diff --git a/frogpilot/assets/nnff_models/CHEVROLET_VOLT_CAMERA.json b/frogpilot/assets/nnff_models/CHEVROLET_VOLT_CAMERA.json new file mode 100644 index 000000000..881f47c90 --- /dev/null +++ b/frogpilot/assets/nnff_models/CHEVROLET_VOLT_CAMERA.json @@ -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"}]} \ No newline at end of file diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py index c0a8e9f9d..bfb77f70b 100644 --- a/selfdrive/car/gm/fingerprints.py +++ b/selfdrive/car/gm/fingerprints.py @@ -29,9 +29,14 @@ FINGERPRINTS = { 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 + # 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 ], diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 1368f5909..9ecdbe151 100644 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -50,7 +50,7 @@ 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_2019, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_ASCM): + if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_ASCM): return self.get_steer_feedforward_volt else: return CarInterfaceBase.get_steer_feedforward_default @@ -113,7 +113,7 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kiBP = [5., 35.] - if candidate in (CAMERA_ACC_CAR | SDGM_CAR | ASCM_INT): + 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 0x2FF in fingerprint[CanBus.POWERTRAIN] ret.networkLocation = NetworkLocation.fwdCamera ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE] @@ -180,7 +180,7 @@ 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_CAMERA): ret.minEnableSpeed = -1 ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpV = [0., 0.17] diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index d6b3dec7e..073c78ee7 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -122,6 +122,11 @@ 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_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), @@ -339,7 +344,7 @@ FW_QUERY_CONFIG = FwQueryConfig( extra_ecus=[(Ecu.fwdCamera, 0x24b, None)], ) -EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_MALIBU_HYBRID_CC} +EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_MALIBU_HYBRID_CC} 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, CAR.CHEVROLET_MALIBU_HYBRID_CC} # CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC')) @@ -349,7 +354,7 @@ SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEV ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_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 = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX, CAR.CHEVROLET_VOLT_CAMERA} 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, CAR.CHEVROLET_MALIBU_HYBRID_CC}) # CAMERA_ACC_CAR.update(CC_ONLY_CAR) diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml index c1629efe3..2577d1611 100644 --- a/selfdrive/car/torque_data/substitute.toml +++ b/selfdrive/car/torque_data/substitute.toml @@ -59,6 +59,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "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"