event('resumeRequired', [ET.WARNING])) events.append(create_event('controlsFailed', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.CS.pcm_acc_status == AccState.FAULTED:
events.append(create_event('controlsFailed', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# handle button presses # handle button presses
for b in ret.buttonEvents: for b in ret.buttonEvents:
# do enable on both accel and decel buttons # do enable on both accel and decel buttons
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed: if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE])) events.append(create_event('buttonEnable', [ET.ENABLE]))
# do disable on button down # do disable on button down
if b.type == ButtonType.cancel and b.pressed: if b.type == ButtonType.cancel and b.pressed:
events.append(create_event('buttonCancel', [ET.USER_DISABLE])) events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
ret.events = events ret.events = events
selfdrive/car/gm/values.py
+1 -13
View File
@@ -6,13 +6,10 @@ class CAR:
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017" HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017" VOLT = "CHEVROLET VOLT PREMIER 2017"
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018" CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017" MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018" ACADIA = "GMC ACADIA DENALI 2018"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018" BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
SUPERCRUISE_CARS = [CAR.CADILLAC_CT6]
class CruiseButtons: class CruiseButtons:
INIT = 0 INIT = 0
UNPRESS = 1 UNPRESS = 1
@@ -34,12 +31,7 @@ class CanBus:
SW_GMLAN = 3 SW_GMLAN = 3
def is_eps_status_ok(eps_status, car_fingerprint): def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = [] return eps_status in [0, 1]
if car_fingerprint in SUPERCRUISE_CARS:
valid_eps_status += [0, 1, 4, 5, 6]
else:
valid_eps_status += [0, 1]
return eps_status in valid_eps_status
FINGERPRINTS = { FINGERPRINTS = {
# Astra BK MY17, ASCM unplugged # Astra BK MY17, ASCM unplugged
@@ -65,9 +57,6 @@ FINGERPRINTS = {
{ {
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, 368: 3, 381: 6, 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, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 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, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 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, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8 190: 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, 368: 3, 381: 6, 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, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 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, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 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, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}], }],
CAR.CADILLAC_CT6: [{
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, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 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, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 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, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
}],
CAR.MALIBU: [ CAR.MALIBU: [
# Malibu Premier w/ ACC 2017 # Malibu Premier w/ ACC 2017
{ {
@@ -93,5 +82,4 @@ DBC = {
CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'), CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
} }
selfdrive/test/test_car_models.py
-4
View File
@@ -76,10 +76,6 @@ routes = {
'carFingerprint': FORD.FUSION, 'carFingerprint': FORD.FUSION,
'enableCamera': True, 'enableCamera': True,
}, },
"7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
'carFingerprint': GM.CADILLAC_CT6,
'enableCamera': True,
},
"c950e28c26b5b168|2018-05-30--22-03-41": { "c950e28c26b5b168|2018-05-30--22-03-41": {
'carFingerprint': GM.VOLT, 'carFingerprint': GM.VOLT,
'enableCamera': True, 'enableCamera': True,