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StarPilot/opendbc_repo/opendbc/car/gm/values.py
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firestar5683 bbbfc46601 Daz Alot of Toggies
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from dataclasses import dataclass, field
from enum import Enum, IntFlag
import numpy as np
from opendbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
from opendbc.car.structs import CarParams
from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column
from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = CarParams.Ecu
class CarControllerParams:
STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
STEER_STEP = 3 # Active control frames per command (~33hz)
INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 15
STEER_DRIVER_ALLOWANCE = 65
STEER_DRIVER_MULTIPLIER = 4
STEER_DRIVER_FACTOR = 100
NEAR_STOP_BRAKE_PHASE = 0.25 # m/s
SNG_INTERCEPTOR_GAS = 18. / 255.
SNG_TIME = 30 # frames until the above is reached
# Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
ADAS_KEEPALIVE_STEP = 100
CAMERA_KEEPALIVE_STEP = 100
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
# to apply some more braking if we're on a downhill slope.
# Our controller should still keep the 2 second average above
# -3.5 m/s^2 as per planner limits
ACCEL_MAX = 2. # m/s^2
ACCEL_MAX_PLUS = 4. # m/s^2
ACCEL_MIN = -4. # m/s^2
def __init__(self, CP):
self.STEER_MAX = CarControllerParams.STEER_MAX
self.STEER_STEP = CarControllerParams.STEER_STEP
self.INACTIVE_STEER_STEP = CarControllerParams.INACTIVE_STEER_STEP
self.STEER_DELTA_UP = CarControllerParams.STEER_DELTA_UP
self.STEER_DELTA_DOWN = CarControllerParams.STEER_DELTA_DOWN
self.STEER_DRIVER_ALLOWANCE = CarControllerParams.STEER_DRIVER_ALLOWANCE
self.STEER_DRIVER_MULTIPLIER = CarControllerParams.STEER_DRIVER_MULTIPLIER
self.STEER_DRIVER_FACTOR = CarControllerParams.STEER_DRIVER_FACTOR
if CP.carFingerprint == CAR.CHEVROLET_BOLT_CC_2017:
self.STEER_MAX = 450
self.STEER_DELTA_UP = 15
self.STEER_DELTA_DOWN = 34
self.STEER_DRIVER_ALLOWANCE = 78
self.STEER_DRIVER_MULTIPLIER = 6
self.STEER_DRIVER_FACTOR = 100
# Gas/brake lookups
self.ZERO_GAS = 6150 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
kaofui_cars = SDGM_CAR | ASCM_INT | {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
volt_like = {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
}
if CP.carFingerprint in kaofui_cars:
if (CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and
CP.carFingerprint not in CC_ONLY_CAR and
CP.carFingerprint != CAR.CHEVROLET_BOLT_ACC_2022_2023):
self.MAX_GAS = 8848
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
max_regen_acceleration = 0.
else:
self.MAX_GAS = 8191 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 8191
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
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
if CP.carFingerprint in volt_like:
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
else:
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
else:
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
self.MAX_GAS = 8848
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
# Camera ACC vehicles have no regen while enabled.
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
max_regen_acceleration = 0.
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
elif CP.carFingerprint in SDGM_CAR:
self.MAX_GAS = 8191
self.MAX_GAS_PLUS = 8191
self.MAX_ACC_REGEN = 5500
self.INACTIVE_REGEN = 5500
max_regen_acceleration = 0.
self.BRAKE_SWITCH_MAX = self.ZERO_GAS
else:
self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
self.MAX_GAS_PLUS = 7168 # Matches StarPilot high range for non-kaofui paths.
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
max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1
self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
self.max_regen_acceleration = max_regen_acceleration
self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
# Determined by letting Volt/Bolt EV regen to a stop from speed and at creep.
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^2]
def update_ev_gas_brake_threshold(self, v_ego):
gas_brake_threshold = float(np.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]
class GMSafetyFlags(IntFlag):
HW_CAM = 1
HW_CAM_LONG = 2
# Reuses the retired EV safety bit. EV-specific safety handling is no longer needed.
FLAG_GM_NO_CAMERA = 4
FLAG_GM_CC_LONG = 8
FLAG_GM_GAS_INTERCEPTOR = 16
FLAG_GM_NO_ACC = 32
FLAG_GM_PEDAL_LONG = 64
HW_ASCM_LONG = 128
# Additional GM hardware and flag values
HW_ASCM_INT = 256
FLAG_GM_FORCE_BRAKE_C9 = 512
HW_SDGM = 1024
FLAG_GM_BOLT_2017 = 2048
FLAG_GM_BOLT_2022_PEDAL = 4096
FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
FLAG_GM_PANDA_3D1_SCHED = 16384
FLAG_GM_PANDA_PADDLE_SCHED = 32768
class Footnote(Enum):
SETUP = CarFootnote(
"See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/gm\" target=\"_blank\">GM</a>.",
Column.MAKE, setup_note=True)
@dataclass
class GMCarDocs(CarDocs):
package: str = "Adaptive Cruise Control (ACC)"
def init_make(self, CP: CarParams):
if CP.networkLocation == CarParams.NetworkLocation.fwdCamera:
if CP.carFingerprint in SDGM_CAR:
self.car_parts = CarParts.common([CarHarness.gmsdgm])
else:
self.car_parts = CarParts.common([CarHarness.gm])
else:
self.footnotes.insert(0, Footnote.SETUP)
self.car_parts = CarParts.common([CarHarness.obd_ii])
@dataclass(frozen=True, kw_only=True)
class GMCarSpecs(CarSpecs):
tireStiffnessFactor: float = 0.444 # not optimized yet
@dataclass
class GMPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: {
Bus.pt: 'gm_global_a_powertrain_generated',
Bus.radar: 'gm_global_a_object',
Bus.chassis: 'gm_global_a_chassis',
})
@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 = []
@dataclass
class GMSDGMPlatformConfig(GMPlatformConfig):
def init(self):
# Don't show in docs until the harness is sold. See https://github.com/commaai/openpilot/issues/32471
self.car_docs = []
class CAR(Platforms):
HOLDEN_ASTRA = GMASCMPlatformConfig(
[GMCarDocs("Holden Astra 2017")],
GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
)
CHEVROLET_VOLT = GMASCMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45, tireStiffnessFactor=1.0, minEnableSpeed=-1), #tire stiffness factor hasn't been updated since 2018 and every other gm is on 1.0
dbc_dict={
Bus.pt: "gm_global_a_powertrain_volt",
Bus.radar: "gm_global_a_object",
Bus.chassis: "gm_global_a_chassis",
},
)
CHEVROLET_VOLT_ASCM = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt ASCM Harness 2017-18", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
CHEVROLET_VOLT.specs,
dbc_dict=CHEVROLET_VOLT.dbc_dict,
)
CHEVROLET_VOLT_CAMERA = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt Camera Harness 2017-18", "Flashed camera-forward integration with ACC")],
CHEVROLET_VOLT.specs,
dbc_dict=CHEVROLET_VOLT.dbc_dict,
)
CHEVROLET_VOLT_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Volt No-ACC 2017-18", min_enable_speed=0)],
CHEVROLET_VOLT.specs,
dbc_dict=CHEVROLET_VOLT.dbc_dict,
)
CADILLAC_ATS = GMASCMPlatformConfig(
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
)
CHEVROLET_MALIBU = GMASCMPlatformConfig(
[GMCarDocs("Chevrolet Malibu Premier 2017")],
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
)
CHEVROLET_MALIBU_ASCM = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu ASCM Harness 2017-19")],
CHEVROLET_MALIBU.specs,
)
GMC_ACADIA = GMASCMPlatformConfig(
[GMCarDocs("GMC Acadia 2018", video="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 ASCM Harness 2018", video="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
GMC_ACADIA.specs,
)
BUICK_LACROSSE = GMASCMPlatformConfig(
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
)
BUICK_LACROSSE_ASCM = GMPlatformConfig(
[GMCarDocs("Buick LaCrosse ASCM Harness 2017-19")],
BUICK_LACROSSE.specs,
)
BUICK_LACROSSE_ASCM_19US = GMPlatformConfig(
[GMCarDocs("Buick LaCrosse US ASCM Harness 2019")],
BUICK_LACROSSE.specs,
)
BUICK_REGAL = GMASCMPlatformConfig(
[GMCarDocs("Buick Regal Essence 2018")],
GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
)
CADILLAC_ESCALADE = GMASCMPlatformConfig(
[GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
)
CADILLAC_ESCALADE_ASCM = GMPlatformConfig(
[GMCarDocs("Cadillac Escalade ASCM Harness 2018", "Driver Assist Package")],
CADILLAC_ESCALADE.specs,
)
CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
[GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
)
CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
CADILLAC_ESCALADE_ESV.specs,
)
CADILLAC_ESCALADE_ESV_2019_ASCM = GMPlatformConfig(
[GMCarDocs("Cadillac Escalade ESV Platinum ASCM Harness 2019", "Adaptive Cruise Control (ACC) & LKAS")],
CADILLAC_ESCALADE_ESV_2019.specs,
)
CHEVROLET_BOLT_ACC_2022_2023 = GMPlatformConfig(
[
GMCarDocs("Chevrolet Bolt EV & EUV ACC 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
],
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
CHEVROLET_BOLT_ACC_2022_2023_PEDAL = GMPlatformConfig(
[GMCarDocs("Chevrolet Bolt EV & EUV ACC w Pedal 2022-23")],
CHEVROLET_BOLT_ACC_2022_2023.specs,
)
CHEVROLET_BOLT_CC_2022_2023 = GMPlatformConfig(
[GMCarDocs("Chevrolet Bolt EV & EUV No-ACC 2022-23")],
CHEVROLET_BOLT_ACC_2022_2023.specs,
)
CHEVROLET_BOLT_CC_2018_2021 = GMPlatformConfig(
[GMCarDocs("Chevrolet Bolt EV No-ACC 2018-21")],
CHEVROLET_BOLT_ACC_2022_2023.specs,
)
CHEVROLET_BOLT_CC_2017 = GMPlatformConfig(
[GMCarDocs("Chevrolet Bolt EV No-ACC 2017")],
CHEVROLET_BOLT_ACC_2022_2023.specs,
)
CHEVROLET_SILVERADO = GMPlatformConfig(
[
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video="https://youtu.be/5HbNoBLzRwE"),
],
GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
)
CHEVROLET_SILVERADO_CC = GMPlatformConfig(
[
GMCarDocs("Chevrolet Silverado 1500 No-ACC 2020-21"),
GMCarDocs("GMC Sierra 1500 No-ACC 2020-21"),
],
CHEVROLET_SILVERADO.specs,
)
CHEVROLET_EQUINOX = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox 2019-22")],
GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
)
CHEVROLET_TRAILBLAZER = GMPlatformConfig(
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
CHEVROLET_SUBURBAN = GMPlatformConfig(
[GMCarDocs("Chevrolet Suburban Premier 2016-20")],
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
)
GMC_YUKON_CC = GMPlatformConfig(
[GMCarDocs("GMC Yukon No-ACC 2019-20")],
CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
)
GMC_YUKON = GMPlatformConfig(
[GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
)
CADILLAC_XT4 = GMSDGMPlatformConfig(
[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
GMCarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
)
CADILLAC_XT4_CC = GMPlatformConfig(
[GMCarDocs("Cadillac XT4 No-ACC 2023")],
CADILLAC_XT4.specs,
)
CADILLAC_XT5 = GMSDGMPlatformConfig(
[GMCarDocs("Cadillac XT5 2022", "Driver Assist Package")],
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
)
CADILLAC_XT6 = GMPlatformConfig(
[GMCarDocs("Cadillac XT6 2020", "Driver Assist Package")],
GMCarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.5, centerToFrontRatio=0.4),
)
CHEVROLET_BLAZER = GMPlatformConfig(
[GMCarDocs("Chevrolet Blazer 2019-25", "Driver Assist Package")],
CarSpecs(mass=1850, wheelbase=3.10, steerRatio=17.9, centerToFrontRatio=0.4),
)
CHEVROLET_VOLT_2019 = GMSDGMPlatformConfig(
[GMCarDocs("Chevrolet Volt 2019", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
)
CHEVROLET_TRAVERSE = GMSDGMPlatformConfig(
[GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
GMCarSpecs(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),
)
CADILLAC_CT6_CC = GMPlatformConfig(
[GMCarDocs("Cadillac CT6 No-ACC 2016-20")],
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
)
CADILLAC_XT5_CC = GMPlatformConfig(
[GMCarDocs("Cadillac XT5 No-ACC 2022")],
CADILLAC_XT5.specs,
)
CHEVROLET_EQUINOX_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Equinox No-ACC 2019-22")],
CHEVROLET_EQUINOX.specs,
)
CHEVROLET_MALIBU_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu No-ACC 2023")],
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=18.25, centerToFrontRatio=0.4, tireStiffnessFactor=0.997),
)
CHEVROLET_MALIBU_HYBRID_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Malibu Hybrid No-ACC 2017")],
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
)
CHEVROLET_SUBURBAN_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Suburban Premier No-ACC 2016-20")],
CHEVROLET_SUBURBAN.specs,
)
CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
[GMCarDocs("Chevrolet Trailblazer No-ACC 2021-22")],
CHEVROLET_TRAILBLAZER.specs,
)
CHEVROLET_TRAX = GMPlatformConfig(
[GMCarDocs("Chevrolet TRAX 2024")],
CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
)
class CruiseButtons:
INIT = 0
UNPRESS = 1
RES_ACCEL = 2
DECEL_SET = 3
MAIN = 5
CANCEL = 6
class AccState:
OFF = 0
ACTIVE = 1
FAULTED = 3
STANDSTILL = 4
class CanBus:
POWERTRAIN = 0
OBSTACLE = 1
CAMERA = 2
CHASSIS = 2
LOOPBACK = 128
DROPPED = 192
class GMFlags(IntFlag):
PEDAL_LONG = 1
CC_LONG = 2
NO_CAMERA = 4
NO_ACCELERATOR_POS_MSG = 8
FORCE_BRAKE_C9 = 16
SASCM = 32
# In a Data Module, an identifier is a string used to recognize an object,
# either by itself or together with the identifiers of parent objects.
# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0' # likely does not contain anything useful
GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
# Part number of XML data file that is used to configure ECU
GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c'
GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b' # used to know if XML file is compatible with the ECU software/hardware
# This DID is for identifying the part number that reflects the mix of hardware,
# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb'
GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc'
GM_FW_RESPONSE = b'\x5a'
GM_FW_REQUESTS = [
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST,
GM_SOFTWARE_MODULE_1_REQUEST,
GM_SOFTWARE_MODULE_2_REQUEST,
GM_SOFTWARE_MODULE_3_REQUEST,
GM_XML_DATA_FILE_PART_NUMBER,
GM_XML_CONFIG_COMPAT_ID,
GM_END_MODEL_PART_NUMBER_REQUEST,
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
GM_BASE_MODEL_PART_NUMBER_REQUEST,
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
]
GM_RX_OFFSET = 0x400
FW_QUERY_CONFIG = FwQueryConfig(
requests=[request for req in GM_FW_REQUESTS for request in [
Request(
[StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
[StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
rx_offset=GM_RX_OFFSET,
bus=0,
logging=True,
),
]],
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
)
# TODO: detect most of these sets live
EV_CAR = {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_BOLT_ACC_2022_2023,
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
CAR.CHEVROLET_BOLT_CC_2022_2023,
CAR.CHEVROLET_BOLT_CC_2018_2021,
CAR.CHEVROLET_BOLT_CC_2017,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {
CAR.CHEVROLET_BOLT_ACC_2022_2023,
CAR.CHEVROLET_SILVERADO,
CAR.CHEVROLET_EQUINOX,
CAR.CHEVROLET_TRAILBLAZER,
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_TRAX,
CAR.GMC_YUKON,
}
# Alt ASCMActiveCruiseControlStatus
ALT_ACCS = {CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
# We're integrated at the Safety Data Gateway Module on these cars
SDGM_CAR = {
CAR.CADILLAC_XT4,
CAR.CADILLAC_XT5,
CAR.CADILLAC_XT6,
CAR.CHEVROLET_TRAVERSE,
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.BUICK_BABYENCLAVE,
CAR.CHEVROLET_VOLT_2019,
}
CC_ONLY_CAR = {
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_BOLT_CC_2018_2021,
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
CAR.CHEVROLET_BOLT_CC_2022_2023,
CAR.CHEVROLET_BOLT_CC_2017,
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,
CAR.CHEVROLET_SILVERADO_CC,
CAR.CADILLAC_XT4_CC,
}
CC_REGEN_PADDLE_CAR = {
CAR.CHEVROLET_BOLT_CC_2018_2021,
CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
CAR.CHEVROLET_BOLT_CC_2022_2023,
CAR.CHEVROLET_BOLT_CC_2017,
}
CAMERA_ACC_CAR.update(CC_ONLY_CAR)
# ASCM-INT paths are only enabled when SASCM (0x2FF) is detected at runtime
ASCM_INT = {
CAR.CHEVROLET_VOLT_ASCM,
CAR.GMC_ACADIA_ASCM,
CAR.CHEVROLET_MALIBU_ASCM,
CAR.CADILLAC_ESCALADE_ASCM,
CAR.CADILLAC_ESCALADE_ESV_2019_ASCM,
CAR.BUICK_LACROSSE_ASCM,
CAR.BUICK_LACROSSE_ASCM_19US,
}
STEER_THRESHOLD = 1.0
DBC = CAR.create_dbc_map()
CAMERA_ACC_CAR.update({CAR.CHEVROLET_TRAX})
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