mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-01 05:33:49 +08:00
Mochi's ASCM|SASCM Port
This commit is contained in:
firestar5683
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -231,13 +231,13 @@ class Panda:
|
||||
|
||||
FLAG_GM_HW_CAM = 1
|
||||
FLAG_GM_HW_CAM_LONG = 2
|
||||
FLAG_GM_HW_SDGM = 4
|
||||
FLAG_GM_CC_LONG = 8
|
||||
FLAG_GM_HW_ASCM_LONG = 16
|
||||
FLAG_GM_NO_CAMERA = 32
|
||||
FLAG_GM_NO_ACC = 64
|
||||
FLAG_GM_PEDAL_LONG = 128 # TODO: This can be inferred
|
||||
FLAG_GM_GAS_INTERCEPTOR = 256
|
||||
FLAG_GM_CC_LONG = 4
|
||||
FLAG_GM_HW_ASCM_LONG = 8
|
||||
FLAG_GM_NO_CAMERA = 16
|
||||
FLAG_GM_NO_ACC = 32
|
||||
FLAG_GM_PEDAL_LONG = 64 # TODO: This can be inferred
|
||||
FLAG_GM_GAS_INTERCEPTOR = 128
|
||||
FLAG_GM_ASCM_INT = 256
|
||||
|
||||
FLAG_FORD_LONG_CONTROL = 1
|
||||
FLAG_FORD_CANFD = 2
|
||||
|
||||
@@ -210,7 +210,7 @@ class CarController(CarControllerBase):
|
||||
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (10hz)
|
||||
if not self.CP.radarUnavailable and self.CP.carFingerprint not in SDGM_CAR:
|
||||
if not self.CP.radarUnavailable and self.CP.networkLocation != NetworkLocation.fwdCamera:
|
||||
tt = self.frame * DT_CTRL
|
||||
time_and_headlights_step = 10
|
||||
if self.frame % time_and_headlights_step == 0:
|
||||
|
||||
@@ -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
|
||||
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, ASCM_INT
|
||||
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
@@ -71,16 +71,16 @@ class CarState(CarStateBase):
|
||||
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 and not self.CP.flags & GMFlags.FORCE_BRAKE_C9.value: 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
|
||||
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"]
|
||||
ret.brakePressed = ret.brake >= 8
|
||||
|
||||
# Regen braking is braking
|
||||
@@ -107,32 +107,19 @@ class CarState(CarStateBase):
|
||||
ret.steerFaultTemporary = self.lkas_status == 2
|
||||
ret.steerFaultPermanent = self.lkas_status == 3
|
||||
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
|
||||
|
||||
# 1 - latched
|
||||
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
|
||||
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
|
||||
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
|
||||
|
||||
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
else:
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
|
||||
cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
|
||||
# 1 - latched
|
||||
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
|
||||
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
|
||||
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
|
||||
# 1 - latched
|
||||
ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
|
||||
ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
|
||||
ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
|
||||
ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
|
||||
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
|
||||
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
|
||||
@@ -143,12 +130,11 @@ 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:
|
||||
# 2016-2018 Volt won't identify non-adaptive cruise state since switchable cruise state was not introduced till 2019 model year / SDGM Global AAdd commentMore actions
|
||||
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
|
||||
@@ -156,18 +142,11 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
|
||||
|
||||
if self.CP.enableBsm:
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
else:
|
||||
ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
|
||||
self.lkas_previously_enabled = self.lkas_enabled
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
else:
|
||||
self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
|
||||
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
|
||||
|
||||
@@ -182,16 +161,7 @@ class CarState(CarStateBase):
|
||||
messages += [
|
||||
("ASCMLKASteeringCmd", 10),
|
||||
]
|
||||
if CP.carFingerprint in SDGM_CAR:
|
||||
messages += [
|
||||
("BCMTurnSignals", 1),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
("BCMGeneralPlatformStatus", 10),
|
||||
("ASCMSteeringButton", 33),
|
||||
]
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
else:
|
||||
if CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
|
||||
messages += [
|
||||
("AEBCmd", 10),
|
||||
]
|
||||
@@ -205,43 +175,30 @@ class CarState(CarStateBase):
|
||||
@staticmethod
|
||||
def get_can_parser(CP, FPCP):
|
||||
messages = [
|
||||
("BCMTurnSignals", 1),
|
||||
("ECMPRDNL2", 10),
|
||||
("PSCMStatus", 10),
|
||||
("ESPStatus", 10),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
("BCMGeneralPlatformStatus", 10),
|
||||
("EBCMWheelSpdFront", 20),
|
||||
("EBCMWheelSpdRear", 20),
|
||||
("EBCMFrictionBrakeStatus", 20),
|
||||
("AcceleratorPedal2", 33),
|
||||
("ASCMSteeringButton", 33),
|
||||
("ECMEngineStatus", 100),
|
||||
("PSCMSteeringAngle", 100),
|
||||
("ECMAcceleratorPos", 80),
|
||||
("SportMode", 0),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in SDGM_CAR:
|
||||
messages += [
|
||||
("ECMPRDNL2", 40),
|
||||
("AcceleratorPedal2", 40),
|
||||
("ECMEngineStatus", 80),
|
||||
]
|
||||
else:
|
||||
messages += [
|
||||
("ECMPRDNL2", 10),
|
||||
("AcceleratorPedal2", 33),
|
||||
("ECMEngineStatus", 100),
|
||||
("BCMTurnSignals", 1),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
("BCMGeneralPlatformStatus", 10),
|
||||
("ASCMSteeringButton", 33),
|
||||
]
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
|
||||
# Used to read back last counter sent to PT by camera
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
messages += [
|
||||
("ASCMLKASteeringCmd", 0),
|
||||
]
|
||||
if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
|
||||
messages.remove(("ECMAcceleratorPos", 80))
|
||||
messages.append(("EBCMBrakePedalPosition", 100))
|
||||
|
||||
if CP.transmissionType == TransmissionType.direct:
|
||||
messages += [
|
||||
@@ -259,6 +216,14 @@ class CarState(CarStateBase):
|
||||
("GAS_SENSOR", 50),
|
||||
]
|
||||
|
||||
if CP.networkLocation != NetworkLocation.fwdCamera:
|
||||
messages += [
|
||||
("ECMAcceleratorPos", 80),
|
||||
]
|
||||
if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
|
||||
messages.remove(("ECMAcceleratorPos", 80))
|
||||
messages.append(("EBCMBrakePedalPosition", 100))
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
|
||||
|
||||
@staticmethod
|
||||
|
||||
@@ -26,6 +26,12 @@ 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: 7Add commentMore actions
|
||||
# }
|
||||
],
|
||||
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
|
||||
}],
|
||||
|
||||
@@ -8,7 +8,7 @@ from openpilot.common.basedir import BASEDIR
|
||||
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, LatControlInputs, NanoFFModel
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
|
||||
|
||||
@@ -114,14 +114,17 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
ret.longitudinalTuning.kiBP = [5., 35.]
|
||||
|
||||
if candidate in (CAMERA_ACC_CAR | SDGM_CAR):
|
||||
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | SDGM_CAR) or 0x2FF in fingerprint[CanBus.POWERTRAIN]
|
||||
if candidate in (CAMERA_ACC_CAR | SDGM_CAR | ASCM_INT):
|
||||
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | SDGM_CAR | ASCM_INT) or 0x2FF in fingerprint[CanBus.POWERTRAIN]
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
|
||||
ret.pcmCruise = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
if candidate in ASCM_INT:
|
||||
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_ASCM_INT
|
||||
|
||||
# Tuning for experimental long
|
||||
ret.longitudinalTuning.kiV = [1.0, 1.0]
|
||||
@@ -314,7 +317,7 @@ class CarInterface(CarInterfaceBase):
|
||||
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
|
||||
|
||||
|
||||
@@ -41,7 +41,7 @@ class CarControllerParams:
|
||||
self.ZERO_GAS = 6144 # Coasting
|
||||
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
|
||||
|
||||
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR:
|
||||
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
|
||||
self.MAX_GAS = 7496
|
||||
self.MAX_GAS_PLUS = 8848
|
||||
self.MAX_ACC_REGEN = 5610
|
||||
@@ -118,6 +118,11 @@ 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 w/ 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')
|
||||
)
|
||||
CADILLAC_ATS = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
|
||||
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
|
||||
@@ -318,13 +323,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
|
||||
)
|
||||
|
||||
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
|
||||
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_VOLT_ASCM}
|
||||
CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
|
||||
# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
|
||||
|
||||
# We're integrated at the Safety Data Gateway Module on these cars
|
||||
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
|
||||
|
||||
ASCM_INT = {CAR.CHEVROLET_VOLT_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_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
|
||||
CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})
|
||||
|
||||
@@ -56,6 +56,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
|
||||
"CADILLAC_ATS" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
|
||||
"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
|
||||
|
||||
Reference in New Issue
Block a user