diff --git a/README.md b/README.md
index dec4d00ae..74b90eaaa 100644
--- a/README.md
+++ b/README.md
@@ -46,8 +46,8 @@ Supported Cars
| Acura | ILX 2016 | AcuraWatch Plus | Yes | Yes | 25mph1| 25mph |
| Acura | ILX 2017 | AcuraWatch Plus | Yes | Yes | 25mph1| 25mph |
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph1| 12mph |
-| GM3 | Volt 2017 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
-| GM3 | Volt 2018 | Driver Confidence II | Yes | Yes | 0mph | 7mph |
+| GM3 | Volt 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
+| GM3 | Volt 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph |
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph |
| Honda | Civic 2016 | Honda Sensing | Yes | Yes | 0mph | 12mph |
| Honda | Civic 2017 | Honda Sensing | Yes | Yes | 0mph | 12mph |
@@ -73,7 +73,7 @@ Supported Cars
| Toyota | C-HR 20184 | All | Yes | Stock | 0mph | 0mph |
| Toyota | Corolla 2017 | All | Yes | Yes2| 20mph | 0mph |
| Toyota | Corolla 2018 | All | Yes | Yes2| 20mph | 0mph |
-| Toyota | Highlander 2017 | All | Yes | Yes2| 20mph | 0mph |
+| Toyota | Highlander 2017 | All | Yes | Yes2| 0mph | 0mph |
| Toyota | Highlander Hybrid 2018| All | Yes | Yes2| 0mph | 0mph |
| Toyota | Prius 2016 | TSS-P | Yes | Yes2| 0mph | 0mph |
| Toyota | Prius 2017 | All | Yes | Yes2| 0mph | 0mph |
diff --git a/RELEASES.md b/RELEASES.md
index eae938037..0cc746f32 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -2,7 +2,7 @@ Version 0.5.3 (2018-09-03)
========================
* Hyundai Santa Fe support!
* Honda Pilot 2019 support thanks to energee!
- * Toyota Hyghlander support thanks to daehahn!
+ * Toyota Highlander support thanks to daehahn!
* Improve steering tuning for Honda Odyssey
Version 0.5.2 (2018-08-16)
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 3625a6b1d..080393230 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -55,7 +55,7 @@ def actuator_hystereses(final_pedal, pedal_steady):
class CarController(object):
- def __init__(self, canbus, car_fingerprint):
+ def __init__(self, canbus, car_fingerprint, allow_controls):
self.pedal_steady = 0.
self.start_time = sec_since_boot()
self.chime = 0
@@ -64,6 +64,7 @@ class CarController(object):
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
+ self.allow_controls = allow_controls
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
@@ -77,6 +78,10 @@ class CarController(object):
hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt):
""" Controls thread """
+ # Sanity check.
+ if not self.allow_controls:
+ return
+
P = self.params
# Send CAN commands.
@@ -137,7 +142,7 @@ class CarController(object):
# Send dashboard UI commands (ACC status), 25hz
if (frame % 4) == 0:
- can_sends.append(gmcan.create_acc_dashboard_command(canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car))
+ can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 0c84df422..47b0d8b38 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -84,14 +84,21 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
-def create_acc_dashboard_command(bus, acc_engaged, target_speed_ms, lead_car_in_sight):
- engaged = 0x90 if acc_engaged else 0
- lead_car = 0x10 if lead_car_in_sight else 0
- target_speed = int(target_speed_ms * 208) & 0xfff
- speed_high = target_speed >> 8
- speed_low = target_speed & 0xff
- dat = [0x01, 0x00, engaged | speed_high, speed_low, 0x01, lead_car]
- return [0x370, 0, "".join(map(chr, dat)), bus]
+def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight):
+ # Not a bit shift, dash can round up based on low 4 bits.
+ target_speed = int(target_speed_kph * 16) & 0xfff
+
+ values = {
+ "ACCAlwaysOne" : 1,
+ "ACCResumeButton" : 0,
+ "ACCSpeedSetpoint" : target_speed,
+ "ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
+ "ACCCmdActive" : acc_engaged,
+ "ACCAlwaysOne2" : 1,
+ "ACCLeadCar" : lead_car_in_sight
+ }
+
+ return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
def create_adas_time_status(bus, tt, idx):
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index bf39272fc..a9530d65a 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -21,12 +21,6 @@ class CM:
LOW_CHIME = 0x86
HIGH_CHIME = 0x87
-# GM cars have 4 CAN buses, which creates many ways
-# of how the car can be connected to.
-# This ia a helper class for the interface to be setup-agnostic.
-# Supports single Panda setup (connected to OBDII port),
-# and a CAN forwarding setup (connected to camera module connector).
-
class CanBus(object):
def __init__(self):
self.powertrain = 0
@@ -34,6 +28,10 @@ class CanBus(object):
self.chassis = 2
self.sw_gmlan = 3
+# 384 = "ASCMLKASteeringCmd"
+# 715 = "ASCMGasRegenCmd"
+CONTROL_MSGS = [384, 715]
+
class CarInterface(object):
def __init__(self, CP, sendcan=None):
self.CP = CP
@@ -54,7 +52,7 @@ class CarInterface(object):
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
- self.CC = CarController(canbus, CP.carFingerprint)
+ self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera)
@staticmethod
def compute_gb(accel, speed):
@@ -73,8 +71,11 @@ class CarInterface(object):
ret.enableCruise = False
- # TODO: gate this on detection
- ret.enableCamera = True
+ # Presence of a camera on the object bus is ok.
+ # Have to go passive if ASCM is online (ACC-enabled cars),
+ # or camera is on powertrain bus (LKA cars without ACC).
+ ret.enableCamera = not any(x for x in CONTROL_MSGS if x in fingerprint)
+
std_cargo = 136
if candidate == CAR.VOLT:
@@ -325,7 +326,11 @@ class CarInterface(object):
"chimeRepeated": (CM.LOW_CHIME, -1),
"chimeContinuous": (CM.LOW_CHIME, -1)}[str(c.hudControl.audibleAlert)]
- self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, \
+ # For Openpilot, "enabled" includes pre-enable.
+ # In GM, PCM faults out if ACC command overlaps user gas.
+ enabled = c.enabled and not self.CS.user_gas_pressed
+
+ self.CC.update(self.sendcan, enabled, self.CS, self.frame, \
c.actuators,
hud_v_cruise, c.hudControl.lanesVisible, \
c.hudControl.leadVisible, \
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index cdee25186..a03235f87 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -159,9 +159,9 @@ class CarInterface(object):
# to a negative value, so it won't matter.
# hybrid models can't do stop and go even though the stock ACC can't
if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
- CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH]:
+ CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
ret.minEnableSpeed = -1.
- elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.LEXUS_AVE30]: # TODO: hack ICE to do stop and go
+ elif candidate in [CAR.RAV4, CAR.COROLLA, CAR.LEXUS_AVE30]: # TODO: hack ICE to do stop and go
ret.minEnableSpeed = 19. * CV.MPH_TO_MS
centerToRear = ret.wheelbase - ret.centerToFront
@@ -256,7 +256,7 @@ class CarInterface(object):
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
- if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH]:
+ if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
# ignore standstill in hybrid vehicles, since pcm allows to restart without
# receiving any special command
ret.cruiseState.standstill = False