mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-28 10:23:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

plexy

Browse Source
This commit is contained in:
firestar5683
2026-04-24 14:37:06 -05:00
parent b6374d96b8
commit ceadca17a3
7 changed files with 81 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo/opendbc/car/gm/carcontroller.py
+30 -10
View File
@@ -23,13 +23,30 @@ CAMERA_CANCEL_DELAY_FRAMES = 10
MIN_STEER_MSG_INTERVAL_MS = 15
def get_lka_steering_cmd_counter(counter, CS):
if CS.loopback_lka_steering_cmd_updated:
return (CS.loopback_lka_steering_cmd_counter + 1) % 4
if CS.loopback_lka_steering_cmd_ts_nanos == 0 and counter < 0:
return (CS.pt_lka_steering_cmd_counter + 1) % 4
return counter % 4
def get_stock_cc_active_for_cancel(CP, CS):
if CS.out.accFaulted:
return False
stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
if CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
return CS.out.cruiseState.enabled
return stock_cc_active
def should_send_stock_long_cancel(cancel_counter, CS):
return cancel_counter > CAMERA_CANCEL_DELAY_FRAMES and not CS.out.accFaulted
def use_interceptor_sng_launch(CP, CS, maneuver_mode=False):
# Restrict the fixed standstill-launch gas to actual near-zero motion
# so higher accel requests can take over once the car has started moving.
@@ -112,7 +129,7 @@ class CarController(CarControllerBase):
self.last_button_frame = 0
self.cancel_counter = 0
self.lka_steering_cmd_counter = 0
self.lka_steering_cmd_counter = -1
self.lka_icon_status_last = (False, False)
self.params = CarControllerParams(self.CP)
@@ -396,16 +413,12 @@ class CarController(CarControllerBase):
if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
steer_step = self.params.STEER_STEP
self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
self.lka_steering_cmd_counter = get_lka_steering_cmd_counter(self.lka_steering_cmd_counter, CS)
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
# received the ASCMLKASteeringCmd loopback confirmation too recently
last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
# Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
if CS.loopback_lka_steering_cmd_ts_nanos == 0:
self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
if CC.latActive:
new_torque = int(round(actuators.torque * self.params.STEER_MAX))
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
@@ -418,8 +431,10 @@ class CarController(CarControllerBase):
self.last_steer_frame = self.frame
self.apply_torque_last = apply_torque
idx = self.lka_steering_cmd_counter % 4
idx = self.lka_steering_cmd_counter
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_torque, idx, CC.latActive))
# Keep the counter moving even if panda stops returning loopback confirmations.
self.lka_steering_cmd_counter = (idx + 1) % 4
if should_spoof_ecm_cruise_status(self.CP) and self.frame % 4 == 0:
can_sends.append(gmcan.create_ecm_cruise_control_command(
@@ -551,7 +566,12 @@ class CarController(CarControllerBase):
if self.CP.enableGasInterceptorDEPRECATED:
can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
if self.CP.carFingerprint not in CC_ONLY_CAR:
friction_brake_bus = CanBus.CHASSIS
volt_gateway_alt_brake = (
self.CP.carFingerprint == CAR.CHEVROLET_VOLT and
self.CP.networkLocation == NetworkLocation.gateway and
bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value)
)
friction_brake_bus = CanBus.POWERTRAIN if volt_gateway_alt_brake else CanBus.CHASSIS
# GM Camera exceptions
# TODO: can we always check the longControlState?
if self.CP.networkLocation == NetworkLocation.fwdCamera:
@@ -638,10 +658,10 @@ class CarController(CarControllerBase):
self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
# Stock longitudinal, integrated at camera
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and should_send_stock_long_cancel(self.cancel_counter, CS):
malibu_cancel_requested = True
elif (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
if should_send_stock_long_cancel(self.cancel_counter, CS):
self.last_button_frame = self.frame
sdgm_stock_cancel_pt = (
self.CP.carFingerprint in SDGM_CAR and
opendbc_repo/opendbc/car/gm/carstate.py
+6 -1
View File
@@ -26,6 +26,7 @@ TransmissionType = structs.CarParams.TransmissionType
NetworkLocation = structs.CarParams.NetworkLocation
STANDSTILL_THRESHOLD = 10 * 0.0311
VOLT_EBCM_BRAKE_PRESSED_THRESHOLD = 6 / 0xd0
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -46,6 +47,7 @@ class CarState(CarStateBase):
self.cluster_min_speed = CV.KPH_TO_MS / 2.
self.loopback_lka_steering_cmd_updated = False
self.loopback_lka_steering_cmd_counter = 0
self.loopback_lka_steering_cmd_ts_nanos = 0
self.pt_lka_steering_cmd_counter = 0
self.cam_lka_steering_cmd_counter = 0
@@ -119,6 +121,7 @@ class CarState(CarStateBase):
# Variables used for avoiding LKAS faults
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_counter = loopback_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
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"]
@@ -153,7 +156,9 @@ class CarState(CarStateBase):
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
if self.CP.carFingerprint == CAR.CHEVROLET_VOLT and no_accel_pos:
ret.brakePressed = ret.brake >= VOLT_EBCM_BRAKE_PRESSED_THRESHOLD
elif self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
ret.brakePressed = ret.brake >= 8
elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
opendbc_repo/opendbc/car/gm/interface.py
+3
View File
@@ -620,6 +620,9 @@ class CarInterface(CarInterfaceBase):
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
if candidate == CAR.CHEVROLET_VOLT and ret.networkLocation == NetworkLocation.gateway:
# Reuse the no-camera safety bit as an ASCM Volt selector for the alternate EBCM brake path.
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value
try:
remote_start_boots_comma = params.get_bool("RemoteStartBootsComma")
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+1
View File
@@ -103,6 +103,7 @@ class TestGMInterface:
starpilot_toggles=_test_starpilot_toggles())
assert car_params.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
pt_parser = CarInterface.CarState.get_can_parsers(car_params)[Bus.pt]
assert "ECMAcceleratorPos" not in pt_parser.vl
opendbc_repo/opendbc/car/tests/test_can_fingerprint.py
+17
View File
@@ -84,6 +84,23 @@ class TestCanFingerprint:
assert candidate == "CHEVROLET_VOLT_CAMERA"
def test_gm_stored_candidate_fallback_demotes_volt_camera_with_only_camera_diag_msg(self):
fingerprints = {0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6}, 2: {0x24B: 8}}
candidate = _get_gm_stored_candidate_fallback(fingerprints, "CHEVROLET_VOLT_CAMERA", None)
assert candidate == "CHEVROLET_VOLT"
def test_gm_stored_candidate_fallback_keeps_volt_when_bus2_only_has_forwarded_pt_core_msgs(self):
fingerprints = {
0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6},
2: {201: 8, 209: 7, 211: 2, 241: 6},
}
candidate = _get_gm_stored_candidate_fallback(fingerprints, "CHEVROLET_VOLT", None)
assert candidate == "CHEVROLET_VOLT"
def test_gm_stored_candidate_fallback_ignores_non_gm_fingerprint(self):
fingerprints = {0: {1: 1, 2: 2, 3: 3, 4: 4}}
opendbc_repo/opendbc/safety/modes/gm.h
+15 -1
View File
@@ -59,6 +59,7 @@ static bool gm_force_brake_c9 = false;
static bool gm_panda_3d1_sched = false;
static bool gm_panda_paddle_sched = false;
static bool gm_bolt_2022_pedal = false;
static bool gm_alt_brake = false;
static bool gm_cc_long = false;
static bool gm_has_acc = true;
@@ -246,10 +247,14 @@ static void gm_rx_hook(const CANPacket_t *msg) {
brake_pressed = GET_BIT(msg, 40U);
}
if ((msg->addr == 0xBEU) && ((gm_hw == GM_ASCM) || gm_sdgm || gm_ascm_int)) {
if ((msg->addr == 0xBEU) && (((gm_hw == GM_ASCM) && !gm_alt_brake) || gm_sdgm || gm_ascm_int)) {
brake_pressed = msg->data[1] >= 8U;
}
if ((msg->addr == 0xF1U) && gm_alt_brake) {
brake_pressed = msg->data[1] >= 6U;
}
if ((msg->addr == 0xC9U) && (gm_hw == GM_CAM) && !gm_force_brake_c9) {
brake_pressed = GET_BIT(msg, 40U);
}
@@ -546,6 +551,12 @@ static safety_config gm_init(uint16_t param) {
{0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false},
{0x1F5, 0, 8, .check_relay = false}}; // pt bus
static const CanMsg GM_ASCM_ALT_BRAKE_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x315, 0, 5, .check_relay = true}, // pt bus
{0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus
{0x200, 0, 6, .check_relay = false},
{0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false},
{0x1F5, 0, 8, .check_relay = false}}; // pt bus
static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
@@ -660,6 +671,7 @@ static safety_config gm_init(uint16_t param) {
gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
gm_panda_3d1_sched = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && gm_pedal_long && !gm_has_acc && !gm_bolt_2022_pedal;
gm_panda_paddle_sched = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && gm_pedal_long && enable_gas_interceptor;
gm_alt_brake = GET_FLAG(param, GM_PARAM_NO_CAMERA) && (gm_hw == GM_ASCM) && !gm_sdgm && !gm_ascm_int;
gm_3d1_spoof_valid = false;
gm_3d1_internal_tx = false;
@@ -726,6 +738,8 @@ static safety_config gm_init(uint16_t param) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
}
}
} else if (gm_alt_brake) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_ALT_BRAKE_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
}
opendbc_repo/opendbc/safety/tests/test_gm.py
+9 -1
View File
@@ -196,7 +196,15 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
class TestGmAscmEVSafety(TestGmAscmSafety, TestGmEVSafetyBase):
pass
EXTRA_SAFETY_PARAM = GMSafetyFlags.FLAG_GM_NO_CAMERA
TX_MSGS = [[0x180, 0], [0x409, 0], [0x40A, 0], [0x2CB, 0], [0x370, 0], [0x200, 0], [0x1E1, 0], [0xBD, 0], [0x1F5, 0], [0x315, 0],
[0xA1, 1], [0x306, 1], [0x308, 1], [0x310, 1]]
RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB, 0x315)}
BRAKE_BUS = 0
def _user_brake_msg(self, brake):
values = {"BrakePedalPosition": 6 if brake else 0}
return self.packer.make_can_msg_panda("EBCMBrakePedalPosition", 0, values)
class TestGmCameraSafetyBase(TestGmSafetyBase):