mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-05 05:22:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

Separate Non-ACC vs ACC + Pedal

Browse Source
This commit is contained in:
firestar5683
2026-02-13 23:47:36 -06:00
parent 6d0c17f43a
commit a8499d20fc
7 changed files with 44 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/gm/carcontroller.py
+1 -1
View File
@@ -563,7 +563,7 @@ class CarController(CarControllerBase):
elif self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in (volt_like | {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE}):
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
cancel_bus = CanBus.POWERTRAIN if (self.CP.enableGasInterceptor and self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL) else CanBus.CAMERA
can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, CS.buttons_counter, CruiseButtons.CANCEL))
if self.CP.networkLocation == NetworkLocation.fwdCamera:
selfdrive/car/gm/carstate.py
+1 -1
View File
@@ -127,7 +127,7 @@ class CarState(CarStateBase):
self.single_pedal_mode = (ret.gearShifter == GearShifter.low or
pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or
(ret.regenBraking and GearShifter.manumatic) or
(self.CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_CC_2022_2023) and self.CP.enableGasInterceptor))
(self.CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_CC_2022_2023) and self.CP.enableGasInterceptor))
if self.CP.enableGasInterceptor:
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
selfdrive/car/gm/fingerprints.py
+3
View File
@@ -87,6 +87,9 @@ FINGERPRINTS = {
CAR.CHEVROLET_BOLT_ACC_2022_2023: [{
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL: [{
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
CAR.CHEVROLET_BOLT_CC_2022_2023: [{
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
selfdrive/car/gm/gmcan.py
+1 -1
View File
@@ -239,7 +239,7 @@ def create_lka_icon_command(bus, active, critical, steer):
return make_can_msg(0x104c006c, dat, bus)
def create_prndl2_command(packer, bus, press_regen_paddle, CP):
if CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_CC_2022_2023):
if CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_CC_2022_2023):
prndl2_value = 5 if press_regen_paddle else 6
else:
prndl2_value = 7 if press_regen_paddle else 6
selfdrive/car/gm/interface.py
+7 -2
View File
@@ -44,6 +44,10 @@ NON_LINEAR_TORQUE_PARAMS = {
"left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
"right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
},
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL: {
"left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
"right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
},
CAR.CHEVROLET_BOLT_CC_2022_2023: {
"left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
"right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
@@ -177,7 +181,7 @@ class CarInterface(CarInterfaceBase):
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
is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL and ret.enableGasInterceptor
kaofui_camera_cars = {
CAR.CHEVROLET_VOLT_CAMERA,
@@ -188,6 +192,7 @@ class CarInterface(CarInterfaceBase):
bolt_cc_camera_cars = {
CAR.CHEVROLET_BOLT_CC_2017,
CAR.CHEVROLET_BOLT_CC_2019_2021,
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
CAR.CHEVROLET_BOLT_CC_2022_2023,
}
is_camera_acc = candidate in CAMERA_ACC_CAR and candidate not in kaofui_cars and \
@@ -367,7 +372,7 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2017):
elif candidate in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2017):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
selfdrive/car/gm/values.py
+30 -3
View File
@@ -276,9 +276,16 @@ class CAR(Platforms):
[GMCarDocs("Chevrolet Bolt EV 2019-2021 - No-ACC")],
CHEVROLET_BOLT_ACC_2022_2023.specs,
)
CHEVROLET_BOLT_ACC_2022_2023_PEDAL = GMPlatformConfig(
[
GMCarDocs("Chevrolet Bolt EV 2022-2023 ACC + Pedal"),
GMCarDocs("Chevrolet Bolt EV 2022-2023 ACC + Pedal"),
],
CHEVROLET_BOLT_ACC_2022_2023.specs,
)
CHEVROLET_BOLT_CC_2022_2023 = GMPlatformConfig(
[
GMCarDocs("Chevrolet Bolt EUV 2022-2023 - No-ACC"),
GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
],
CHEVROLET_BOLT_ACC_2022_2023.specs,
@@ -461,6 +468,7 @@ EV_CAR = {
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_BOLT_ACC_2022_2023,
CAR.CHEVROLET_BOLT_CC_2019_2021,
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
CAR.CHEVROLET_BOLT_CC_2022_2023,
CAR.CHEVROLET_BOLT_CC_2017,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
@@ -468,6 +476,7 @@ EV_CAR = {
CC_ONLY_CAR = {
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_BOLT_CC_2019_2021,
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
CAR.CHEVROLET_BOLT_CC_2022_2023,
CAR.CHEVROLET_BOLT_CC_2017,
CAR.CHEVROLET_EQUINOX_CC,
@@ -479,7 +488,12 @@ CC_ONLY_CAR = {
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}
CC_REGEN_PADDLE_CAR = {
CAR.CHEVROLET_BOLT_CC_2019_2021,
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
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.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
@@ -488,7 +502,20 @@ ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_A
# 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, 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({
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_BOLT_CC_2019_2021,
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
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
selfdrive/car/torque_data/substitute.toml
+1
View File
@@ -65,6 +65,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"GMC_ACADIA_ASCM" = "GMC_ACADIA"
"CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
"CHEVROLET_BOLT_CC_2019_2021" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_BOLT_ACC_2022_2023_PEDAL" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_BOLT_CC_2022_2023" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_BOLT_CC_2017" = "CHEVROLET_BOLT_ACC_2022_2023"
"CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"