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OPGM

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Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-06-11 07:31:39 -07:00
parent 81da8ac9f4
commit da00915ac8
23 changed files with 1444 additions and 123 deletions
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selfdrive/car/__init__.py
+35
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@@ -165,6 +165,41 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
return above_limit_frames, request
def crc8_pedal(data):
crc = 0xFF # standard init value
poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1
size = len(data)
for i in range(size - 1, -1, -1):
crc ^= data[i]
for _ in range(8):
if ((crc & 0x80) != 0):
crc = ((crc << 1) ^ poly) & 0xFF
else:
crc <<= 1
return crc
def create_gas_interceptor_command(packer, gas_amount, idx):
# Common gas pedal msg generator
enable = gas_amount > 0.001
values = {
"ENABLE": enable,
"COUNTER_PEDAL": idx & 0xF,
}
if enable:
values["GAS_COMMAND"] = gas_amount * 255.
values["GAS_COMMAND2"] = gas_amount * 255.
dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
checksum = crc8_pedal(dat[:-1])
values["CHECKSUM_PEDAL"] = checksum
return packer.make_can_msg("GAS_COMMAND", 0, values)
def make_can_msg(addr, dat, bus):
return [addr, 0, dat, bus]
selfdrive/car/gm/carcontroller.py
+85 -21
View File
@@ -1,16 +1,19 @@
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.common.numpy_fast import interp
from openpilot.common.numpy_fast import interp, clip
from openpilot.common.realtime import DT_CTRL
from openpilot.common.params_pyx import Params
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
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
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
from openpilot.selfdrive.car.interfaces import CarControllerBase
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
LongCtrlState = car.CarControl.Actuators.LongControlState
GearShifter = car.CarState.GearShifter
TransmissionType = car.CarParams.TransmissionType
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
CAMERA_CANCEL_DELAY_FRAMES = 10
@@ -25,20 +28,38 @@ class CarController(CarControllerBase):
self.apply_steer_last = 0
self.apply_gas = 0
self.apply_brake = 0
self.apply_speed = 0
self.frame = 0
self.last_steer_frame = 0
self.last_button_frame = 0
self.cancel_counter = 0
self.pedal_steady = 0.
self.lka_steering_cmd_counter = 0
self.lka_icon_status_last = (False, False)
self.params = CarControllerParams(self.CP)
self.params_ = Params()
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
@staticmethod
def calc_pedal_command(accel: float, long_active: bool) -> float:
if not long_active: return 0.
zero = 0.15625 # 40/256
if accel > 0.:
# Scales the accel from 0-1 to 0.156-1
pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
else:
# if accel is negative, -0.1 -> 0.015625
pedal_gas = clip(zero + accel, 0., zero) # Make brake the same size as gas, but clip to regen
return pedal_gas
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
@@ -87,38 +108,68 @@ class CarController(CarControllerBase):
# Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0:
stopping = actuators.longControlState == LongCtrlState.stopping
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
interceptor_gas_cmd = 0
if not CC.longActive:
# ASCM sends max regen when not enabled
self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0
elif near_stop and stopping and not CC.cruiseControl.resume:
self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Normal operation
if self.CP.carFingerprint in EV_CAR:
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Don't allow any gas above inactive regen while stopping
# FIXME: brakes aren't applied immediately when enabling at a stop
if stopping:
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 = self.calc_pedal_command(actuators.accel, CC.longActive)
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
self.apply_gas = self.params.INACTIVE_REGEN
idx = (self.frame // 4) % 4
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
friction_brake_bus = CanBus.CHASSIS
# GM Camera exceptions
# TODO: can we always check the longControlState?
if self.CP.networkLocation == NetworkLocation.fwdCamera:
at_full_stop = at_full_stop and stopping
friction_brake_bus = CanBus.POWERTRAIN
if self.CP.flags & GMFlags.CC_LONG.value:
if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed:
# Using extend instead of append since the message is only sent intermittently
can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators))
if self.CP.enableGasInterceptor:
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
# GM Camera exceptions
# TODO: can we always check the longControlState?
if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
at_full_stop = at_full_stop and stopping
friction_brake_bus = CanBus.POWERTRAIN
# 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, CC.enabled, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
if self.CP.autoResumeSng:
resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
at_full_stop = at_full_stop and not resume
# 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, CC.enabled, 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))
# Send dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
# Send dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
@@ -139,6 +190,15 @@ class CarController(CarControllerBase):
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
# TODO: integrate this with the code block below?
if (
(self.CP.flags & GMFlags.PEDAL_LONG.value) # Always cancel stock CC when using pedal interceptor
or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled) # Cancel stock CC if OP is not active
) and CS.out.cruiseState.enabled:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
else:
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
# A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
@@ -148,7 +208,10 @@ class CarController(CarControllerBase):
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
if self.CP.carFingerprint in SDGM_CAR:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
else:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
@@ -160,6 +223,7 @@ class CarController(CarControllerBase):
new_actuators.steerOutputCan = self.apply_steer_last
new_actuators.gas = self.apply_gas
new_actuators.brake = self.apply_brake
new_actuators.speed = self.apply_speed
self.frame += 1
return new_actuators, can_sends
selfdrive/car/gm/carstate.py
+120 -36
View File
@@ -5,10 +5,11 @@ from openpilot.common.numpy_fast import mean
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
GearShifter = car.CarState.GearShifter
STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
@@ -29,14 +30,22 @@ class CarState(CarStateBase):
self.prev_distance_button = 0
self.distance_button = 0
self.single_pedal_mode = False
self.pedal_steady = 0.
def update(self, pt_cp, cam_cp, loopback_cp):
ret = car.CarState.new_message()
self.prev_cruise_buttons = self.cruise_buttons
self.prev_distance_button = self.distance_button
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
if self.CP.carFingerprint not in SDGM_CAR:
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
else:
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
@@ -46,7 +55,7 @@ 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"]
if self.CP.networkLocation == NetworkLocation.fwdCamera:
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"]
@@ -66,7 +75,10 @@ class CarState(CarStateBase):
else:
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.networkLocation == NetworkLocation.fwdCamera:
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
else:
@@ -79,9 +91,15 @@ 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
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
ret.gasPressed = ret.gas > 1e-5
if self.CP.enableGasInterceptor:
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
ret.gasPressed = ret.gas > threshold
else:
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
ret.gasPressed = ret.gas > 1e-5
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
@@ -94,18 +112,32 @@ class CarState(CarStateBase):
ret.steerFaultTemporary = self.lkas_status == 2
ret.steerFaultPermanent = self.lkas_status == 3
# 1 - open, 0 - closed
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
if self.CP.carFingerprint not in SDGM_CAR:
# 1 - open, 0 - closed
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
# 1 - latched
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
# 1 - latched
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
else:
# 1 - open, 0 - closed
ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
# 1 - latched
ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -113,61 +145,113 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
if self.CP.networkLocation == NetworkLocation.fwdCamera:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
if self.CP.carFingerprint not in CC_ONLY_CAR:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
if self.CP.carFingerprint not in SDGM_CAR:
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
else:
ret.stockAeb = False
# openpilot controls nonAdaptive when not pcmCruise
if self.CP.pcmCruise:
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
if self.CP.carFingerprint in CC_ONLY_CAR:
ret.accFaulted = False
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
if self.CP.enableBsm:
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
if self.CP.carFingerprint not in SDGM_CAR:
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
else:
ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
return ret
@staticmethod
def get_cam_can_parser(CP):
messages = []
if CP.networkLocation == NetworkLocation.fwdCamera:
if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
messages += [
("AEBCmd", 10),
("ASCMLKASteeringCmd", 10),
("ASCMActiveCruiseControlStatus", 25),
]
if CP.carFingerprint in SDGM_CAR:
messages += [
("BCMTurnSignals", 1),
("BCMDoorBeltStatus", 10),
("BCMGeneralPlatformStatus", 10),
("ASCMSteeringButton", 33),
]
if CP.enableBsm:
messages.append(("BCMBlindSpotMonitor", 10))
else:
messages += [
("AEBCmd", 10),
]
if CP.carFingerprint not in CC_ONLY_CAR:
messages += [
("ASCMActiveCruiseControlStatus", 25),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA)
@staticmethod
def get_can_parser(CP):
messages = [
("BCMTurnSignals", 1),
("ECMPRDNL2", 10),
("PSCMStatus", 10),
("ESPStatus", 10),
("BCMDoorBeltStatus", 10),
("BCMGeneralPlatformStatus", 10),
("EBCMWheelSpdFront", 20),
("EBCMWheelSpdRear", 20),
("EBCMFrictionBrakeStatus", 20),
("AcceleratorPedal2", 33),
("ASCMSteeringButton", 33),
("ECMEngineStatus", 100),
("PSCMSteeringAngle", 100),
("ECMAcceleratorPos", 80),
]
if CP.enableBsm:
messages.append(("BCMBlindSpotMonitor", 10))
if CP.carFingerprint in SDGM_CAR:
messages += [
("ECMPRDNL2", 40),
("AcceleratorPedal2", 40),
("ECMEngineStatus", 80),
]
else:
messages += [
("ECMPRDNL2", 10),
("AcceleratorPedal2", 33),
("ECMEngineStatus", 100),
("BCMTurnSignals", 1),
("BCMDoorBeltStatus", 10),
("BCMGeneralPlatformStatus", 10),
("ASCMSteeringButton", 33),
]
if CP.enableBsm:
messages.append(("BCMBlindSpotMonitor", 10))
# Used to read back last counter sent to PT by camera
if CP.networkLocation == NetworkLocation.fwdCamera:
messages += [
("ASCMLKASteeringCmd", 0),
]
if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
messages.remove(("ECMAcceleratorPos", 80))
messages.append(("EBCMBrakePedalPosition", 100))
if CP.transmissionType == TransmissionType.direct:
messages.append(("EBCMRegenPaddle", 50))
messages += [
("EBCMRegenPaddle", 50),
("EVDriveMode", 0),
]
if CP.carFingerprint in CC_ONLY_CAR:
messages += [
("ECMCruiseControl", 10),
]
if CP.enableGasInterceptor:
messages += [
("GAS_SENSOR", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
selfdrive/car/gm/fingerprints.py
+138
View File
@@ -17,10 +17,32 @@ FINGERPRINTS = {
},
{
170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
},
# Volt Premier 2017 w/ flashed firmware, cam harness + pedal
{
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
},
# jfkoz
{
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 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, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
}],
CAR.BUICK_LACROSSE: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 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, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 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, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
}],
CAR.CHEVROLET_VOLT_CC: [
# FIXME: Need a message to distinguish flashed from non-flashed
# Volt Premier w/o acc 2016
# {
# 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
# },
# {
# 201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
# },
# # Volt Premier w/o ACC 2018 + Pedal
# {
# 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, 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, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 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, 1300: 8, 1922: 7, 1930: 7
# }
],
CAR.BUICK_REGAL: [{
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 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, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
}],
@@ -48,6 +70,55 @@ FINGERPRINTS = {
CAR.CHEVROLET_BOLT_EUV: [{
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: [
# Bolt Premier w/o ACC 2017
{
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
},
# Bolt Premier no ACC 2018 + Pedal
{
170: 8, 188: 8, 189: 7, 190: 6, 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, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8
},
# Bolt Premier no ACC 2019 + Pedal
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
},
# Bolt Premier no ACC 2020
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
},
# Bolt Premier no ACC 2020 2
{
170: 8, 188: 8, 189: 7, 190: 6, 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, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
},
# Bolt Premier no ACC 2020 w pedal
{
170: 8, 188: 8, 189: 7, 190: 6, 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, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
},
# Bolt EV Premier 2017
{
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
},
# Bolt EV Premier 2017 w Pedal
{ # pylint: disable=duplicate-key
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 # pylint: disable=duplicate-key # noqa: F601
},
# Bolt EV Premier 2017 2 w Pedal
{
170: 8, 188: 8, 189: 7, 190: 6, 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, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
},
# Bolt EV Premier no ACC 2023
{
170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 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, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1601: 8, 1616: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
},
# Bolt EV Premier no ACC 2021
{
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
},
# shermy99's Bolt EV Premier no ACC 2023
{
170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 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, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513:6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1609: 8, 1613: 8, 1616: 8, 1618: 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, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1920: 8, 1922: 7, 1924: 8, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
}],
CAR.CHEVROLET_SILVERADO: [{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 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, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
}],
@@ -57,6 +128,73 @@ FINGERPRINTS = {
{
190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
}],
CAR.CHEVROLET_EQUINOX_CC: [
# lem's 2020 Equinox, LKAS no ACC
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 444: 7, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 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, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1273: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1611: 8, 1618: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1930: 7
}],
# Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
# TODO: split with FW versions
# CAR.TRAILBLAZER: [
# {
# 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 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, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
# }],
CAR.CHEVROLET_SUBURBAN: [
# Chevy Suburban Premier 2019 w Stock ACC no camera
{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8
},
# Chevy Suburban Premier 2019 w Stock ACC (72 ver)
{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1355: 8
},
# Chevy Suburban Premier 2019 w Stock ACC (70 ver)
{
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8
}],
CAR.CHEVROLET_SUBURBAN_CC: [
# Slav's 2018 Suburban, LKAS no ACC
{
170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7
},
# Qube's 2017 Suburban, LKAS no ACC
{
193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1920: 8, 1924: 8, 1927: 8, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8
}],
CAR.GMC_YUKON_CC: [
# greeninja's 2017 Yukon
{
193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 510: 8, 532: 6, 562: 8, 563: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8
}],
CAR.CADILLAC_CT6_CC: [
# badgers4life's 2017 CT6
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 4, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 393: 7, 398: 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, 456: 8, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 7, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 4, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 8, 1924: 8, 1927: 8, 1928: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
}],
CAR.CHEVROLET_TRAILBLAZER_CC: [
{
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, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 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, 454: 8, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 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, 717: 5, 723: 4, 730: 4, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 869: 4, 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, 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, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
}],
CAR.CADILLAC_XT4: [
# Cadillac XT4 w/ ACC 2023
{
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.CADILLAC_XT5_CC: [
# TRain's 2017 XT5
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
}],
CAR.CHEVROLET_TRAVERSE: [
# Chevy Traverse w/ ACC 2023
{
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, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 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, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 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, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 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, 1105: 5, 1217: 8, 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, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
}],
CAR.BUICK_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]]] = {
selfdrive/car/gm/gmcan.py
+52 -1
View File
@@ -1,5 +1,10 @@
import math
from cereal import log
from openpilot.common.conversions import Conversions as CV
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import make_can_msg
from openpilot.selfdrive.car.gm.values import CAR
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
def create_buttons(packer, bus, idx, button):
@@ -171,3 +176,49 @@ def create_lka_icon_command(bus, active, critical, steer):
else:
dat = b"\x00\x00\x00"
return make_can_msg(0x104c006c, dat, bus)
def create_gm_cc_spam_command(packer, controller, CS, actuators):
if controller.params_.get_bool("IsMetric"):
_CV = CV.MS_TO_KPH
RATE_UP_MAX = 0.04
RATE_DOWN_MAX = 0.04
else:
_CV = CV.MS_TO_MPH
RATE_UP_MAX = 0.2
RATE_DOWN_MAX = 0.2
accel = actuators.accel * _CV # m/s/s to mph/s
speedSetPoint = int(round(CS.out.cruiseState.speed * _CV))
cruiseBtn = CruiseButtons.INIT
if speedSetPoint == CS.CP.minEnableSpeed and accel < -1:
cruiseBtn = CruiseButtons.CANCEL
controller.apply_speed = 0
rate = 0.04
elif accel < 0:
cruiseBtn = CruiseButtons.DECEL_SET
if speedSetPoint > (CS.out.vEgo * _CV) + 3.0: # If accel is changing directions, bring set speed to current speed as fast as possible
rate = RATE_DOWN_MAX
else:
rate = max(-1 / accel, RATE_DOWN_MAX)
controller.apply_speed = speedSetPoint - 1
elif accel > 0:
cruiseBtn = CruiseButtons.RES_ACCEL
if speedSetPoint < (CS.out.vEgo * _CV) - 3.0:
rate = RATE_UP_MAX
else:
rate = max(1 / accel, RATE_UP_MAX)
controller.apply_speed = speedSetPoint + 1
else:
controller.apply_speed = speedSetPoint
rate = float('inf')
# Check rlogs closely - our message shouldn't show up on the pt bus for us
# Or bus 2, since we're forwarding... but I think it does
if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
controller.last_button_frame = controller.frame
idx = (CS.buttons_counter + 1) % 4 # Need to predict the next idx for '22-23 EUV
return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
else:
return []
selfdrive/car/gm/interface.py
Executable → Regular
+124 -15
View File
@@ -8,7 +8,7 @@ from openpilot.common.basedir import BASEDIR
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
@@ -20,9 +20,14 @@ NetworkLocation = car.CarParams.NetworkLocation
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
PEDAL_MSG = 0x201
CAM_MSG = 0x320 # AEBCmd
# TODO: Is this always linked to camera presence?
ACCELERATOR_POS_MSG = 0xbe
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
}
@@ -43,7 +48,7 @@ class CarInterface(CarInterfaceBase):
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
def get_steer_feedforward_function(self):
if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
return self.get_steer_feedforward_volt
else:
return CarInterfaceBase.get_steer_feedforward_default
@@ -79,7 +84,7 @@ class CarInterface(CarInterfaceBase):
return float(self.neural_ff_model.predict(inputs)) + friction
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
if self.CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
return self.torque_from_lateral_accel_neural
elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
@@ -93,6 +98,9 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
if PEDAL_MSG in fingerprint[0]:
ret.enableGasInterceptor = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
@@ -102,7 +110,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiBP = [5., 35.]
if candidate in CAMERA_ACC_CAR:
ret.experimentalLongitudinalAvailable = True
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = True # no radar
ret.pcmCruise = True
@@ -121,6 +129,15 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
elif candidate in SDGM_CAR:
ret.experimentalLongitudinalAvailable = False
ret.networkLocation = NetworkLocation.fwdCamera
ret.pcmCruise = True
ret.radarUnavailable = True
ret.minEnableSpeed = -1. # engage speed is decided by ASCM
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
@@ -133,11 +150,9 @@ class CarInterface(CarInterfaceBase):
# Tuning
ret.longitudinalTuning.kiV = [2.4, 1.5]
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
if ret.enableGasInterceptor:
# Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@@ -149,7 +164,8 @@ 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 == CAR.CHEVROLET_VOLT:
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
ret.minEnableSpeed = -1
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
@@ -180,10 +196,14 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_BOLT_EUV:
elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if ret.enableGasInterceptor:
# ACC Bolts use pedal for full longitudinal control, not just sng
ret.flags |= GMFlags.PEDAL_LONG.value
elif candidate == CAR.CHEVROLET_SILVERADO:
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
# with foot on brake to allow engagement, but this platform only has that check in the camera.
@@ -192,13 +212,93 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = -1.
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_EQUINOX:
elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_TRAILBLAZER:
elif candidate in (CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAILBLAZER_CC):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_CC):
ret.steerActuatorDelay = 0.075
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.GMC_YUKON_CC:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_XT4:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_XT5_CC:
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CHEVROLET_TRAVERSE:
ret.steerActuatorDelay = 0.2
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_BABYENCLAVE:
ret.steerActuatorDelay = 0.2
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CADILLAC_CT6_CC:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if ret.enableGasInterceptor:
ret.networkLocation = NetworkLocation.fwdCamera
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = -1
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.stoppingControl = True
ret.autoResumeSng = True
if candidate in CC_ONLY_CAR:
ret.flags |= GMFlags.PEDAL_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
# Note: Low speed, stop and go not tested. Should be fairly smooth on highway
ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
ret.longitudinalTuning.kf = 0.15
ret.stoppingDecelRate = 0.8
else: # Pedal used for SNG, ACC for longitudinal control otherwise
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
ret.startingState = True
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
elif candidate in CC_ONLY_CAR:
ret.flags |= GMFlags.CC_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
ret.radarUnavailable = True
ret.experimentalLongitudinalAvailable = False
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
ret.openpilotLongitudinalControl = True
ret.pcmCruise = False
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
ret.longitudinalActuatorDelayLowerBound = 1. # TODO: measure this
ret.longitudinalActuatorDelayUpperBound = 2.
ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.]
ret.longitudinalTuning.kiV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed
if candidate in CC_ONLY_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
# Exception for flashed cars, or cars whose camera was removed
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
ret.flags |= GMFlags.NO_CAMERA.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
return ret
# returns a car.CarState
@@ -226,13 +326,22 @@ class CarInterface(CarInterfaceBase):
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
(self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
if ret.cruiseState.standstill and not self.CP.autoResumeSng:
events.add(EventName.resumeRequired)
if ret.vEgo < self.CP.minSteerSpeed:
events.add(EventName.belowSteerSpeed)
if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
events.add(EventName.speedTooLow)
if (self.CP.flags & GMFlags.PEDAL_LONG.value) and \
self.CP.transmissionType == TransmissionType.direct and \
not self.CS.single_pedal_mode and \
c.longActive:
events.add(EventName.pedalInterceptorNoBrake)
ret.events = events.to_msg()
return ret
selfdrive/car/gm/values.py
+92 -4
View File
@@ -1,6 +1,8 @@
from dataclasses import dataclass, field
from enum import IntFlag
from cereal import car
from openpilot.common.numpy_fast import interp
from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -17,7 +19,9 @@ class CarControllerParams:
STEER_DRIVER_ALLOWANCE = 65
STEER_DRIVER_MULTIPLIER = 4
STEER_DRIVER_FACTOR = 100
NEAR_STOP_BRAKE_PHASE = 0.5 # m/s
NEAR_STOP_BRAKE_PHASE = 0.25 # m/s
SNG_INTERCEPTOR_GAS = 18. / 255.
SNG_TIME = 30 # frames until the above is reached
# Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
ADAS_KEEPALIVE_STEP = 100
@@ -36,7 +40,7 @@ class CarControllerParams:
self.ZERO_GAS = 2048 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in CAMERA_ACC_CAR:
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
self.MAX_GAS = 3400
self.MAX_ACC_REGEN = 1514
self.INACTIVE_REGEN = 1554
@@ -44,6 +48,12 @@ class CarControllerParams:
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
max_regen_acceleration = 0.
elif CP.carFingerprint in SDGM_CAR:
self.MAX_GAS = 3400
self.MAX_ACC_REGEN = 1514
self.INACTIVE_REGEN = 1554
max_regen_acceleration = 0.
else:
self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
@@ -58,6 +68,17 @@ class CarControllerParams:
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 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.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
@dataclass
class GMCarDocs(CarDocs):
@@ -94,7 +115,8 @@ class CAR(Platforms):
)
CHEVROLET_VOLT = GMASCMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
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')
)
CADILLAC_ATS = GMASCMPlatformConfig(
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
@@ -150,6 +172,59 @@ class CAR(Platforms):
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
# Separate car def is required when there is no ASCM
# (for now) unless there is a way to detect it when it has been unplugged...
CHEVROLET_VOLT_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18 - No-ACC", min_enable_speed=0)],
CHEVROLET_VOLT.specs,
)
CHEVROLET_BOLT_CC = GMPlatformConfig(
[
GMCarDocs("Chevrolet Bolt EUV 2022-23 - No-ACC"),
GMCarDocs("Chevrolet Bolt EV 2017-23 - No-ACC"),
],
CHEVROLET_BOLT_EUV.specs,
)
CHEVROLET_EQUINOX_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
CHEVROLET_EQUINOX.specs,
)
CHEVROLET_SUBURBAN = GMPlatformConfig(
[GMCarDocs("Chevrolet Suburban Premier 2016-2020")],
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
)
CHEVROLET_SUBURBAN_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Suburban Premier 2016-2020 - No-ACC")],
CHEVROLET_SUBURBAN.specs,
)
GMC_YUKON_CC = GMPlatformConfig(
[GMCarDocs("GMC Yukon No ACC")],
CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
)
CADILLAC_CT6_CC = GMPlatformConfig(
[GMCarDocs("Cadillac CT6 No ACC")],
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
)
CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
CHEVROLET_TRAILBLAZER.specs,
)
CADILLAC_XT4 = GMPlatformConfig(
[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
)
CADILLAC_XT5_CC = GMPlatformConfig(
[GMCarDocs("Cadillac XT5 No ACC")],
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
)
CHEVROLET_TRAVERSE = GMPlatformConfig(
[GMCarDocs("Chevrolet Traverse 2023", "Driver Assist Package")],
CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
)
BUICK_BABYENCLAVE = GMPlatformConfig(
[GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")],
CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
)
class CruiseButtons:
@@ -174,6 +249,12 @@ class CanBus:
LOOPBACK = 128
DROPPED = 192
class GMFlags(IntFlag):
PEDAL_LONG = 1
CC_LONG = 2
NO_CAMERA = 4
NO_ACCELERATOR_POS_MSG = 8
# In a Data Module, an identifier is a string used to recognize an object,
# either by itself or together with the identifiers of parent objects.
@@ -224,10 +305,17 @@ FW_QUERY_CONFIG = FwQueryConfig(
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
)
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV}
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}
# 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
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
# 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}
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})
# CAMERA_ACC_CAR.update(CC_ONLY_CAR)
STEER_THRESHOLD = 1.0
selfdrive/car/torque_data/neural_ff_weights.json
+2 -1
View File
File diff suppressed because one or more lines are too long
selfdrive/car/torque_data/override.toml
+3
View File
@@ -39,11 +39,14 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05]
"RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05]
"SUBARU_OUTBACK" = [2.0, 1.5, 0.2]
"BUICK_BABYENCLAVE" = [1.45, 1.6, 0.2]
"CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
"CADILLAC_XT4" = [1.45, 1.6, 0.2]
"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
"CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
"CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
"VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
"VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
selfdrive/car/torque_data/substitute.toml
+8
View File
@@ -55,6 +55,14 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CADILLAC_ATS" = "CHEVROLET_VOLT"
"CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
"CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
"CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
"CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
"CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO"
"CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"
"GMC_YUKON_CC" = "CHEVROLET_SILVERADO"
"CADILLAC_CT6_CC" = "CHEVROLET_VOLT"
"CADILLAC_XT5_CC" = "CHEVROLET_EQUINOX"
"SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7"
"SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3"
selfdrive/controls/controlsd.py
+3
View File
@@ -570,6 +570,9 @@ class Controls:
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
if len(long_plan.speeds):
actuators.speed = long_plan.speeds[-1]
# Steering PID loop and lateral MPC
self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
actuators.curvature = self.desired_curvature
selfdrive/controls/lib/events.py
+8
View File
@@ -952,6 +952,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
},
EventName.pedalInterceptorNoBrake: {
ET.WARNING: Alert(
"Braking Unavailable",
"Shift to L",
AlertStatus.userPrompt, AlertSize.mid,
Priority.HIGH, VisualAlert.wrongGear, AudibleAlert.promptRepeat, 4.),
},
}