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Revert "Cruise Fault?"

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This reverts commit 74a743deef.
This commit is contained in:
firestar5683
2025-10-03 16:31:14 -05:00
parent 74a743deef
commit e83541cc50
2 changed files with 29 additions and 46 deletions
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panda/board/safety/safety_gm.h
+10 -10
View File
@@ -10,16 +10,16 @@ const SteeringLimits GM_STEERING_LIMITS = {
};
const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 8191,
.min_gas = 5500,
.inactive_gas = 5500,
.max_gas = 3072,
.min_gas = 1404,
.inactive_gas = 1404,
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 8848,
.min_gas = 5610,
.inactive_gas = 5650,
.max_gas = 3400,
.min_gas = 1514,
.inactive_gas = 1554,
.max_brake = 400,
};
@@ -143,7 +143,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
brake_pressed = GET_BIT(to_push, 40U) != 0U;
brake_pressed = GET_BIT(to_push, 40U);
}
if (addr == 0xC9) {
@@ -245,7 +245,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
bool violation = false;
// Allow apply bit in pre-enabled and overriding states
// Allow apply bit in pre-enabled and overriding states, except for inactive gas // Allow apply bit in pre-enabled and overriding states
violation |= !controls_allowed && apply;
violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
@@ -335,9 +335,9 @@ static safety_config gm_init(uint16_t param) {
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
if (gm_hw == GM_ASCM || gm_force_ascm) {
gm_long_limits = &GM_ASCM_LONG_LIMITS;
gm_long_limits = &GM_ASCM_LONG_LIMITS;
} else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
gm_long_limits = &GM_CAM_LONG_LIMITS;
gm_long_limits = &GM_CAM_LONG_LIMITS;
} else {
}
selfdrive/car/gm/values.py
+19 -36
View File
@@ -38,60 +38,43 @@ class CarControllerParams:
def __init__(self, CP):
# Gas/brake lookups
self.ZERO_GAS = 6150 # Coasting
self.ZERO_GAS = 6144 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
self.MAX_GAS = 8848
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
self.MAX_GAS = 7496
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
max_regen_acceleration = 0.
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
self.max_regen_acceleration = 0.
elif CP.carFingerprint in SDGM_CAR:
self.MAX_GAS = 7496
self.MAX_GAS_PLUS = 7496
self.MAX_ACC_REGEN = 5610
self.MAX_ACC_REGEN = 7110
self.INACTIVE_REGEN = 5650
max_regen_acceleration = 0.
self.BRAKE_SWITCH = self.ZERO_GAS
self.max_regen_acceleration = 0.
else:
self.MAX_GAS = 8191 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
self.MAX_ACC_REGEN = 7110 # Max ACC regen is slightly less than max paddle regen
self.MAX_ACC_REGEN = 7110 # Increased for stronger regen braking
self.INACTIVE_REGEN = 5500
# ICE has much less engine braking force compared to regen in EVs,
# lower threshold removes some braking deadzone
max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1 # More aggressive regen for EVs
self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_BP_PLUS = [max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
# determined by letting Volt regen to a stop in L gear from 89mph,
# and by letting off gas and allowing car to creep, for determining
# the positive threshold values at very low speed
EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
def update_ev_gas_brake_threshold(self, v_ego):
gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
@dataclass
class GMCarDocs(CarDocs):
@@ -175,7 +158,7 @@ class CAR(Platforms):
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
)
CHEVROLET_EQUINOX = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22")],
@@ -211,15 +194,15 @@ class CAR(Platforms):
CHEVROLET_SUBURBAN.specs,
)
GMC_YUKON_CC = GMPlatformConfig(
[GMCarDocs("GMC Yukon - No-ACC")],
[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")],
[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 - No-ACC")],
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
CHEVROLET_TRAILBLAZER.specs,
)
CADILLAC_XT4 = GMPlatformConfig(
@@ -227,7 +210,7 @@ class CAR(Platforms):
CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
)
CADILLAC_XT5_CC = GMPlatformConfig(
[GMCarDocs("Cadillac XT5 - No-ACC")],
[GMCarDocs("Cadillac XT5 No ACC")],
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
)
CHEVROLET_TRAVERSE = GMPlatformConfig(
@@ -239,7 +222,7 @@ class CAR(Platforms):
CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
)
CHEVROLET_MALIBU_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
[GMCarDocs("Chevrolet Malibu 2023 No ACC")],
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
)
CHEVROLET_TRAX = GMPlatformConfig(
@@ -328,8 +311,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
# We're integrated at the Safety Data Gateway Module on these cars
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}