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OPGM v0.10.3 release

Browse Source 
https://github.com/opgm/openpilot
This commit is contained in:
Eric Brown
2025-09-22 21:17:00 -07:00
committed by James
parent 33d5cfc393
commit fb428dfcbf
23 changed files with 816 additions and 58 deletions
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opendbc_repo/opendbc/car/__init__.py
+36
View File
@@ -240,3 +240,39 @@ class Platforms(str, ReprEnum, metaclass=PlatformsType):
@classmethod
def with_flags(cls, flags: IntFlag) -> set['Platforms']:
return {p for p in cls if p.config.flags & flags}
# OPGM variables
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)[1]
checksum = crc8_pedal(dat[:-1])
values["CHECKSUM_PEDAL"] = checksum
return packer.make_can_msg("GAS_COMMAND", 0, values)
opendbc_repo/opendbc/car/gm/carcontroller.py
+66 -15
View File
@@ -1,10 +1,10 @@
import numpy as np
from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, structs
from opendbc.car import Bus, DT_CTRL, create_gas_interceptor_command, structs
from opendbc.car.lateral import apply_driver_steer_torque_limits
from opendbc.car.gm import gmcan
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
from opendbc.car.gm.values import CC_ONLY_CAR, DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags
from opendbc.car.interfaces import CarControllerBase
VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -37,6 +37,26 @@ class CarController(CarControllerBase):
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint][Bus.radar])
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint][Bus.chassis])
# OPGM variables
self.prev_op_enabled = False
self.apply_speed = 0
self.pedal_steady = 0
# OPGM variables
@staticmethod
def calc_pedal_command(accel: float, long_active: bool, v_ego: float) -> float:
if not long_active:
return 0.
if accel < -0.5:
pedal_gas = 0
else:
pedaloffset = np.interp(v_ego, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
pedal_gas = np.clip((pedaloffset + accel * 0.6), 0.0, 1.0)
return pedal_gas
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
@@ -85,6 +105,7 @@ class CarController(CarControllerBase):
# Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0:
stopping = actuators.longControlState == LongCtrlState.stopping
interceptor_gas_cmd = 0
if not CC.longActive:
# ASCM sends max regen when not enabled
self.apply_gas = self.params.INACTIVE_REGEN
@@ -97,26 +118,38 @@ class CarController(CarControllerBase):
if stopping:
self.apply_gas = self.params.INACTIVE_REGEN
# OPGM variables
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, CS.out.vEgo)
idx = (self.frame // 4) % 4
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (abs(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.enableGasInterceptorDEPRECATED:
can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
if self.CP.carFingerprint not in CC_ONLY_CAR:
friction_brake_bus = CanBus.CHASSIS
# 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,
# 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)
@@ -137,6 +170,18 @@ 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)
# OPGM variables
# Pedal interceptor: always send CANCEL when cruise is on
if (self.CP.flags & GMFlags.PEDAL_LONG.value) 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))
# CC_LONG: only send CANCEL on OP disengage when cruise is still on
elif ((self.CP.flags & GMFlags.CC_LONG.value) and self.prev_op_enabled and not CC.enabled 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
@@ -160,4 +205,10 @@ class CarController(CarControllerBase):
new_actuators.brake = self.apply_brake
self.frame += 1
# OPGM variables
new_actuators.speed = self.apply_speed
self.prev_op_enabled = CC.enabled
return new_actuators, can_sends
opendbc_repo/opendbc/car/gm/carstate.py
+27 -3
View File
@@ -3,7 +3,7 @@ from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.interfaces import CarStateBase
from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
from opendbc.car.gm.values import CAMERA_ACC_CAR, CC_ONLY_CAR, DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
ButtonType = structs.CarState.ButtonEvent.Type
TransmissionType = structs.CarParams.TransmissionType
@@ -14,6 +14,9 @@ STANDSTILL_THRESHOLD = 10 * 0.0311
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
# OPGM variables
GearShifter = structs.CarState.GearShifter
class CarState(CarStateBase):
def __init__(self, CP):
@@ -31,6 +34,11 @@ class CarState(CarStateBase):
self.distance_button = 0
# OPGM variables
self.single_pedal_mode = False
self.pedal_steady = 0
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
if not self.CP.pcmCruise:
for b in buttonEvents:
@@ -96,7 +104,13 @@ class CarState(CarStateBase):
if self.CP.transmissionType == TransmissionType.direct:
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.gasPressed = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. > 1e-5
if self.CP.enableGasInterceptorDEPRECATED:
gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
# Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
threshold = 20 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
ret.gasPressed = gas > threshold
else:
ret.gasPressed = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. > 1e-5
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
@@ -129,7 +143,7 @@ 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:
if self.CP.carFingerprint not in ALT_ACCS:
if self.CP.carFingerprint not in (ALT_ACCS | CC_ONLY_CAR):
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
# This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
@@ -158,6 +172,16 @@ class CarState(CarStateBase):
if ret.vEgo < self.CP.minSteerSpeed:
ret.lowSpeedAlert = True
# OPGM variables
if self.CP.carFingerprint in CC_ONLY_CAR:
ret.accFaulted = False
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
if self.CP.transmissionType == TransmissionType.direct:
self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1
return ret
@staticmethod
opendbc_repo/opendbc/car/gm/fingerprints.py
+105
View File
@@ -18,10 +18,28 @@ 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, 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, 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
}],
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
}],
@@ -49,6 +67,49 @@ 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_2017: [
# 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, 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
},
# 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, 513: 6, 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
}],
CAR.CHEVROLET_BOLT_2018: [
# 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, 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
}],
CAR.CHEVROLET_BOLT_CC: [
# Bolt EV Premier no ACC 2023 w Pedal
{
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, 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
}],
@@ -70,6 +131,50 @@ FINGERPRINTS = {
CAR.GMC_YUKON: [{
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, 1611: 8
}],
CAR.CHEVROLET_EQUINOX_CC: [{
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
},
{
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 384: 4, 393: 8, 398: 8, 401: 8, 413: 8, 422: 4, 431: 8, 444: 7, 453: 6, 456: 8, 479: 3, 481: 7, 485: 8, 499: 3, 500: 6, 501: 8, 567: 5, 647: 6, 800: 6, 1033: 7, 1034: 7, 1296: 4
}],
# 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_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
{
190: 6, 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.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.CHEVROLET_MALIBU_CC: [
# Verylukyguy's Malibu
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 409: 8, 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, 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, 717: 5, 730: 4, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 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: 6, 1189: 1, 1195: 3, 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, 1273: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
},
# Tesla's Malibu
{
189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 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: 4, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 566: 6, 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
}],
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
}],
}
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
opendbc_repo/opendbc/car/gm/gmcan.py
+82 -1
View File
@@ -1,5 +1,9 @@
from typing import Literal
from opendbc.car import DT_CTRL
from opendbc.car.can_definitions import CanData
from opendbc.car.gm.values import CAR
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.values import CAR, CanBus, CruiseButtons
def create_buttons(packer, bus, idx, button):
@@ -169,3 +173,80 @@ def create_lka_icon_command(bus, active, critical, steer):
else:
dat = b"\x00\x00\x00"
return CanData(0x104c006c, dat, bus)
# OPGM variables
def _create_gm_cc_spam_command_accel(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
speed_setpoint = int(round(CS.out.cruiseState.speed * _CV))
button = CruiseButtons.INIT
if speed_setpoint == CS.CP.minEnableSpeed and accel < -1:
button = CruiseButtons.CANCEL
controller.apply_speed = 0
rate = 0.04
elif accel < 0:
button = CruiseButtons.DECEL_SET
if speed_setpoint > (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 = (speed_setpoint - 1) / _CV
elif accel > 0:
button = CruiseButtons.RES_ACCEL
if speed_setpoint < (CS.out.vEgo * _CV) - 3.0:
rate = RATE_UP_MAX
else:
rate = max(1 / accel, RATE_UP_MAX)
controller.apply_speed = (speed_setpoint + 1) / _CV
else:
controller.apply_speed = speed_setpoint / _CV
rate = float('inf')
return button, rate
def _create_gm_cc_spam_command_velocity(controller, CS, actuators):
_CV = CV.MS_TO_MPH
speed_desired = int(round(actuators.speed * _CV))
speed_setpoint = int(round(CS.out.cruiseState.speed * _CV))
if speed_desired > speed_setpoint:
button = CruiseButtons.RES_ACCEL
controller.apply_speed = (speed_setpoint + 1) / _CV
elif speed_desired < speed_setpoint:
button = CruiseButtons.DECEL_SET
controller.apply_speed = (speed_setpoint - 1) / _CV
else:
button = CruiseButtons.INIT
controller.apply_speed = speed_setpoint / _CV
return button
def create_gm_cc_spam_command(packer, controller, CS, actuators, mode: Literal["velocity", "accel"] = "accel"):
if mode == "velocity":
button = _create_gm_cc_spam_command_velocity(controller, CS, actuators)
rate = 0.04
elif mode == "accel":
button, rate = _create_gm_cc_spam_command_accel(controller, CS, actuators)
else:
raise ValueError("Invalid mode. Use 'velocity' or 'accel'.")
# 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 (button != 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, button)]
else:
return []
opendbc_repo/opendbc/car/gm/interface.py
+64 -5
View File
@@ -7,7 +7,7 @@ from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.carcontroller import CarController
from opendbc.car.gm.carstate import CarState
from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMERA_DATA_HEADER_MSG
from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
from opendbc.car.gm.values import ALT_ACCS, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, EV_CAR, SDGM_CAR, CarControllerParams, CanBus, GMFlags, GMSafetyFlags
from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType
TransmissionType = structs.CarParams.TransmissionType
@@ -16,9 +16,16 @@ NetworkLocation = structs.CarParams.NetworkLocation
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_EUV: [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]
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122],
# OPGM variables
CAR.CHEVROLET_BOLT_2017: [2.24, 1.1, 0.28, -0.07],
CAR.CHEVROLET_BOLT_2018: [1.8, 1.1, 0.3, -0.045]
}
# OPGM variables
PEDAL_MSG = 0x201
class CarInterface(CarInterfaceBase):
CarState = CarState
@@ -149,6 +156,11 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
# OPGM variables
if PEDAL_MSG in fingerprint[0]:
ret.enableGasInterceptorDEPRECATED = True
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR.value
if candidate == CAR.CHEVROLET_VOLT:
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
@@ -157,6 +169,9 @@ class CarInterface(CarInterfaceBase):
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
# OPGM variables
ret.minEnableSpeed = -1
elif candidate == CAR.GMC_ACADIA:
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.steerActuatorDelay = 0.2
@@ -180,10 +195,19 @@ 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_2017, CAR.CHEVROLET_BOLT_2018, CAR.CHEVROLET_BOLT_CC):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
# OPGM variables
if ret.enableGasInterceptorDEPRECATED:
# ACC Bolts use pedal for full longitudinal control, not just sng
ret.flags |= GMFlags.PEDAL_LONG.value
ret.longitudinalTuning.kiBP = [0.0, 3., 6., 35.]
ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_PEDAL_LONG.value
ret.stoppingDecelRate = 0.8
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.
@@ -192,10 +216,10 @@ 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)
@@ -217,4 +241,39 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.dashcamOnly = True # Needs steerRatio, tireStiffness, and lat accel factor tuning
# OPGM variables
elif candidate in (CAR.CHEVROLET_MALIBU, CAR.CHEVROLET_MALIBU_CC):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
if ret.enableGasInterceptorDEPRECATED:
ret.autoResumeSng = True
ret.minEnableSpeed = -1
ret.networkLocation = NetworkLocation.fwdCamera
ret.openpilotLongitudinalControl = True
ret.pcmCruise = False
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
elif candidate in CC_ONLY_CAR:
ret.alphaLongitudinalAvailable = True
ret.longitudinalActuatorDelay = 1. # TODO: measure this
ret.longitudinalTuning.deadzoneBPDEPRECATED = [0.]
ret.longitudinalTuning.deadzoneVDEPRECATED = [0.56] # == 2 km/h/s, 1.25 mph/s
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.1]
ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph
ret.longitudinalTuning.kpV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
ret.pcmCruise = True
ret.radarUnavailable = True
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_CC_LONG.value
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
if alpha_long:
ret.flags |= GMFlags.CC_LONG.value
ret.openpilotLongitudinalControl = True
if candidate in CC_ONLY_CAR:
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_ACC.value
return ret
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+2 -2
View File
@@ -1,7 +1,7 @@
from parameterized import parameterized
from opendbc.car.gm.fingerprints import FINGERPRINTS
from opendbc.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
from opendbc.car.gm.values import CAMERA_ACC_CAR, CC_ONLY_CAR, GM_RX_OFFSET
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
@@ -14,7 +14,7 @@ class TestGMFingerprint:
assert all(len(finger) for finger in fingerprints)
# The camera can sometimes be communicating on startup
if car_model in CAMERA_ACC_CAR:
if car_model in CAMERA_ACC_CAR - CC_ONLY_CAR:
for finger in fingerprints:
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
assert finger.get(required_addr) == 8, required_addr
opendbc_repo/opendbc/car/gm/values.py
+68 -2
View File
@@ -36,7 +36,7 @@ class CarControllerParams:
# Gas/brake lookups
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR):
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR:
self.MAX_GAS = 1346.0
self.MAX_ACC_REGEN = -540.0
self.INACTIVE_REGEN = -500.0
@@ -64,6 +64,12 @@ class GMSafetyFlags(IntFlag):
HW_CAM_LONG = 2
EV = 4
# OPGM variables
FLAG_GM_CC_LONG = 8
FLAG_GM_GAS_INTERCEPTOR = 16
FLAG_GM_NO_ACC = 32
FLAG_GM_PEDAL_LONG = 64
class Footnote(Enum):
SETUP = CarFootnote(
@@ -121,7 +127,7 @@ class CAR(Platforms):
)
CHEVROLET_VOLT = GMASCMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video="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),
)
CADILLAC_ATS = GMASCMPlatformConfig(
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
@@ -193,6 +199,52 @@ class CAR(Platforms):
[GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
)
# OPGM variables
# 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 LT 2017-18")],
# CHEVROLET_VOLT.specs,
# )
CADILLAC_CT6_CC = GMPlatformConfig(
[GMCarDocs("Cadillac CT6 2018 (NO ACC)")],
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
)
CADILLAC_XT5_CC = GMPlatformConfig(
[GMCarDocs("Cadillac XT5 2018 (NO ACC)")],
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
)
CHEVROLET_BOLT_2017 = GMPlatformConfig(
[GMCarDocs("Chevrolet Bolt EV 2017")],
CHEVROLET_BOLT_EUV.specs,
)
CHEVROLET_BOLT_2018 = GMPlatformConfig(
[GMCarDocs("Chevrolet Bolt EV 2018-21")],
CHEVROLET_BOLT_EUV.specs,
)
CHEVROLET_BOLT_CC = GMPlatformConfig(
[
GMCarDocs("Chevrolet Bolt EUV LT 2022-23"),
GMCarDocs("Chevrolet Bolt EV LT 2022-23"),
],
CHEVROLET_BOLT_EUV.specs,
)
CHEVROLET_EQUINOX_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22 (NO ACC)")],
CHEVROLET_EQUINOX.specs,
)
CHEVROLET_MALIBU_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu 2018 (NO ACC)")],
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
)
CHEVROLET_SUBURBAN_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Suburban 2016-20")],
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
)
CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Trailblazer 2021-22 (NO ACC)")],
CHEVROLET_TRAILBLAZER.specs,
)
class CruiseButtons:
@@ -220,6 +272,12 @@ class CanBus:
DROPPED = 192
# OPGM variables
class GMFlags(IntFlag):
PEDAL_LONG = 1
CC_LONG = 2
# 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.
# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
@@ -283,4 +341,12 @@ SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_TRAVERSE}
STEER_THRESHOLD = 1.0
# OPGM variables
CC_ONLY_CAR = {CAR.CHEVROLET_BOLT_2017, CAR.CHEVROLET_BOLT_2018, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC,
CAR.CHEVROLET_SUBURBAN_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CHEVROLET_MALIBU_CC,
CAR.CADILLAC_XT5_CC}
CAMERA_ACC_CAR.update(CC_ONLY_CAR)
EV_CAR.update(CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV)
DBC = CAR.create_dbc_map()
opendbc_repo/opendbc/car/tests/routes.py
+4 -1
View File
@@ -1,7 +1,7 @@
from typing import NamedTuple
from opendbc.car.chrysler.values import CAR as CHRYSLER
from opendbc.car.gm.values import CAR as GM
from opendbc.car.gm.values import CAR as GM, CC_ONLY_CAR
from opendbc.car.ford.values import CAR as FORD
from opendbc.car.honda.values import CAR as HONDA
from opendbc.car.hyundai.values import CAR as HYUNDAI
@@ -40,6 +40,9 @@ non_tested_cars = [
]
# OPGM variables
non_tested_cars.extend(CC_ONLY_CAR)
class CarTestRoute(NamedTuple):
route: str
opendbc_repo/opendbc/car/torque_data/override.toml
+3
View File
@@ -99,3 +99,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
# Manually checked
"HONDA_CIVIC_2022" = [2.5, 1.2, 0.15]
"HONDA_HRV_3G" = [2.5, 1.2, 0.2]
# OPGM variables
"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
opendbc_repo/opendbc/car/torque_data/substitute.toml
+10
View File
@@ -85,3 +85,13 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"SUBARU_FORESTER_PREGLOBAL" = "SUBARU_IMPREZA"
"SUBARU_LEGACY_PREGLOBAL" = "SUBARU_IMPREZA"
"SUBARU_ASCENT" = "SUBARU_FORESTER"
# OPGM variables
"CADILLAC_CT6_CC" = "CHEVROLET_VOLT"
"CADILLAC_XT5_CC" = "GMC_ACADIA"
"CHEVROLET_BOLT_2017" = "CHEVROLET_BOLT_EUV"
"CHEVROLET_BOLT_2018" = "CHEVROLET_BOLT_EUV"
"CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
"CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
"CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"
"CHEVROLET_TRAILBLAZER_CC" = "CHEVROLET_TRAILBLAZER"
opendbc_repo/opendbc/dbc/generator/gm/gm_global_a_powertrain.dbc
+1
View File
@@ -1,4 +1,5 @@
CM_ "IMPORT _community.dbc";
VERSION ""
opendbc_repo/opendbc/safety/declarations.h
+6
View File
@@ -247,6 +247,9 @@ void speed_mismatch_check(const float speed_2);
void safety_tick(const safety_config *safety_config);
// OPGM variables
bool longitudinal_interceptor_checks(const CANPacket_t *to_send);
// This can be set by the safety hooks
extern bool controls_allowed;
extern bool relay_malfunction;
@@ -285,6 +288,9 @@ extern uint32_t ts_angle_check_last;
extern int desired_angle_last;
extern struct sample_t angle_meas; // last 6 steer angles/curvatures
// OPGM variables
extern bool enable_gas_interceptor;
// Alt experiences can be set with a USB command
// It enables features that allow alternative experiences, like not disengaging on gas press
// It is only either 0 or 1 on mainline comma.ai openpilot
opendbc_repo/opendbc/safety/longitudinal.h
+5
View File
@@ -33,3 +33,8 @@ bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limit
violation |= desired_brake > limits.max_brake;
return violation;
}
// OPGM variables
bool longitudinal_interceptor_checks(const CANPacket_t *msg) {
return (!get_longitudinal_allowed() || brake_pressed_prev) && (msg->data[0] || msg->data[1]);
}
opendbc_repo/opendbc/safety/modes/gm.h
+123 -20
View File
@@ -7,11 +7,14 @@
{.msg = {{0x184, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x34A, 0, 5, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0x1E1, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
/* OPGM Variables */ \
{.msg = {{0x1C4, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0xC9, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
#define GM_ACC_RX_CHECKS \
{.msg = {{0xBE, 0, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, /* Volt, Silverado, Acadia Denali */ \
{0xBE, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, /* Bolt EUV */ \
{0xBE, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* Escalade */ \
{.msg = {{0x1C4, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
{.msg = {{0xC9, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
static const LongitudinalLimits *gm_long_limits;
@@ -29,9 +32,17 @@ typedef enum {
static GmHardware gm_hw = GM_ASCM;
static bool gm_pcm_cruise = false;
// OPGM variables
static bool gm_cc_long = false;
static bool gm_has_acc = true;
static bool gm_pedal_long = false;
static void gm_rx_hook(const CANPacket_t *msg) {
const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
// OPGM variables
const int GM_GAS_INTERCEPTOR_THRESHOLD = 550;
if (msg->bus == 0U) {
if (msg->addr == 0x184U) {
int torque_driver_new = ((msg->data[6] & 0x7U) << 8) | msg->data[7];
@@ -48,7 +59,7 @@ static void gm_rx_hook(const CANPacket_t *msg) {
}
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
if ((msg->addr == 0x1E1U) && !gm_pcm_cruise) {
if ((msg->addr == 0x1E1U) && (!gm_pcm_cruise || gm_cc_long)) {
int button = (msg->data[5] & 0x70U) >> 4;
// enter controls on falling edge of set or rising edge of resume (avoids fault)
@@ -77,10 +88,12 @@ static void gm_rx_hook(const CANPacket_t *msg) {
}
if (msg->addr == 0x1C4U) {
gas_pressed = msg->data[5] != 0U;
if (!enable_gas_interceptor) {
gas_pressed = msg->data[5] != 0U;
}
// enter controls on rising edge of ACC, exit controls when ACC off
if (gm_pcm_cruise) {
if (gm_pcm_cruise && gm_has_acc) {
bool cruise_engaged = (msg->data[1] >> 5) != 0U;
pcm_cruise_check(cruise_engaged);
}
@@ -89,6 +102,26 @@ static void gm_rx_hook(const CANPacket_t *msg) {
if (msg->addr == 0xBDU) {
regen_braking = (msg->data[0] >> 4) != 0U;
}
// OPGM variables
// Cruise check for CC only cars
if ((msg->addr == 0x3D1U) && !gm_has_acc) {
bool cruise_engaged = (msg->data[4] >> 7) != 0U;
if (gm_cc_long) {
pcm_cruise_check(cruise_engaged);
} else {
cruise_engaged_prev = cruise_engaged;
}
}
// Pedal Interceptor
if ((msg->addr == 0x201U) && enable_gas_interceptor) {
// Pedal Interceptor: average between 2 tracks
int track1 = ((msg->data[0] << 8) + msg->data[1]);
int track2 = ((msg->data[2] << 8) + msg->data[3]);
int gas_interceptor = (track1 + track2) / 2;
gas_pressed = gas_interceptor > GM_GAS_INTERCEPTOR_THRESHOLD;
}
}
}
@@ -143,11 +176,24 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
}
// BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
if ((msg->addr == 0x1E1U) && gm_pcm_cruise) {
if ((msg->addr == 0x1E1U) && (gm_pcm_cruise || gm_pedal_long || gm_cc_long)) {
int button = (msg->data[5] >> 4) & 0x7U;
bool allowed_cancel = (button == 6) && cruise_engaged_prev;
if (!allowed_cancel) {
bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
// For standard CC, allow spamming of SET / RESUME
if (gm_cc_long) {
allowed_btn |= cruise_engaged_prev && ((button == GM_BTN_SET) || (button == GM_BTN_RESUME) || (button == GM_BTN_UNPRESS));
}
if (!allowed_btn) {
tx = false;
}
}
// OPGM variables
// GAS: safety check (interceptor)
if (msg->addr == 0x200U) {
if (longitudinal_interceptor_checks(msg)) {
tx = false;
}
}
@@ -171,7 +217,10 @@ static safety_config gm_init(uint16_t param) {
static const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, // pt bus
{0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus
{0x315, 2, 5, .check_relay = false}}; // ch bus
{0x315, 2, 5, .check_relay = false}, // ch bus
// OPGM Variables
{0x200, 0, 6, .check_relay = false},
{0x1E1, 0, 7, .check_relay = false}}; // pt bus
static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
@@ -183,20 +232,53 @@ static safety_config gm_init(uint16_t param) {
// block PSCMStatus (0x184); forwarded through openpilot to hide an alert from the camera
static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, // pt bus
{0x184, 2, 8, .check_relay = true}}; // camera bus
{0x184, 2, 8, .check_relay = true}, // camera bus
// OPGM Variables
{0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false}}; // pt bus
static RxCheck gm_rx_checks[] = {
GM_COMMON_RX_CHECKS
// OPGM Variables
GM_ACC_RX_CHECKS
};
static RxCheck gm_ev_rx_checks[] = {
GM_COMMON_RX_CHECKS
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
// OPGM Variables
GM_ACC_RX_CHECKS
};
static const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, // pt bus
{0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}}; // camera bus
{0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = true}, // camera bus
// OPGM Variables
{0x200, 0, 6, .check_relay = false},
{0x1E1, 0, 7, .check_relay = false}}; // pt bus
// OPGM Variables
static RxCheck gm_no_acc_ev_rx_checks[] = {
GM_COMMON_RX_CHECKS
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x3D1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // Non-ACC PCM
};
static RxCheck gm_no_acc_rx_checks[] = {
GM_COMMON_RX_CHECKS
{.msg = {{0x3D1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // Non-ACC PCM
};
static RxCheck gm_pedal_rx_checks[] = {
GM_COMMON_RX_CHECKS
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x3D1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // Non-ACC PCM
{.msg = {{0x201, 0, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // pedal
};
static const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x1E1, 0, 7, .check_relay = false}, // pt bus
{0x184, 2, 8, .check_relay = true}, {0x1E1, 2, 7, .check_relay = false}}; // camera bus
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
@@ -207,31 +289,52 @@ static safety_config gm_init(uint16_t param) {
} else {
}
bool gm_cam_long = false;
#ifdef ALLOW_DEBUG
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
#endif
gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long;
bool gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long && !gm_pedal_long;
// OPGM Variables
const uint16_t GM_PARAM_CC_LONG = 8;
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 16;
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
const uint16_t GM_PARAM_NO_ACC = 32;
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
const uint16_t GM_PARAM_PEDAL_LONG = 64;
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
safety_config ret;
if (gm_hw == GM_CAM) {
// FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
// cppcheck-suppress knownConditionTrueFalse
ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
if (gm_cc_long) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS);
} else if (gm_cam_long) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
}
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
}
const bool gm_ev = GET_FLAG(param, GM_PARAM_EV);
if (gm_ev) {
if (enable_gas_interceptor) {
SET_RX_CHECKS(gm_pedal_rx_checks, ret);
} else if (!gm_has_acc && gm_ev) {
SET_RX_CHECKS(gm_no_acc_ev_rx_checks, ret);
} else if (!gm_has_acc && !gm_ev) {
SET_RX_CHECKS(gm_no_acc_rx_checks, ret);
} else if (gm_ev) {
SET_RX_CHECKS(gm_ev_rx_checks, ret);
}
// ASCM does not forward any messages
if (gm_hw == GM_ASCM) {
if (gm_hw == GM_ASCM || gm_cc_long) {
ret.disable_forwarding = true;
}
return ret;
opendbc_repo/opendbc/safety/safety.h
+7
View File
@@ -91,6 +91,9 @@ uint16_t current_safety_param = 0;
static const safety_hooks *current_hooks = &nooutput_hooks;
safety_config current_safety_config;
// OPGM variables
bool enable_gas_interceptor = false;
static void generic_rx_checks(void);
static void stock_ecu_check(bool stock_ecu_detected);
@@ -482,6 +485,10 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
current_safety_config.rx_checks[j].status = (RxStatus){0};
}
}
// OPGM variables
enable_gas_interceptor = false;
return set_status;
}
opendbc_repo/opendbc/safety/tests/common.py
+63 -1
View File
@@ -886,7 +886,8 @@ class SafetyTest(SafetyTestBase):
if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
continue
if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmAscmSafety',
'TestGmCameraEVSafety', 'TestGmCameraLongitudinalEVSafety', 'TestGmAscmEVSafety'}):
'TestGmCameraEVSafety', 'TestGmCameraLongitudinalEVSafety', 'TestGmAscmEVSafety',
'TestGmInterceptorSafety', 'TestGmCcLongitudinalSafety'}):
continue
if attr.startswith('TestFord') and current_test.startswith('TestFord'):
continue
@@ -1125,3 +1126,64 @@ class CarSafetyTest(SafetyTest):
self.safety.safety_tick_current_safety_config()
self.assertFalse(self.safety.get_controls_allowed())
self.assertFalse(self.safety.safety_config_valid())
# OPGM variables
class GasInterceptorSafetyTest(PandaSafetyTestBase):
INTERCEPTOR_THRESHOLD = 0
cnt_gas_cmd = 0
cnt_user_gas = 0
packer: CANPackerPanda
@classmethod
def setUpClass(cls):
if cls.__name__ == "GasInterceptorSafetyTest" or cls.__name__.endswith("Base"):
cls.safety = None
raise unittest.SkipTest
def _interceptor_gas_cmd(self, gas: int):
values: dict[str, float | int] = {"COUNTER_PEDAL": self.__class__.cnt_gas_cmd & 0xF}
if gas > 0:
values["GAS_COMMAND"] = gas * 255.
values["GAS_COMMAND2"] = gas * 255.
self.__class__.cnt_gas_cmd += 1
return self.packer.make_can_msg_panda("GAS_COMMAND", 0, values)
def _interceptor_user_gas(self, gas: int):
values = {"INTERCEPTOR_GAS": gas, "INTERCEPTOR_GAS2": gas,
"COUNTER_PEDAL": self.__class__.cnt_user_gas}
self.__class__.cnt_user_gas += 1
return self.packer.make_can_msg_panda("GAS_SENSOR", 0, values)
# Skip non-interceptor user gas tests
def test_prev_gas(self):
pass
def test_no_disengage_on_gas(self):
pass
def test_no_disengage_on_gas_interceptor(self):
for g in range(0x1000):
self._rx(self._interceptor_user_gas(0))
self.safety.set_controls_allowed(True)
self._rx(self._interceptor_user_gas(g))
self.assertTrue(self.safety.get_controls_allowed(), g)
def test_allow_engage_with_gas_interceptor_pressed(self):
self._rx(self._interceptor_user_gas(0x1000))
self.safety.set_controls_allowed(True)
self._rx(self._interceptor_user_gas(0x1000))
self.assertTrue(self.safety.get_controls_allowed())
def test_gas_interceptor_safety_check(self):
for gas in np.arange(0, 4000, 100):
for controls_allowed in [True, False]:
self.safety.set_controls_allowed(controls_allowed)
if controls_allowed:
send = True
else:
send = gas == 0
self.assertEqual(send, self._tx(self._interceptor_gas_cmd(gas)))
opendbc_repo/opendbc/safety/tests/test_gm.py
+112
View File
@@ -228,5 +228,117 @@ class TestGmCameraLongitudinalEVSafety(TestGmCameraLongitudinalSafety, TestGmEVS
pass
# OPGM variables
def interceptor_msg(gas, addr):
to_send = common.make_msg(0, addr, 6)
to_send[0].data[0] = (gas & 0xFF00) >> 8
to_send[0].data[1] = gas & 0xFF
to_send[0].data[2] = (gas & 0xFF00) >> 8
to_send[0].data[3] = gas & 0xFF
return to_send
class TestGmInterceptorSafety(common.GasInterceptorSafetyTest, TestGmCameraSafety, TestGmEVSafetyBase):
INTERCEPTOR_THRESHOLD = 550
def setUp(self):
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(
CarParams.SafetyModel.gm,
GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_NO_ACC | GMSafetyFlags.FLAG_GM_PEDAL_LONG | GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR | self.EXTRA_SAFETY_PARAM)
self.safety.init_tests()
def test_pcm_sets_cruise_engaged(self):
for enabled in [True, False]:
self._rx(self._pcm_status_msg(enabled))
self.assertEqual(enabled, self.safety.get_cruise_engaged_prev())
def test_no_pcm_enable(self):
self.safety.set_controls_allowed(False)
self.assertFalse(self.safety.get_controls_allowed())
self._rx(self._pcm_status_msg(True))
self.assertFalse(self.safety.get_controls_allowed())
self.assertTrue(self.safety.get_cruise_engaged_prev())
def test_no_response_to_acc_pcm_message(self):
for enable in [True, False]:
self.safety.set_controls_allowed(enable)
self._rx(self.packer.make_can_msg_panda("AcceleratorPedal2", 0, {"CruiseState": True}))
self.assertEqual(enable, self.safety.get_controls_allowed())
self._rx(self.packer.make_can_msg_panda("AcceleratorPedal2", 0, {"CruiseState": False}))
self.assertEqual(enable, self.safety.get_controls_allowed())
def test_buttons(self):
# Only CANCEL button is allowed while cruise is enabled
self.safety.set_controls_allowed(False)
for btn in range(8):
self.assertFalse(self._tx(self._button_msg(btn)))
self.safety.set_controls_allowed(True)
for btn in range(8):
self.assertFalse(self._tx(self._button_msg(btn)))
self.safety.set_controls_allowed(True)
for enabled in (True, False):
self._rx(self._pcm_status_msg(enabled))
self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
self.assertTrue(self.safety.get_controls_allowed())
def test_fwd_hook(self):
pass
def test_disable_control_allowed_from_cruise(self):
pass
def test_enable_control_allowed_from_cruise(self):
pass
def _interceptor_gas_cmd(self, gas):
return interceptor_msg(gas, 0x200)
def _interceptor_user_gas(self, gas):
return interceptor_msg(gas, 0x201)
def _pcm_status_msg(self, enable):
values = {"CruiseActive": enable}
return self.packer.make_can_msg_panda("ECMCruiseControl", 0, values)
class TestGmCcLongitudinalSafety(TestGmCameraSafety):
TX_MSGS = [[0x180, 0], [0x1E1, 0], [0x184, 2]]
FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184]} # block LKAS message and PSCMStatus
BUTTONS_BUS = 0 # tx only
def setUp(self):
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_NO_ACC | GMSafetyFlags.FLAG_GM_CC_LONG)
self.safety.init_tests()
def _pcm_status_msg(self, enable):
values = {"CruiseActive": enable}
return self.packer.make_can_msg_panda("ECMCruiseControl", 0, values)
def test_fwd_hook(self):
pass
def test_buttons(self):
self.safety.set_controls_allowed(0)
for btn in range(8):
self.assertFalse(self._tx(self._button_msg(btn)))
self.safety.set_controls_allowed(1)
for btn in range(8):
self.assertFalse(self._tx(self._button_msg(btn)))
for enabled in (True, False):
for btn in (Buttons.RES_ACCEL, Buttons.DECEL_SET, Buttons.CANCEL):
self._rx(self._pcm_status_msg(enabled))
self.assertEqual(enabled, self._tx(self._button_msg(btn)))
if __name__ == "__main__":
unittest.main()
selfdrive/car/car_specific.py
+6 -1
View File
@@ -1,6 +1,7 @@
from cereal import car, log
import cereal.messaging as messaging
from opendbc.car import DT_CTRL, structs
from opendbc.car.gm.values import GMFlags
from opendbc.car.interfaces import MAX_CTRL_SPEED
from openpilot.selfdrive.selfdrived.events import Events
@@ -110,9 +111,13 @@ class CarSpecificEvents:
if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if CS.cruiseState.standstill:
if CS.cruiseState.standstill and not self.CP.autoResumeSng:
events.add(EventName.resumeRequired)
# OPGM variables
if (self.CP.flags & GMFlags.CC_LONG) and CS.vEgo < self.CP.minEnableSpeed and CS.cruiseState.enabled:
events.add(EventName.speedTooLow)
elif self.CP.brand == 'volkswagen':
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
selfdrive/car/card.py
+11 -2
View File
@@ -11,7 +11,7 @@ from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
from openpilot.common.swaglog import cloudlog, ForwardingHandler
from opendbc.car import DT_CTRL, structs
from opendbc.car import DT_CTRL, ButtonType, structs
from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
from opendbc.car.carlog import carlog
from opendbc.car.fw_versions import ObdCallback
@@ -159,6 +159,9 @@ class Car:
# card is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
# OPGM variables
self.resume_prev_button = False
def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
"""carState update loop, driven by can"""
@@ -187,12 +190,18 @@ class Car:
self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
if self.sm['carControl'].enabled and not self.CC_prev.enabled:
# Use CarState w/ buttons from the step selfdrived enables on
self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode)
self.v_cruise_helper.initialize_v_cruise(self.CS_prev, self.experimental_mode, self.resume_prev_button)
# TODO: mirror the carState.cruiseState struct?
CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
# OPGM variables
if any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents):
self.resume_prev_button = True
elif any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in CS.buttonEvents):
self.resume_prev_button = False
return CS, RD
def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
selfdrive/car/cruise.py
+9 -4
View File
@@ -2,6 +2,7 @@ import math
import numpy as np
from cereal import car
from opendbc.car.gm.values import CC_ONLY_CAR, GMFlags
from openpilot.common.constants import CV
@@ -37,6 +38,9 @@ class VCruiseHelper:
self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
# OPGM variables
self.gm_cc_only = self.CP.carFingerprint in CC_ONLY_CAR and self.CP.flags & GMFlags.CC_LONG.value
@property
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_UNSET
@@ -45,7 +49,7 @@ class VCruiseHelper:
self.v_cruise_kph_last = self.v_cruise_kph
if CS.cruiseState.available:
if not self.CP.pcmCruise:
if self.gm_cc_only or not self.CP.pcmCruise:
# if stock cruise is completely disabled, then we can use our own set speed logic
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -123,14 +127,15 @@ class VCruiseHelper:
self.button_timers[b.type.raw] = 1 if b.pressed else 0
self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
def initialize_v_cruise(self, CS, experimental_mode: bool, resume_prev_button: bool) -> None:
# initializing is handled by the PCM
if self.CP.pcmCruise:
if self.CP.pcmCruise and not self.gm_cc_only:
return
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
if (any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
and self.v_cruise_initialized or (self.gm_cc_only and resume_prev_button)):
self.v_cruise_kph = self.v_cruise_kph_last
else:
self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
selfdrive/car/tests/test_cruise_speed.py
+1 -1
View File
@@ -59,7 +59,7 @@ class TestVCruiseHelper:
def enable(self, v_ego, experimental_mode):
# Simulates user pressing set with a current speed
self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode, False)
def test_adjust_speed(self):
"""
selfdrive/controls/controlsd.py
+5
View File
@@ -126,6 +126,11 @@ class Controls:
curvature_limited, lat_delay)
actuators.torque = float(steer)
actuators.steeringAngleDeg = float(steeringAngleDeg)
# OPGM variables
if len(long_plan.speeds):
actuators.speed = long_plan.speeds[-1]
# Ensure no NaNs/Infs
for p in ACTUATOR_FIELDS:
attr = getattr(actuators, p)