From aaf1452c2b98b91b19dc0f89b660c28ef773d035 Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Thu, 11 Apr 2024 17:19:17 -0700 Subject: [PATCH] Baby Enclave (CN only) Co-Authored-By: xyuelin <32188997+xyuelin@users.noreply.github.com> Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com> --- selfdrive/car/gm/fingerprints.py | 5 +++++ selfdrive/car/gm/interface.py | 5 +++++ selfdrive/car/gm/values.py | 7 ++++++- selfdrive/car/torque_data/override.toml | 1 + 4 files changed, 17 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py index 5b2f99f72..006721ab1 100644 --- a/selfdrive/car/gm/fingerprints.py +++ b/selfdrive/car/gm/fingerprints.py @@ -176,6 +176,11 @@ FINGERPRINTS = { { 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 }], + CAR.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 + }], } FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = { diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 1e069fbd4..213d15791 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -227,6 +227,11 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.BABYENCLAVE: + ret.steerActuatorDelay = 0.2 + ret.minSteerSpeed = 10 * CV.KPH_TO_MS + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.CT6_CC: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 6836f2ebb..64691bdf2 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -227,6 +227,11 @@ class CAR(Platforms): [GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")], CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4), ) + BABYENCLAVE = GMPlatformConfig( + "BUICK BABY ENCLAVE 2020", + [GMCarDocs("Buick Baby Enclave 2020-23")], + CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5), + ) class CruiseButtons: @@ -307,7 +312,7 @@ EV_CAR = {CAR.VOLT, CAR.BOLT_EUV, CAR.VOLT_CC, CAR.BOLT_CC} CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC} # We're integrated at the Safety Data Gateway Module on these cars -SDGM_CAR = {CAR.XT4} +SDGM_CAR = {CAR.XT4, CAR.BABYENCLAVE} # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness) CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER} diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index e3e7267af..64af4d304 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/selfdrive/car/torque_data/override.toml @@ -41,6 +41,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] "CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2] "CADILLAC XT4 2023" = [1.45, 1.6, 0.2] +"BUICK BABY ENCLAVE 2020" = [1.45, 1.6, 0.2] "CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05] "CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112] "CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]