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Red Panda

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firestar5683
2025-12-15 14:55:02 -06:00
parent 1470baffa7
commit ddd2a8fadd
2 changed files with 22 additions and 21 deletions
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selfdrive/car/gm/interface.py
+16 -15
View File
@@ -109,12 +109,13 @@ class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles):
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
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
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
# When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
experimental_long = False
@@ -133,19 +134,19 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
if candidate in SDGM_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_SDGM
# Use C9 brake bit only on SDGM variants that lack 0xBE (ECMAcceleratorPos)
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
ret.flags |= GMFlags.FORCE_BRAKE_C9.value
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
elif candidate in ASCM_INT:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_ASCM_INT
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_ASCM_INT
else:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM
# Tuning for experimental long
ret.longitudinalTuning.kiV = [0.5, 0.5]
@@ -158,7 +159,7 @@ class CarInterface(CarInterfaceBase):
if ret.experimentalLongitudinalAvailable and experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
@@ -178,7 +179,7 @@ class CarInterface(CarInterfaceBase):
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
ret.safetyConfigs[-1].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.]]
@@ -304,7 +305,7 @@ class CarInterface(CarInterfaceBase):
if ret.enableGasInterceptor and frogpilot_toggles.gm_pedal_longitudinal:
ret.networkLocation = NetworkLocation.fwdCamera
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM
ret.minEnableSpeed = -1
ret.pcmCruise = False
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
@@ -313,7 +314,7 @@ class CarInterface(CarInterfaceBase):
if candidate in CC_ONLY_CAR:
ret.flags |= GMFlags.PEDAL_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
ret.safetyConfigs[-1].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]
@@ -323,7 +324,7 @@ class CarInterface(CarInterfaceBase):
ret.pcmCruise = False
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
else: # Pedal used for SNG, ACC for longitudinal control otherwise
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
ret.startingState = True
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
@@ -331,7 +332,7 @@ class CarInterface(CarInterfaceBase):
elif candidate in CC_ONLY_CAR:
ret.flags |= GMFlags.CC_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_CC_LONG
ret.radarUnavailable = True
ret.experimentalLongitudinalAvailable = False
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
@@ -353,12 +354,12 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiV = [0.1]
if candidate in CC_ONLY_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
ret.safetyConfigs[-1].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 | ASCM_INT):
ret.flags |= GMFlags.NO_CAMERA.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_NO_CAMERA
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
selfdrive/car/gm/values.py
+6 -6
View File
@@ -301,12 +301,12 @@ class AccState:
STANDSTILL = 4
class CanBus:
POWERTRAIN = 0
OBSTACLE = 1
CAMERA = 2
CHASSIS = 2
LOOPBACK = 128
DROPPED = 192
POWERTRAIN = 4
OBSTACLE = 5
CAMERA = 6
CHASSIS = 6
LOOPBACK = 132
DROPPED = 196
class GMFlags(IntFlag):
PEDAL_LONG = 1