mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-31 21:23:49 +08:00
StarPilot
This commit is contained in:
firestar5683
@@ -1,4 +1,3 @@
|
||||
from typing import Tuple
|
||||
from cereal import car
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.filter_simple import FirstOrderFilter
|
||||
@@ -8,7 +7,7 @@ from openpilot.common.params_pyx import Params
|
||||
from opendbc.can.packer import CANPacker
|
||||
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
|
||||
from openpilot.selfdrive.car.gm import gmcan
|
||||
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, AccState, CC_REGEN_PADDLE_CAR
|
||||
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, AccState
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
|
||||
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
|
||||
@@ -22,7 +21,8 @@ TransmissionType = car.CarParams.TransmissionType
|
||||
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
|
||||
CAMERA_CANCEL_DELAY_FRAMES = 10
|
||||
# Enforce a minimum interval between steering messages to avoid a fault
|
||||
MIN_STEER_MSG_INTERVAL_MS = 10
|
||||
MIN_STEER_MSG_INTERVAL_MS = 15
|
||||
|
||||
# Constants for pitch compensation
|
||||
PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade
|
||||
BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds
|
||||
@@ -44,8 +44,6 @@ class CarController(CarControllerBase):
|
||||
|
||||
self.lka_steering_cmd_counter = 0
|
||||
self.lka_icon_status_last = (False, False)
|
||||
self.last_oem_prndl2_ts_nanos = 0
|
||||
self.last_oem_regen_paddle_ts_nanos = 0
|
||||
|
||||
self.params = CarControllerParams(self.CP)
|
||||
self.params_ = Params()
|
||||
@@ -57,51 +55,22 @@ class CarController(CarControllerBase):
|
||||
# FrogPilot variables
|
||||
self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz
|
||||
self.accel_g = 0.0
|
||||
self.regen_paddle_pressed = False
|
||||
self.aego = 0.0
|
||||
|
||||
def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
|
||||
if not long_active:
|
||||
return 0., False
|
||||
@staticmethod
|
||||
def calc_pedal_command(accel: float, long_active: bool, car_velocity) -> float:
|
||||
if not long_active: return 0.
|
||||
|
||||
# Regen paddle hysteresis (200ms = 20 frames)
|
||||
if not hasattr(self, 'regen_paddle_timer'):
|
||||
self.regen_paddle_timer = 0
|
||||
|
||||
if self.aego < -0.7 and accel <= 0.0:
|
||||
self.regen_paddle_timer += 1
|
||||
if accel < -0.5:
|
||||
pedal_gas = 0
|
||||
else:
|
||||
self.regen_paddle_timer = max(self.regen_paddle_timer - 1, 0)
|
||||
|
||||
self.regen_paddle_pressed = self.regen_paddle_timer >= 20
|
||||
|
||||
press_regen_paddle = self.regen_paddle_pressed
|
||||
|
||||
# Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
|
||||
speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
|
||||
11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
|
||||
22.939, 24.058, 25.177, 26.296]
|
||||
regen_gain_ratio = [1.01, 1.01, 1.02, 1.05, 1.08, 1.345979, 1.369975,
|
||||
1.376302, 1.388052, 1.370367, 1.388498, 1.386030, 1.405950, 1.387555,
|
||||
1.390392, 1.394946, 1.414915, 1.428535, 1.439611, 1.440106, 1.441438,
|
||||
1.439395, 1.446909, 1.445738]
|
||||
|
||||
gain = interp(car_velocity, speed_mps, regen_gain_ratio)
|
||||
|
||||
pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
|
||||
|
||||
if press_regen_paddle:
|
||||
pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0)
|
||||
else:
|
||||
pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
|
||||
pedal_gas = clip((pedaloffset + accel * 0.6), 0.0, 1.0)
|
||||
|
||||
|
||||
return pedal_gas, press_regen_paddle
|
||||
|
||||
return pedal_gas
|
||||
|
||||
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
self.CS = CS
|
||||
self.aego = CS.out.aEgo
|
||||
actuators = CC.actuators
|
||||
accel = brake_accel = actuators.accel
|
||||
hud_control = CC.hudControl
|
||||
@@ -113,19 +82,6 @@ class CarController(CarControllerBase):
|
||||
# Send CAN commands.
|
||||
can_sends = []
|
||||
|
||||
|
||||
|
||||
# Only apply PRNDL2 and regen paddle spoofing for cars in CC_REGEN_PADDLE_CAR and when gas interceptor is enabled
|
||||
if self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and self.CP.enableGasInterceptor:
|
||||
steer_phase = self.last_steer_frame % 3
|
||||
send_prndl_frame = (self.frame % 3) != steer_phase
|
||||
|
||||
press_regen_paddle = self.regen_paddle_pressed
|
||||
if send_prndl_frame and CC.longActive:
|
||||
can_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, press_regen_paddle))
|
||||
can_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, press_regen_paddle))
|
||||
|
||||
|
||||
# Steering (Active: 50Hz, inactive: 10Hz)
|
||||
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
|
||||
|
||||
@@ -185,11 +141,12 @@ class CarController(CarControllerBase):
|
||||
else:
|
||||
# Normal operation
|
||||
if self.CP.carFingerprint in EV_CAR:
|
||||
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
|
||||
if frogpilot_toggles.sport_plus:
|
||||
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
|
||||
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
|
||||
else:
|
||||
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
else:
|
||||
if frogpilot_toggles.sport_plus:
|
||||
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
|
||||
@@ -202,13 +159,12 @@ class CarController(CarControllerBase):
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
if self.CP.carFingerprint in CC_ONLY_CAR:
|
||||
# gas interceptor only used for full long control on cars without ACC
|
||||
interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
|
||||
interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
|
||||
|
||||
if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
|
||||
# "Tap" the accelerator pedal to re-engage ACC
|
||||
interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS
|
||||
self.apply_brake = 0
|
||||
press_regen_paddle = False
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
|
||||
idx = (self.frame // 4) % 4
|
||||
@@ -239,7 +195,7 @@ class CarController(CarControllerBase):
|
||||
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
|
||||
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop))
|
||||
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
|
||||
idx, CC.enabled, near_stop, at_full_stop, self.CP))
|
||||
idx, CC.enabled, near_stop, at_full_stop, self.CP))
|
||||
|
||||
# Send dashboard UI commands (ACC status)
|
||||
send_fcw = hud_alert == VisualAlert.fcw
|
||||
|
||||
@@ -56,10 +56,6 @@ class CarState(CarStateBase):
|
||||
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
|
||||
if self.loopback_lka_steering_cmd_updated:
|
||||
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
|
||||
# Track timestamps for OEM PRNDL2 and Regen Paddle messages (used to sync spoofing timing)
|
||||
self.prndl2_ts_nanos = pt_cp.ts_nanos["ECMPRDNL2"]["PRNDL2"]
|
||||
self.regen_paddle_ts_nanos = pt_cp.ts_nanos["EBCMRegenPaddle"]["RegenPaddle"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
|
||||
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
@@ -96,11 +92,16 @@ class CarState(CarStateBase):
|
||||
# Regen braking is braking
|
||||
if self.CP.transmissionType == TransmissionType.direct:
|
||||
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
|
||||
self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic)
|
||||
self.single_pedal_mode = (
|
||||
ret.gearShifter == GearShifter.low
|
||||
or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1
|
||||
or pt_cp.vl["ECMPRDNL2"]["TransmissionState"] == 21
|
||||
or (ret.regenBraking and GearShifter.manumatic)
|
||||
)
|
||||
|
||||
if self.CP.enableGasInterceptor:
|
||||
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
|
||||
threshold = 12 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 595 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
|
||||
threshold = 12 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
|
||||
ret.gasPressed = ret.gas > threshold
|
||||
else:
|
||||
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
|
||||
@@ -173,7 +174,7 @@ class CarState(CarStateBase):
|
||||
ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
|
||||
|
||||
# FrogPilot CarState functions
|
||||
self.lkas_previously_enabled = self.lkas_enabled
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
@@ -234,7 +235,7 @@ class CarState(CarStateBase):
|
||||
]
|
||||
else:
|
||||
messages += [
|
||||
("ECMPRDNL2", 40),
|
||||
("ECMPRDNL2", 10),
|
||||
("AcceleratorPedal2", 33),
|
||||
("ECMEngineStatus", 100),
|
||||
("BCMTurnSignals", 1),
|
||||
@@ -256,7 +257,7 @@ class CarState(CarStateBase):
|
||||
|
||||
if CP.transmissionType == TransmissionType.direct:
|
||||
messages += [
|
||||
("EBCMRegenPaddle", 40),
|
||||
("EBCMRegenPaddle", 50),
|
||||
("EVDriveMode", 0),
|
||||
]
|
||||
|
||||
|
||||
@@ -177,33 +177,6 @@ def create_lka_icon_command(bus, active, critical, steer):
|
||||
dat = b"\x00\x00\x00"
|
||||
return make_can_msg(0x104c006c, dat, bus)
|
||||
|
||||
def create_prndl2_command(packer, bus, press_regen_paddle):
|
||||
prndl2_value = 7 if press_regen_paddle else 6
|
||||
manual_mode = 1 if press_regen_paddle else 0
|
||||
values = {
|
||||
"Byte0": 0x0C,
|
||||
"Byte1": 0x0C,
|
||||
"Byte2": 0x00,
|
||||
"PRNDL2": prndl2_value,
|
||||
"Byte4": 0x00,
|
||||
"ManualMode": manual_mode,
|
||||
"TransmissionState": 1,
|
||||
"Byte7": 0x00
|
||||
}
|
||||
return packer.make_can_msg("ECMPRDNL2", bus, values)
|
||||
|
||||
def create_regen_paddle_command(packer, bus, press_regen_paddle):
|
||||
regen_paddle_value = 2 if press_regen_paddle else 0
|
||||
values = {
|
||||
"RegenPaddle": regen_paddle_value,
|
||||
"Byte1": 0,
|
||||
"Byte2": 0,
|
||||
"Byte3": 0,
|
||||
"Byte4": 0,
|
||||
"Byte5": 0,
|
||||
"Byte6": 0
|
||||
}
|
||||
return packer.make_can_msg("EBCMRegenPaddle", bus, values)
|
||||
|
||||
def create_gm_cc_spam_command(packer, controller, CS, actuators):
|
||||
if controller.params_.get_bool("IsMetric"):
|
||||
|
||||
@@ -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 and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
|
||||
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
|
||||
self.MAX_GAS = 7496
|
||||
self.MAX_GAS_PLUS = 8848
|
||||
self.MAX_ACC_REGEN = 5610
|
||||
@@ -53,18 +53,18 @@ class CarControllerParams:
|
||||
elif CP.carFingerprint in SDGM_CAR:
|
||||
self.MAX_GAS = 7496
|
||||
self.MAX_GAS_PLUS = 7496
|
||||
self.MAX_ACC_REGEN = 7110
|
||||
self.MAX_ACC_REGEN = 5610
|
||||
self.INACTIVE_REGEN = 5650
|
||||
self.max_regen_acceleration = 0.
|
||||
|
||||
else:
|
||||
self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
|
||||
self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
|
||||
self.MAX_ACC_REGEN = 7110 # Increased for stronger regen braking
|
||||
self.MAX_ACC_REGEN = 5500 # Max ACC regen is slightly less than max paddle regen
|
||||
self.INACTIVE_REGEN = 5500
|
||||
# ICE has much less engine braking force compared to regen in EVs,
|
||||
# lower threshold removes some braking deadzone
|
||||
self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1 # More aggressive regen for EVs
|
||||
self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
|
||||
|
||||
self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
|
||||
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
|
||||
@@ -74,7 +74,18 @@ class CarControllerParams:
|
||||
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
|
||||
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
|
||||
|
||||
# determined by letting Volt regen to a stop in L gear from 89mph,
|
||||
# and by letting off gas and allowing car to creep, for determining
|
||||
# the positive threshold values at very low speed
|
||||
EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
|
||||
EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
|
||||
|
||||
def update_ev_gas_brake_threshold(self, v_ego):
|
||||
gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
|
||||
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
|
||||
self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
|
||||
self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
|
||||
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
|
||||
|
||||
@dataclass
|
||||
class GMCarDocs(CarDocs):
|
||||
@@ -311,7 +322,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
|
||||
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_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}
|
||||
CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
|
||||
# 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
|
||||
|
||||
Reference in New Issue
Block a user