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https://github.com/firestar5683/StarPilot.git
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1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 firestarsdog
|
42f4a367e7 |
@@ -40,35 +40,43 @@ const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0
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{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
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const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
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{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
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{0x315, 2, 5}, {0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
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const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
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{0x184, 2, 8}}; // camera bus
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const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
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const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
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{0x184, 2, 8}, {0x1E1, 2, 7}}; // camera bus
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// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
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RxCheck gm_rx_checks[] = {
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{.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0x1E1, 0, 7, .frequency = 10U}, // Non-SDGM Car
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{0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car
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{.msg = {{0xF1, 0, 6, .frequency = 10U}, // Non-SDGM Car
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{0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
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{.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
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};
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RxCheck gm_ascm_rx_checks[] = {
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{.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0xBE, 0, 6, .frequency = 10U}, { 0 }, { 0 }}}, // Acadia
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{.msg = {{0xBE, 0, 7, .frequency = 10U}, { 0 }, { 0 }}}, // Chevy, Bolt EUV
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{.msg = {{0xBE, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // Cadillac
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};
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const uint16_t GM_PARAM_HW_CAM = 1;
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const uint16_t GM_PARAM_HW_CAM_LONG = 2;
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const uint16_t GM_PARAM_HW_SDGM = 4;
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const uint16_t GM_PARAM_CC_LONG = 8;
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const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
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const uint16_t GM_PARAM_NO_CAMERA = 32;
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const uint16_t GM_PARAM_NO_ACC = 64;
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const uint16_t GM_PARAM_PEDAL_LONG = 128; // TODO: this can be inferred
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const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256;
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const uint16_t GM_PARAM_CC_LONG = 4;
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const uint16_t GM_PARAM_HW_ASCM_LONG = 8;
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const uint16_t GM_PARAM_NO_CAMERA = 16;
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const uint16_t GM_PARAM_NO_ACC = 32;
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const uint16_t GM_PARAM_PEDAL_LONG = 64; // TODO: this can be inferred
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const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 128;
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const uint16_t GM_PARAM_ASCM_INT = 256;
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const uint16_t GM_PARAM_FORCE_BRAKE_C9 = 512;
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const uint16_t GM_PARAM_HW_SDGM = 1024;
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const uint16_t GM_PARAM_F1_CAN_BRAKE = 2048; // For cars that skip 0xBE monitoring
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enum {
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GM_BTN_UNPRESS = 1,
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@@ -90,30 +98,9 @@ bool gm_pedal_long = false;
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bool gm_cc_long = false;
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bool gm_skip_relay_check = false;
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bool gm_force_ascm = false;
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static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
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int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
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// enter controls on falling edge of set or rising edge of resume (avoids fault)
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bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
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bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
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if (set || res) {
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controls_allowed = true;
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}
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// exit controls on cancel press
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if (button == GM_BTN_CANCEL) {
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controls_allowed = false;
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}
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cruise_button_prev = button;
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}
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bool gm_force_brake_c9 = false;
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static void gm_rx_hook(const CANPacket_t *to_push) {
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if ((GET_BUS(to_push) == 2U) && (GET_ADDR(to_push) == 0x1E1) && (gm_hw == GM_SDGM)) {
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// SDGM buttons are on bus 2
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handle_gm_wheel_buttons(to_push);
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}
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if (GET_BUS(to_push) == 0U) {
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int addr = GET_ADDR(to_push);
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@@ -131,18 +118,34 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
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vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
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}
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// ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM)
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if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long) && (gm_hw != GM_SDGM)) {
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handle_gm_wheel_buttons(to_push);
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// ACC steering wheel buttons (GM_CAM is tied to the PCM)
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if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long)) {
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int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
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// enter controls on falling edge of set or rising edge of resume (avoids fault)
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bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
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bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
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if (set || res) {
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controls_allowed = true;
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}
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// exit controls on cancel press
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if (button == GM_BTN_CANCEL) {
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controls_allowed = false;
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}
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cruise_button_prev = button;
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}
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// Reference for brake pressed signals:
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// https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
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if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
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// Prefer 0xC9 (ECMEngineStatus) when gm_force_brake_c9 is set, otherwise keep legacy behavior.
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// This allows SDGM/Traverse variants without 0xBE (ECMAcceleratorPos) to report brake correctly.
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if ((addr == 0xC9) && gm_force_brake_c9) {
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brake_pressed = GET_BIT(to_push, 40U) != 0U;
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} else if ((addr == 0xBE) && ((gm_hw == GM_ASCM) || (gm_hw == GM_SDGM))) {
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brake_pressed = GET_BYTE(to_push, 1) >= 8U;
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}
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if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
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} else if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
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brake_pressed = GET_BIT(to_push, 40U) != 0U;
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}
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@@ -192,6 +195,18 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
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}
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generic_rx_checks(stock_ecu_detected);
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}
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// Cruise check for Gen2 Bolt (ASCMActiveCruiseControlStatus on bus 2)
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int addr = GET_ADDR(to_push);
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if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
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bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U; // ACCCmdActive
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// Align SDGM/camera PCM cruise behavior with ASCM path: when using stock PCM cruise,
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// drive controls_allowed via pcm_cruise_check on ACC engaged edges.
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if (gm_pcm_cruise && gm_has_acc) {
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pcm_cruise_check(cruise_engaged);
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} else {
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cruise_engaged_prev = cruise_engaged;
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}
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}
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}
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static bool gm_tx_hook(const CANPacket_t *to_send) {
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@@ -246,8 +261,8 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
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int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
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bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
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// For standard CC, allow spamming of SET / RESUME
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if (gm_cc_long) {
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// For CC_LONG or PCM cruise vehicles, allow SET/RESUME when cruise is engaged
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if (gm_cc_long || gm_pcm_cruise) {
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allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
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}
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@@ -255,23 +270,6 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
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tx = false;
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}
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}
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// REGEN PADDLE
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if (addr == 0xBD) {
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bool regen_apply = GET_BIT(to_send, 7) || GET_BIT(to_send, 6) || GET_BIT(to_send, 5) || GET_BIT(to_send, 4);
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if (!controls_allowed && regen_apply) {
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tx = false;
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}
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}
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// PRNDL2 regen check (7 for Gen0, Gen1. 5 For Gen2)
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if (addr == 0x1F5) {
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uint8_t prndl2 = GET_BYTE(to_send, 3) & 0xF;
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bool prndl_apply = (prndl2 == 7) || (prndl2 == 5);
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if (!controls_allowed && prndl_apply) {
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tx = false;
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}
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}
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return tx;
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}
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@@ -302,9 +300,11 @@ static int gm_fwd_hook(int bus_num, int addr) {
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}
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static safety_config gm_init(uint16_t param) {
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if GET_FLAG(param, GM_PARAM_HW_CAM) {
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const bool gm_ascm_int = GET_FLAG(param, GM_PARAM_ASCM_INT);
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const bool F1_CAN_BRAKE = GET_FLAG(param, GM_PARAM_F1_CAN_BRAKE);
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if (GET_FLAG(param, GM_PARAM_HW_CAM)) {
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gm_hw = GM_CAM;
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} else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
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} else if (GET_FLAG(param, GM_PARAM_HW_SDGM)) {
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gm_hw = GM_SDGM;
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} else {
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gm_hw = GM_ASCM;
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@@ -312,33 +312,42 @@ static safety_config gm_init(uint16_t param) {
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gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
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if (gm_hw == GM_ASCM || gm_force_ascm) {
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gm_long_limits = &GM_ASCM_LONG_LIMITS;
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if (gm_hw == GM_ASCM || gm_force_ascm || gm_ascm_int) {
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gm_long_limits = &GM_ASCM_LONG_LIMITS;
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} else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
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gm_long_limits = &GM_CAM_LONG_LIMITS;
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gm_long_limits = &GM_CAM_LONG_LIMITS;
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} else {
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}
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gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
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gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
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gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
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gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
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gm_pcm_cruise = (((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
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gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
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gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
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enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
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gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
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safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
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safety_config ret;
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// Use F1_CAN_BRAKE flag for RX check selection (Joe's approach)
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if (F1_CAN_BRAKE) {
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ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
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} else {
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ret = BUILD_SAFETY_CFG(gm_ascm_rx_checks, GM_ASCM_TX_MSGS);
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}
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// For CAM hardware, set TX messages appropriately (but don't override RX checks)
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if (gm_hw == GM_CAM) {
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if (gm_cc_long) {
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ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS);
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ret.tx_msgs = GM_CC_LONG_TX_MSGS;
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} else if (gm_cam_long) {
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ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
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ret.tx_msgs = GM_CAM_LONG_TX_MSGS;
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} else {
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ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
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ret.tx_msgs = GM_CAM_TX_MSGS;
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}
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} else if (gm_hw == GM_SDGM) {
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ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
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}
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return ret;
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}
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@@ -231,13 +231,16 @@ class Panda:
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FLAG_GM_HW_CAM = 1
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FLAG_GM_HW_CAM_LONG = 2
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FLAG_GM_HW_SDGM = 4
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FLAG_GM_CC_LONG = 8
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FLAG_GM_HW_ASCM_LONG = 16
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FLAG_GM_NO_CAMERA = 32
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FLAG_GM_NO_ACC = 64
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FLAG_GM_PEDAL_LONG = 128 # TODO: This can be inferred
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FLAG_GM_GAS_INTERCEPTOR = 256
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FLAG_GM_CC_LONG = 4
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FLAG_GM_HW_ASCM_LONG = 8
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FLAG_GM_NO_CAMERA = 16
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FLAG_GM_NO_ACC = 32
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FLAG_GM_PEDAL_LONG = 64
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FLAG_GM_PEDAL_INTERCEPTOR = 128
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FLAG_GM_ASCM_INT = 256
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FLAG_GM_FORCE_BRAKE_C9 = 512
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FLAG_GM_HW_SDGM = 1024
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FLAG_GM_F1_CAN_BRAKE = 2048
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FLAG_FORD_LONG_CONTROL = 1
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FLAG_FORD_CANFD = 2
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@@ -1,5 +1,3 @@
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from typing import Tuple
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import time
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.filter_simple import FirstOrderFilter
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@@ -9,11 +7,10 @@ from openpilot.common.params_pyx import Params
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
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from openpilot.selfdrive.car.gm import gmcan
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from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CC_REGEN_PADDLE_CAR
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from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
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from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
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from openpilot.common.swaglog import cloudlog
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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NetworkLocation = car.CarParams.NetworkLocation
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@@ -25,15 +22,7 @@ TransmissionType = car.CarParams.TransmissionType
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CAMERA_CANCEL_DELAY_FRAMES = 10
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# Enforce a minimum interval between steering messages to avoid a fault
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MIN_STEER_MSG_INTERVAL_MS = 15
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# Two‑sided spacing tuned for ~33 Hz steer; target a 10 ms wide window per interval
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# Paddle spoofing and scheduling constants
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PADDLE_STEER_GAP_MIN_NS = 5_000_000 # ≥5 ms each side (EPS guard)
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PADDLE_STEER_GAP_MAX_NS = 12_000_000 # cap for long intervals
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PADDLE_GAP_TARGET_NS = 5_000_000 # aim per‑side gap even if interval//2 − early is larger
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PADDLE_NONBLOCK_GAP_NS = 1_000_000 # ≥1 ms since last paddle send
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PADDLE_SLOT_EARLY_NS = 1_000_000 # allow firing up to 1 ms before slot
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OVERFLOW_THRESH = 1.00 # fire one extra slot whenever credits ≥ 1.0
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PADDLE_TARGET_HZ = 42.0 # desired paddle rate (Hz) when regen active; steer is ~33 Hz
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# Constants for pitch compensation
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BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds
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BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch
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@@ -49,11 +38,6 @@ class CarController(CarControllerBase):
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self.apply_speed = 0
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self.frame = 0
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self.last_steer_frame = 0
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self.last_steer_ts_ns = 0
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self.last_regen_active = False
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self.prev_steer_ts_ns = 0
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self.last_spoof_ts_ns = 0
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self.last_paddle_ts_ns = 0
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self.last_button_frame = 0
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self.cancel_counter = 0
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self.pedal_steady = 0.
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@@ -70,88 +54,27 @@ class CarController(CarControllerBase):
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# FrogPilot variables
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self.accel_g = 0.0
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self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz
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self.accel_g = 0.0
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self.regen_paddle_pressed = False
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self.aego = 0.0
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self.regen_paddle_timer = 0
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self.planner_regen_hold = False
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@staticmethod
|
||||
def calc_pedal_command(accel: float, long_active: bool) -> float:
|
||||
if not long_active: return 0.
|
||||
|
||||
zero = 0.15625 # 40/256
|
||||
if accel > 0.:
|
||||
# Scales the accel from 0-1 to 0.156-1
|
||||
pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
|
||||
else:
|
||||
# if accel is negative, -0.1 -> 0.015625
|
||||
pedal_gas = clip(zero + accel, 0., zero) # Make brake the same size as gas, but clip to regen
|
||||
|
||||
# Midpoint + overflow spoof accumulator and flags
|
||||
self.spoof_accum = 0.0
|
||||
self.spoof_mid_sent = False
|
||||
self.spoof_over_sent = False
|
||||
self.last_interval_ns = 0
|
||||
|
||||
def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
|
||||
if not long_active:
|
||||
self.planner_regen_hold = False
|
||||
return 0., False
|
||||
|
||||
# Regen paddle hysteresis (frame-based): hold 10 frames, with decrement dead-zone
|
||||
if not hasattr(self, 'regen_paddle_timer'):
|
||||
self.regen_paddle_timer = 0 # frames
|
||||
|
||||
# Regen paddle hysteresis (frame‑based): count frames when decelerating hard, decrement only when truly released
|
||||
if self.aego < -0.7:
|
||||
self.regen_paddle_timer += 1
|
||||
elif self.aego > -0.3:
|
||||
self.regen_paddle_timer = max(self.regen_paddle_timer - 1, 0)
|
||||
# else: hold timer between -0.7 and -0.3
|
||||
|
||||
# Base paddle press hysteresis
|
||||
self.regen_paddle_pressed = self.regen_paddle_timer >= 10 # 10 frames
|
||||
press_regen_paddle = self.regen_paddle_pressed or self.planner_regen_hold
|
||||
|
||||
|
||||
# Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
|
||||
speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
|
||||
11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
|
||||
22.939, 24.058, 25.177, 26.296]
|
||||
regen_gain_ratio = [
|
||||
1.000000, 1.057308, 1.131123, 1.220611, 1.270247, 1.300253, 1.339543, 1.361002,
|
||||
1.388410, 1.403253, 1.414721, 1.430949, 1.420289, 1.436787, 1.434116, 1.436805,
|
||||
1.417508, 1.402213, 1.395360, 1.360921, 1.342030, 1.292219, 1.270048, 1.239172
|
||||
]
|
||||
|
||||
gain = interp(car_velocity, speed_mps, regen_gain_ratio)
|
||||
pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
|
||||
|
||||
# Compute raw pedal gas
|
||||
raw_pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0) if press_regen_paddle else clip((pedaloffset + accel * 0.6), 0.0, 1.0)
|
||||
|
||||
# --- Immediate application of raw pedal gas, no blending ---
|
||||
pedal_gas = raw_pedal_gas
|
||||
# Safety cap: ramp from 22% at 0 m/s to 37.25% at 10 mph (4.47 m/s), then allow full throttle
|
||||
pedal_gas_max = interp(car_velocity, [0.0, 4.47, 4.48], [0.22, 0.3725, 1.0])
|
||||
pedal_gas = clip(pedal_gas, 0.0, pedal_gas_max)
|
||||
return pedal_gas, press_regen_paddle
|
||||
return pedal_gas
|
||||
|
||||
|
||||
def update(self, CC, CS, now_nanos, frogpilot_toggles):
|
||||
self.CS = CS
|
||||
self.aego = CS.out.aEgo
|
||||
actuators = CC.actuators
|
||||
accel = brake_accel = actuators.accel
|
||||
press_regen_paddle = False
|
||||
|
||||
# Planner-driven regen hold: gate by car support and OP long active, use commanded accel thresholds
|
||||
if (self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR
|
||||
and self.CP.openpilotLongitudinalControl and CC.longActive):
|
||||
# Match original hysteresis intent: vehicle can usually stop without paddle up to ~1.0 m/s^2
|
||||
# Use the same thresholds as the aEgo-based hysteresis, but on commanded accel for preemption
|
||||
planner_press_threshold = -0.7
|
||||
planner_release_threshold = -0.3
|
||||
if accel <= planner_press_threshold:
|
||||
self.planner_regen_hold = True
|
||||
elif accel >= planner_release_threshold:
|
||||
self.planner_regen_hold = False
|
||||
else:
|
||||
self.planner_regen_hold = False
|
||||
|
||||
hud_control = CC.hudControl
|
||||
hud_alert = hud_control.visualAlert
|
||||
hud_v_cruise = hud_control.setSpeed
|
||||
@@ -160,122 +83,6 @@ class CarController(CarControllerBase):
|
||||
|
||||
# Send CAN commands.
|
||||
can_sends = []
|
||||
paddle_sends = []
|
||||
|
||||
raw_regen_active = (
|
||||
self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
|
||||
self.CP.openpilotLongitudinalControl and
|
||||
CC.longActive and
|
||||
self.CP.enableGasInterceptor and
|
||||
(self.regen_paddle_timer >= 10 or self.planner_regen_hold) # hysteresis or planner hint
|
||||
)
|
||||
regen_active = raw_regen_active
|
||||
|
||||
# === Spoof scheduling: midpoint + overflow (~target Hz) ===
|
||||
# Rising-edge reset on regen start
|
||||
if raw_regen_active and not self.last_regen_active:
|
||||
self.prev_steer_ts_ns = self.last_steer_ts_ns
|
||||
self.last_spoof_ts_ns = 0
|
||||
self.spoof_accum = 0.0
|
||||
self.spoof_mid_sent = False
|
||||
self.spoof_over_sent = False
|
||||
|
||||
if raw_regen_active:
|
||||
# Interval between last two bus-0 steer sends
|
||||
interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
|
||||
|
||||
# Adaptive two‑sided gap sized to the current steer interval, but capped to a target so the window stays wide enough
|
||||
gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
|
||||
max(PADDLE_STEER_GAP_MIN_NS,
|
||||
min(PADDLE_STEER_GAP_MAX_NS,
|
||||
min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
|
||||
|
||||
# New steer interval? clear per-interval flags and add credits to reach target Hz
|
||||
if interval_ns != self.last_interval_ns:
|
||||
self.spoof_mid_sent = False
|
||||
self.spoof_over_sent = False
|
||||
self.last_interval_ns = interval_ns
|
||||
# Add credits once per new steer interval to reach the desired paddle rate
|
||||
if interval_ns > 0:
|
||||
steer_hz = 1e9 / float(interval_ns)
|
||||
extra_needed = max(0.0, (PADDLE_TARGET_HZ / steer_hz) - 1.0) # e.g., 42/33 − 1 ≈ 0.2727
|
||||
self.spoof_accum += extra_needed
|
||||
|
||||
# Midpoint spoof: one per interval
|
||||
if not self.spoof_mid_sent and interval_ns > 0:
|
||||
midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
|
||||
# Compute spacing to last and next steer (two-sided guard)
|
||||
next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
|
||||
delta_after_ns = now_nanos - self.last_steer_ts_ns
|
||||
delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
|
||||
if (CS.out.vEgo > 2.68
|
||||
and now_nanos >= (midpoint_ns - PADDLE_SLOT_EARLY_NS)
|
||||
and delta_after_ns >= gap_ns
|
||||
and delta_before_ns >= gap_ns):
|
||||
# Non-blocking 1 ms spacing for paddle frames
|
||||
if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
|
||||
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
|
||||
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
|
||||
self.last_paddle_ts_ns = now_nanos
|
||||
self.last_spoof_ts_ns = now_nanos
|
||||
self.spoof_mid_sent = True
|
||||
|
||||
# Overflow spoof: insert extra when accumulator allows
|
||||
if self.spoof_accum >= OVERFLOW_THRESH and not self.spoof_over_sent and interval_ns > 0:
|
||||
slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
|
||||
# Two-sided spacing relative to steer
|
||||
next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
|
||||
delta_after_ns = now_nanos - self.last_steer_ts_ns
|
||||
delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
|
||||
if (CS.out.vEgo > 2.68
|
||||
and now_nanos >= (slot2_ns - PADDLE_SLOT_EARLY_NS)
|
||||
and delta_after_ns >= gap_ns
|
||||
and delta_before_ns >= gap_ns):
|
||||
# Non-blocking 1 ms spacing for paddle frames
|
||||
if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
|
||||
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
|
||||
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
|
||||
self.last_paddle_ts_ns = now_nanos
|
||||
self.last_spoof_ts_ns = now_nanos
|
||||
self.spoof_over_sent = True
|
||||
self.spoof_accum -= OVERFLOW_THRESH
|
||||
# === End Spoof scheduling ===
|
||||
|
||||
# === Off-pulse scheduling on regen release ===
|
||||
if not raw_regen_active and self.last_regen_active:
|
||||
# schedule two off-slots at 1/3 and 2/3 of the last steer interval
|
||||
if self.prev_steer_ts_ns and self.last_steer_ts_ns:
|
||||
intv = self.last_steer_ts_ns - self.prev_steer_ts_ns
|
||||
self.off_schedule_ns = [
|
||||
self.prev_steer_ts_ns + intv // 3,
|
||||
self.prev_steer_ts_ns + (2 * intv) // 3
|
||||
]
|
||||
self.off_sent = [False, False]
|
||||
|
||||
if hasattr(self, "off_schedule_ns"):
|
||||
for i, t_ns in enumerate(self.off_schedule_ns):
|
||||
if not self.off_sent[i] and now_nanos >= (t_ns - PADDLE_SLOT_EARLY_NS):
|
||||
# Two-sided spacing to steer before sending
|
||||
interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
|
||||
gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
|
||||
max(PADDLE_STEER_GAP_MIN_NS,
|
||||
min(PADDLE_STEER_GAP_MAX_NS,
|
||||
min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
|
||||
next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
|
||||
delta_after_ns = now_nanos - self.last_steer_ts_ns
|
||||
delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
|
||||
if (delta_after_ns >= gap_ns and delta_before_ns >= gap_ns):
|
||||
# Non-blocking 1 ms spacing for paddle frames
|
||||
if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
|
||||
paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False))
|
||||
paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
|
||||
self.last_paddle_ts_ns = now_nanos
|
||||
self.off_sent[i] = True
|
||||
# clean up once both off pulses are sent
|
||||
if hasattr(self, "off_sent") and all(self.off_sent):
|
||||
del self.off_schedule_ns
|
||||
del self.off_sent
|
||||
# === End off-pulse scheduling ===
|
||||
|
||||
# Steering (Active: 50Hz, inactive: 10Hz)
|
||||
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
|
||||
@@ -308,27 +115,11 @@ class CarController(CarControllerBase):
|
||||
if (self.CP.flags & GMFlags.CC_LONG.value) and CC.enabled and not CS.out.cruiseState.enabled: # Send 0 so Panda doesn't error
|
||||
apply_steer = 0
|
||||
|
||||
# shift previous steer timestamp
|
||||
self.prev_steer_ts_ns = self.last_steer_ts_ns
|
||||
self.last_steer_ts_ns = now_nanos
|
||||
self.last_steer_frame = self.frame
|
||||
self.apply_steer_last = apply_steer
|
||||
idx = self.lka_steering_cmd_counter % 4
|
||||
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
|
||||
|
||||
# Update regen_active state and last_regen_paddle_pressed for next loop
|
||||
self.last_regen_active = regen_active
|
||||
self.last_regen_paddle_pressed = self.regen_paddle_pressed or self.planner_regen_hold
|
||||
|
||||
if paddle_sends:
|
||||
interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
|
||||
flush_gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
|
||||
max(PADDLE_STEER_GAP_MIN_NS,
|
||||
min(PADDLE_STEER_GAP_MAX_NS,
|
||||
min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
|
||||
if now_nanos - self.last_steer_ts_ns >= flush_gap_ns:
|
||||
can_sends.extend(paddle_sends)
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# Gas/regen, brakes, and UI commands - all at 25Hz
|
||||
if self.frame % 4 == 0:
|
||||
@@ -354,15 +145,20 @@ class CarController(CarControllerBase):
|
||||
self.apply_brake = int(min(-100 * frogpilot_toggles.stopAccel, self.params.MAX_BRAKE))
|
||||
else:
|
||||
# Normal operation
|
||||
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
if self.CP.carFingerprint in EV_CAR:
|
||||
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
|
||||
self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
else:
|
||||
self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
# Don't allow any gas above inactive regen while stopping
|
||||
# FIXME: brakes aren't applied immediately when enabling at a stop
|
||||
if stopping:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
if self.CP.carFingerprint in CC_ONLY_CAR:
|
||||
# gas interceptor only used for full long control on cars without ACC
|
||||
interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
|
||||
interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)
|
||||
|
||||
if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
|
||||
# "Tap" the accelerator pedal to re-engage ACC
|
||||
@@ -387,6 +183,8 @@ class CarController(CarControllerBase):
|
||||
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
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
friction_brake_bus = CanBus.CAMERA
|
||||
|
||||
if self.CP.autoResumeSng:
|
||||
resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
|
||||
@@ -400,7 +198,7 @@ class CarController(CarControllerBase):
|
||||
# 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, acc_engaged, 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))
|
||||
idx, CC.enabled, near_stop, at_full_stop, self.CP))
|
||||
|
||||
# Send dashboard UI commands (ACC status)
|
||||
send_fcw = hud_alert == VisualAlert.fcw
|
||||
@@ -411,18 +209,22 @@ class CarController(CarControllerBase):
|
||||
accel += self.accel_g
|
||||
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (5hz, previously 10hz)
|
||||
if not self.CP.radarUnavailable:
|
||||
# and that ADAS is alive (10hz)
|
||||
if not self.CP.radarUnavailable and self.CP.networkLocation != NetworkLocation.fwdCamera and self.CP.carFingerprint not in SDGM_CAR:
|
||||
tt = self.frame * DT_CTRL
|
||||
time_and_headlights_step = 20
|
||||
time_and_headlights_step = 10
|
||||
if self.frame % time_and_headlights_step == 0:
|
||||
idx = (self.frame // time_and_headlights_step) % 4
|
||||
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
||||
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
|
||||
|
||||
speed_and_accelerometer_step = 2
|
||||
if self.frame % speed_and_accelerometer_step == 0:
|
||||
idx = (self.frame // speed_and_accelerometer_step) % 4
|
||||
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
||||
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % (self.params.ADAS_KEEPALIVE_STEP * 2) == 0:
|
||||
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
|
||||
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
||||
|
||||
# TODO: integrate this with the code block below?
|
||||
@@ -443,14 +245,11 @@ class CarController(CarControllerBase):
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
|
||||
self.last_button_frame = self.frame
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
else:
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
|
||||
if self.frame % 20 == 0:
|
||||
if self.frame % 10 == 0:
|
||||
can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
|
||||
|
||||
new_actuators = actuators.as_builder()
|
||||
|
||||
@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
from openpilot.selfdrive.car.interfaces import CarStateBase
|
||||
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR
|
||||
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, ASCM_INT, CAR, ALT_ACCS
|
||||
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
@@ -39,14 +39,9 @@ class CarState(CarStateBase):
|
||||
|
||||
self.prev_cruise_buttons = self.cruise_buttons
|
||||
self.prev_distance_button = self.distance_button
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
else:
|
||||
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
|
||||
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
|
||||
# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
|
||||
@@ -56,13 +51,6 @@ class CarState(CarStateBase):
|
||||
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
|
||||
if self.loopback_lka_steering_cmd_updated:
|
||||
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
|
||||
# Track timestamps for OEM PRNDL2 and Regen Paddle messages (used to sync spoofing timing)
|
||||
self.prndl2_ts_nanos = pt_cp.ts_nanos["ECMPRDNL2"]["PRNDL2"]
|
||||
if self.CP.carFingerprint in CC_REGEN_PADDLE_CAR:
|
||||
self.regen_paddle_ts_nanos = pt_cp.ts_nanos["EBCMRegenPaddle"]["RegenPaddle"]
|
||||
else:
|
||||
self.regen_paddle_ts_nanos = 0
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
|
||||
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
@@ -78,25 +66,30 @@ class CarState(CarStateBase):
|
||||
# sample rear wheel speeds, standstill=True if ECM allows engagement with brake
|
||||
ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
|
||||
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
|
||||
if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
|
||||
ret.gearShifter = self.parse_gear_shifter("T")
|
||||
else:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
|
||||
|
||||
if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
|
||||
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
|
||||
ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
|
||||
else:
|
||||
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
|
||||
|
||||
if (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (self.CP.networkLocation == NetworkLocation.fwdCamera):
|
||||
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
|
||||
else:
|
||||
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
|
||||
# that the brake is being intermittently pressed without user interaction.
|
||||
# To avoid a cruise fault we need to use a conservative brake position threshold
|
||||
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
|
||||
ret.brakePressed = ret.brake >= 8
|
||||
analog_thresh = 0.07 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
|
||||
ret.brakePressed = ret.brake >= analog_thresh
|
||||
|
||||
# Regen braking is braking
|
||||
if self.CP.transmissionType == TransmissionType.direct:
|
||||
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
|
||||
self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic)
|
||||
self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic) or (self.CP.carFingerprint in [CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC] and self.CP.enableGasInterceptor)
|
||||
|
||||
if self.CP.enableGasInterceptor:
|
||||
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
|
||||
@@ -117,32 +110,19 @@ class CarState(CarStateBase):
|
||||
ret.steerFaultTemporary = self.lkas_status == 2
|
||||
ret.steerFaultPermanent = self.lkas_status == 3
|
||||
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
|
||||
|
||||
# 1 - latched
|
||||
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
|
||||
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
|
||||
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
|
||||
|
||||
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
else:
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
|
||||
cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
|
||||
# 1 - latched
|
||||
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
|
||||
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
|
||||
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
|
||||
# 1 - latched
|
||||
ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
|
||||
ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
|
||||
ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
|
||||
ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
|
||||
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
|
||||
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
|
||||
@@ -153,32 +133,26 @@ class CarState(CarStateBase):
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
|
||||
if self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
if self.CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
|
||||
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
|
||||
else:
|
||||
ret.stockAeb = False
|
||||
# openpilot controls nonAdaptive when not pcmCruise
|
||||
if self.CP.pcmCruise:
|
||||
# 2016-2018 Volt won't identify non-adaptive cruise state since switchable cruise state was not introduced till 2019 model year / SDGM Global AAdd commentMore actions
|
||||
if self.CP.pcmCruise and self.CP.carFingerprint not in ASCM_INT:
|
||||
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
|
||||
if self.CP.carFingerprint in CC_ONLY_CAR:
|
||||
ret.accFaulted = False
|
||||
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
|
||||
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
|
||||
|
||||
if self.CP.enableBsm:
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
else:
|
||||
ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
if self.CP.carFingerprint in ALT_ACCS:
|
||||
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
|
||||
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
|
||||
self.lkas_previously_enabled = self.lkas_enabled
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
else:
|
||||
self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
|
||||
|
||||
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
|
||||
|
||||
@@ -193,16 +167,7 @@ class CarState(CarStateBase):
|
||||
messages += [
|
||||
("ASCMLKASteeringCmd", 10),
|
||||
]
|
||||
if CP.carFingerprint in SDGM_CAR:
|
||||
messages += [
|
||||
("BCMTurnSignals", 1),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
("BCMGeneralPlatformStatus", 10),
|
||||
("ASCMSteeringButton", 33),
|
||||
]
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
else:
|
||||
if CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
|
||||
messages += [
|
||||
("AEBCmd", 10),
|
||||
]
|
||||
@@ -216,34 +181,25 @@ class CarState(CarStateBase):
|
||||
@staticmethod
|
||||
def get_can_parser(CP, FPCP):
|
||||
messages = [
|
||||
("BCMTurnSignals", 1),
|
||||
("ECMPRDNL2", 10),
|
||||
("PSCMStatus", 10),
|
||||
("ESPStatus", 10),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
("BCMGeneralPlatformStatus", 10),
|
||||
("EBCMWheelSpdFront", 20),
|
||||
("EBCMWheelSpdRear", 20),
|
||||
("EBCMFrictionBrakeStatus", 20),
|
||||
("AcceleratorPedal2", 33),
|
||||
("ASCMSteeringButton", 33),
|
||||
("ECMEngineStatus", 100),
|
||||
("PSCMSteeringAngle", 100),
|
||||
("ECMAcceleratorPos", 80),
|
||||
("SportMode", 0),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in SDGM_CAR:
|
||||
messages += [
|
||||
("ECMPRDNL2", 40),
|
||||
("AcceleratorPedal2", 40),
|
||||
("ECMEngineStatus", 80),
|
||||
]
|
||||
else:
|
||||
messages += [
|
||||
("ECMPRDNL2", 40),
|
||||
("AcceleratorPedal2", 33),
|
||||
("ECMEngineStatus", 100),
|
||||
("BCMTurnSignals", 1),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
("BCMGeneralPlatformStatus", 10),
|
||||
("ASCMSteeringButton", 33),
|
||||
]
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
|
||||
# Used to read back last counter sent to PT by camera
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
@@ -256,7 +212,7 @@ class CarState(CarStateBase):
|
||||
|
||||
if CP.transmissionType == TransmissionType.direct:
|
||||
messages += [
|
||||
("EBCMRegenPaddle", 40),
|
||||
("EBCMRegenPaddle", 50),
|
||||
("EVDriveMode", 0),
|
||||
]
|
||||
|
||||
@@ -265,11 +221,17 @@ class CarState(CarStateBase):
|
||||
("ECMCruiseControl", 10),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in ALT_ACCS:
|
||||
messages += [
|
||||
("ECMCruiseControl", 10),
|
||||
]
|
||||
|
||||
if CP.enableGasInterceptor:
|
||||
messages += [
|
||||
("GAS_SENSOR", 50),
|
||||
]
|
||||
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
|
||||
|
||||
@staticmethod
|
||||
|
||||
@@ -26,6 +26,20 @@ FINGERPRINTS = {
|
||||
{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT_ASCM: [
|
||||
# Causes errors with normal OBD install
|
||||
# {
|
||||
# 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, 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, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 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, 1296: 4, 1300: 8, 1922: 7, 1930: 7
|
||||
# }
|
||||
],
|
||||
CAR.CHEVROLET_VOLT_CAMERA: [
|
||||
# Volt Premier 2017 w/ flashed firmware, cam harness + pedal (no 0x170/0x171 on PT bus)
|
||||
{
|
||||
# 189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
|
||||
}],
|
||||
CAR.GMC_ACADIA_ASCM: [
|
||||
# Causes errors with normal OBD install
|
||||
],
|
||||
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
|
||||
}],
|
||||
@@ -178,31 +192,50 @@ FINGERPRINTS = {
|
||||
CAR.CADILLAC_XT4: [
|
||||
# Cadillac XT4 w/ ACC 2023
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 767: 4, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8 }],
|
||||
CAR.CADILLAC_XT5_CC: [
|
||||
# TRain's 2017 XT5
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
|
||||
}],
|
||||
CAR.CADILLAC_XT6: [
|
||||
#{}
|
||||
],
|
||||
CAR.CHEVROLET_TRAVERSE: [
|
||||
# Chevy Traverse w/ ACC 2023
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU_SDGM: [
|
||||
# Chevy Malibu w/ SDGM Harness 2019
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 5, 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, 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, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 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, 1353: 8, 1355: 8, 1611: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1843: 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, 1916: 7, 1920: 8, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8
|
||||
}],
|
||||
CAR.BUICK_BABYENCLAVE: [
|
||||
# Buick Baby Enclave w/ ACC 2020-23
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU_CC: [
|
||||
{
|
||||
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
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU_HYBRID_CC: [
|
||||
{
|
||||
193:8, 197:8, 201:8, 209:7, 211:2, 241:6, 249:8, 352:5, 386:8, 451:8, 452:8, 453:6, 481:7, 485:8, 489:8, 493:8, 500:6, 560:8, 562:8, 566:6, 609:6, 610:6, 611:6, 612:8, 613:8, 707:8, 717:5, 761:7, 810:8, 840:5, 842:5, 844:8, 869:4
|
||||
}],
|
||||
CAR.CHEVROLET_TRAX: [
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 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, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 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, 1930: 7
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT_2019: [
|
||||
# Chevy Volt w/ ACC 2019
|
||||
{
|
||||
170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 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, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 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, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
|
||||
}],
|
||||
CAR.GMC_YUKON_XL_2017: [{
|
||||
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, 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, 1611: 8
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
|
||||
|
||||
@@ -177,33 +177,6 @@ def create_lka_icon_command(bus, active, critical, steer):
|
||||
dat = b"\x00\x00\x00"
|
||||
return make_can_msg(0x104c006c, dat, bus)
|
||||
|
||||
def create_prndl2_command(packer, bus, press_regen_paddle):
|
||||
prndl2_value = 7 if press_regen_paddle else 6
|
||||
manual_mode = 1 if press_regen_paddle else 0
|
||||
values = {
|
||||
"Byte0": 0x0C,
|
||||
"Byte1": 0x0C,
|
||||
"Byte2": 0x00,
|
||||
"PRNDL2": prndl2_value,
|
||||
"Byte4": 0x00,
|
||||
"ManualMode": manual_mode,
|
||||
"TransmissionState": 1,
|
||||
"Byte7": 0x00
|
||||
}
|
||||
return packer.make_can_msg("ECMPRDNL2", bus, values)
|
||||
|
||||
def create_regen_paddle_command(packer, bus, press_regen_paddle):
|
||||
regen_paddle_value = 2 if press_regen_paddle else 0
|
||||
values = {
|
||||
"RegenPaddle": regen_paddle_value,
|
||||
"Byte1": 0,
|
||||
"Byte2": 0,
|
||||
"Byte3": 0,
|
||||
"Byte4": 0,
|
||||
"Byte5": 0,
|
||||
"Byte6": 0
|
||||
}
|
||||
return packer.make_can_msg("EBCMRegenPaddle", bus, values)
|
||||
|
||||
def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggles):
|
||||
accel = actuators.accel
|
||||
|
||||
@@ -7,10 +7,12 @@ from panda import Panda
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car import create_button_events, get_safety_config
|
||||
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
|
||||
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
|
||||
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, ALT_ACCS, F1_CAN_BRAKE
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
|
||||
|
||||
|
||||
|
||||
ButtonType = car.CarState.ButtonEvent.Type
|
||||
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
|
||||
EventName = car.CarEvent.EventName
|
||||
@@ -27,9 +29,10 @@ CAM_MSG = 0x320 # AEBCmd
|
||||
ACCELERATOR_POS_MSG = 0xbe
|
||||
|
||||
NON_LINEAR_TORQUE_PARAMS = {
|
||||
CAR.CHEVROLET_BOLT_EUV: [1.8, 1.1, 0.27, 0.0],
|
||||
CAR.CHEVROLET_BOLT_CC: [1.8, 1.1, 0.27, 0.0],
|
||||
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
|
||||
CAR.GMC_ACADIA_ASCM: [4.78003305, 1.0, 0.3122, 0.05591772],
|
||||
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
|
||||
}
|
||||
|
||||
@@ -47,7 +50,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
|
||||
|
||||
def get_steer_feedforward_function(self):
|
||||
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
|
||||
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_ASCM):
|
||||
return self.get_steer_feedforward_volt
|
||||
else:
|
||||
return CarInterfaceBase.get_steer_feedforward_default
|
||||
@@ -108,41 +111,49 @@ class CarInterface(CarInterfaceBase):
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
|
||||
ret.longitudinalTuning.kiBP = [5., 35., 60.]
|
||||
ret.longitudinalTuning.kiBP = [5., 35.]
|
||||
|
||||
if candidate in CAMERA_ACC_CAR:
|
||||
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
|
||||
if candidate in (CAMERA_ACC_CAR | SDGM_CAR | ASCM_INT) or candidate == CAR.CHEVROLET_VOLT_CAMERA:
|
||||
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or 0x2FF in fingerprint[CanBus.POWERTRAIN]
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.radarUnavailable = True # no radar
|
||||
ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
|
||||
ret.pcmCruise = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
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
|
||||
# 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.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.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_ASCM_INT
|
||||
else:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
|
||||
# Tuning for experimental long
|
||||
ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
|
||||
ret.vEgoStopping = 0.1
|
||||
ret.vEgoStarting = 0.1
|
||||
ret.longitudinalTuning.kiV = [1.0, 1.0]
|
||||
|
||||
ret.stoppingDecelRate = 1.0 # reach brake quickly after enabling
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
ret.stopAccel = -0.25
|
||||
ret.stopAccel = -0.20
|
||||
|
||||
if ret.experimentalLongitudinalAvailable and experimental_long:
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
||||
|
||||
elif candidate in SDGM_CAR:
|
||||
ret.longitudinalTuning.kiV = [0., 0., 0.] # TODO: tuning
|
||||
ret.experimentalLongitudinalAvailable = False
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.pcmCruise = True
|
||||
ret.radarUnavailable = True
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by ASCM
|
||||
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
|
||||
if candidate in ALT_ACCS:
|
||||
ret.experimentalLongitudinalAvailable = False
|
||||
ret.openpilotLongitudinalControl = False
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by PCM
|
||||
|
||||
|
||||
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
|
||||
@@ -154,7 +165,11 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
|
||||
# Tuning
|
||||
ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
|
||||
ret.longitudinalTuning.kiV = [0.5, 0.5]
|
||||
ret.stoppingDecelRate = 3
|
||||
ret.vEgoStopping = 0.75
|
||||
ret.vEgoStarting = 0.75
|
||||
ret.stopAccel = -1.5
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
# Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
|
||||
@@ -172,7 +187,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
|
||||
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
|
||||
|
||||
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
|
||||
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA):
|
||||
ret.minEnableSpeed = -1
|
||||
ret.lateralTuning.pid.kpBP = [0., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 0.17]
|
||||
@@ -186,6 +201,11 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.GMC_ACADIA_ASCM:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BUICK_LACROSSE:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
@@ -235,34 +255,61 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT6:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT4:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT5_CC:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAVERSE:
|
||||
elif candidate in (CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_MALIBU_SDGM):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BUICK_BABYENCLAVE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_CT6_CC:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_MALIBU_CC:
|
||||
elif candidate in (CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAX:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_VOLT_2019:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
if not ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.GMC_YUKON_XL_2017:
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
|
||||
ret.lateralTuning.pid.kf = 0.000045
|
||||
ret.steerActuatorDelay = 0.3
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
# Set F1_CAN_BRAKE flag for 0xF1 monitoring
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_F1_CAN_BRAKE
|
||||
ret.flags |= GMFlags.F1_CAN_BRAKE.value
|
||||
|
||||
if ret.enableGasInterceptor and frogpilot_toggles.gm_pedal_longitudinal:
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
@@ -272,20 +319,24 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.stoppingControl = True
|
||||
ret.autoResumeSng = True
|
||||
|
||||
if candidate in CC_ONLY_CAR: #pedal interceptor tuning
|
||||
if candidate in CC_ONLY_CAR:
|
||||
ret.flags |= GMFlags.PEDAL_LONG.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
|
||||
# Note: Low speed, stop and go not tested. Should be fairly smooth on highway
|
||||
ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
|
||||
ret.longitudinalTuning.kfDEPRECATED = 0.25
|
||||
ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
|
||||
ret.longitudinalTuning.kfDEPRECATED = 0.15
|
||||
ret.stoppingDecelRate = 0.8
|
||||
ret.minEnableSpeed = -1
|
||||
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.startingState = True
|
||||
ret.vEgoStopping = 0.25
|
||||
ret.vEgoStarting = 0.25
|
||||
|
||||
|
||||
elif candidate in CC_ONLY_CAR:
|
||||
ret.flags |= GMFlags.CC_LONG.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
|
||||
@@ -295,27 +346,35 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
|
||||
ret.pcmCruise = False
|
||||
|
||||
if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
|
||||
ret.stoppingDecelRate = 11.18
|
||||
|
||||
if candidate not in (CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
|
||||
ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.] # 10.7 m/s == 24 mph
|
||||
ret.longitudinalTuning.kpV = [0., 5., 2.] # set lower end to 0 since we can't drive below that speed
|
||||
ret.longitudinalTuning.deadzoneBP = [0.]
|
||||
ret.longitudinalTuning.deadzoneV = [0.9] # == 2 km/h/s, 1.25 mph/s
|
||||
ret.longitudinalTuning.deadzoneBP = [0., 1.]
|
||||
ret.longitudinalTuning.deadzoneV = [0.9, 0.9] # == 2 km/h/s, 1.25 mph/s
|
||||
ret.longitudinalActuatorDelay = 1. # TODO: measure this
|
||||
|
||||
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.longitudinalTuning.kiBP = [0.]
|
||||
ret.longitudinalTuning.kiV = [0.1]
|
||||
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
|
||||
|
||||
if candidate in CC_ONLY_CAR:
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
|
||||
|
||||
# Exception for flashed cars, or cars whose camera was removed
|
||||
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
|
||||
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
|
||||
|
||||
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
||||
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
|
||||
|
||||
# Set NO_ACCELERATOR_POS_MSG flag for cars that need 0xF1 monitoring
|
||||
if candidate in F1_CAN_BRAKE:
|
||||
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
|
||||
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
@@ -345,10 +404,11 @@ class CarInterface(CarInterfaceBase):
|
||||
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
|
||||
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
|
||||
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
|
||||
(self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
|
||||
self.CP.networkLocation == NetworkLocation.fwdCamera):
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if ret.cruiseState.standstill and not self.CP.autoResumeSng:
|
||||
events.add(EventName.resumeRequired)
|
||||
|
||||
if ret.vEgo < self.CP.minSteerSpeed:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
|
||||
@@ -1,20 +0,0 @@
|
||||
from parameterized import parameterized
|
||||
|
||||
from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS
|
||||
from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
|
||||
|
||||
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
|
||||
|
||||
|
||||
class TestGMFingerprint:
|
||||
@parameterized.expand(FINGERPRINTS.items())
|
||||
def test_can_fingerprints(self, car_model, fingerprints):
|
||||
assert len(fingerprints) > 0
|
||||
|
||||
assert all(len(finger) for finger in fingerprints)
|
||||
|
||||
# The camera can sometimes be communicating on startup
|
||||
if car_model in CAMERA_ACC_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
|
||||
+74
-27
@@ -41,7 +41,7 @@ class CarControllerParams:
|
||||
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 and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
|
||||
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_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
|
||||
@@ -50,21 +50,14 @@ class CarControllerParams:
|
||||
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
|
||||
self.max_regen_acceleration = 0.
|
||||
|
||||
elif CP.carFingerprint in SDGM_CAR:
|
||||
self.MAX_GAS = 7496
|
||||
self.MAX_GAS_PLUS = 7496
|
||||
self.MAX_ACC_REGEN = 7110
|
||||
self.INACTIVE_REGEN = 5650
|
||||
self.max_regen_acceleration = 0.
|
||||
|
||||
else:
|
||||
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 # Increased for stronger regen braking
|
||||
self.MAX_ACC_REGEN = 5500 # Max ACC regen is slightly less than max paddle regen
|
||||
self.INACTIVE_REGEN = 5500
|
||||
# ICE has much less engine braking force compared to regen in EVs,
|
||||
# lower threshold removes some braking deadzone
|
||||
self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1 # More aggressive regen for EVs
|
||||
self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
|
||||
|
||||
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]
|
||||
@@ -74,7 +67,18 @@ class CarControllerParams:
|
||||
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
|
||||
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
|
||||
|
||||
# determined by letting Volt regen to a stop in L gear from 89mph,
|
||||
# and by letting off gas and allowing car to creep, for determining
|
||||
# the positive threshold values at very low speed
|
||||
EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
|
||||
EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
|
||||
|
||||
def update_ev_gas_brake_threshold(self, v_ego):
|
||||
gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
|
||||
self.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):
|
||||
@@ -100,8 +104,7 @@ class GMPlatformConfig(PlatformConfig):
|
||||
@dataclass
|
||||
class GMASCMPlatformConfig(GMPlatformConfig):
|
||||
def init(self):
|
||||
# ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
|
||||
self.car_docs = []
|
||||
pass
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
@@ -114,6 +117,16 @@ class CAR(Platforms):
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
CHEVROLET_VOLT_ASCM = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2017-18 ASCM Harness", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
CHEVROLET_VOLT_CAMERA = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2017-18 Camera Harness", "Flashed camera-forward integration with ACC")],
|
||||
CHEVROLET_VOLT.specs,
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
CADILLAC_ATS = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
|
||||
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
|
||||
@@ -126,6 +139,11 @@ class CAR(Platforms):
|
||||
[GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
|
||||
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
GMC_ACADIA_ASCM = GMPlatformConfig(
|
||||
[GMCarDocs("GMC Acadia 2018 ASCM Harness", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
|
||||
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
BUICK_LACROSSE = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
|
||||
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
@@ -194,15 +212,15 @@ 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")],
|
||||
[GMCarDocs("Chevrolet Trailblazer 2021-22 - No-ACC")],
|
||||
CHEVROLET_TRAILBLAZER.specs,
|
||||
)
|
||||
CADILLAC_XT4 = GMPlatformConfig(
|
||||
@@ -210,25 +228,45 @@ 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(
|
||||
[GMCarDocs("Chevrolet Traverse 2023", "Driver Assist Package")],
|
||||
CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_MALIBU_SDGM = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu 2019", "SDGM Harness (Optional SASCM)")],
|
||||
CHEVROLET_MALIBU.specs,
|
||||
)
|
||||
BUICK_BABYENCLAVE = GMPlatformConfig(
|
||||
[GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")],
|
||||
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_MALIBU_HYBRID_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu Hybrid 2017 - No-ACC")],
|
||||
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_TRAX = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet TRAX 2024")],
|
||||
CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_VOLT_2019 = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2019")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
|
||||
)
|
||||
CADILLAC_XT6 = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT6 2020", "Driver Assist Package")],
|
||||
GMCarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.5, centerToFrontRatio=0.4),
|
||||
)
|
||||
GMC_YUKON_XL_2017 = GMPlatformConfig(
|
||||
[GMCarDocs("GMC Yukon XL 2017", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=23, centerToFrontRatio=0.55, tireStiffnessFactor=1.0),
|
||||
)
|
||||
|
||||
|
||||
class CruiseButtons:
|
||||
@@ -254,10 +292,12 @@ class CanBus:
|
||||
DROPPED = 192
|
||||
|
||||
class GMFlags(IntFlag):
|
||||
PEDAL_LONG = 1
|
||||
CC_LONG = 2
|
||||
NO_CAMERA = 4
|
||||
NO_ACCELERATOR_POS_MSG = 8
|
||||
CC_LONG = 4
|
||||
NO_CAMERA = 16
|
||||
PEDAL_LONG = 64
|
||||
FORCE_BRAKE_C9 = 512
|
||||
F1_CAN_BRAKE = 2048
|
||||
NO_ACCELERATOR_POS_MSG = 4096
|
||||
|
||||
|
||||
# In a Data Module, an identifier is a string used to recognize an object,
|
||||
@@ -309,19 +349,26 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
|
||||
)
|
||||
|
||||
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_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
|
||||
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_MALIBU_HYBRID_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, CAR.CHEVROLET_MALIBU_HYBRID_CC}
|
||||
# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
|
||||
|
||||
# We're integrated at the Safety Data Gateway Module on these cars
|
||||
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
|
||||
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_MALIBU_SDGM, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
|
||||
|
||||
ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
|
||||
CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})
|
||||
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX, CAR.CHEVROLET_VOLT_CAMERA, CAR.GMC_YUKON_XL_2017}
|
||||
CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC})
|
||||
# CAMERA_ACC_CAR.update(CC_ONLY_CAR)
|
||||
|
||||
# Alt for of ASCMActiveCruiseControlStatus. Uses ECMCruiseControl
|
||||
ALT_ACCS = {CAR.GMC_YUKON_XL_2017}
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
# Cars that need F1_CAN_BRAKE flag for 0xF1 monitoring (without 0xBE)
|
||||
F1_CAN_BRAKE = {CAR.GMC_YUKON_XL_2017}
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
|
||||
@@ -49,6 +49,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
|
||||
"CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
|
||||
"CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
|
||||
"GMC_YUKON_XL_2017" = [1.2, 2.5, 0.26]
|
||||
"VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
|
||||
"VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
|
||||
"VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
|
||||
|
||||
Reference in New Issue
Block a user