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XT5 CAN Error

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This commit is contained in:
lucky lin
2024-04-13 15:01:13 +08:00
committed by GitHub
parent a6f6ea0257
commit a972992e95
1 changed files with 22 additions and 8 deletions
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selfdrive/car/gm/carstate.py
+22 -8
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@@ -8,6 +8,9 @@ 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
from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS
from openpilot.common.params import Params #Fixed XT5 OnStar CAN Errors
params = Params()
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
GearShifter = car.CarState.GearShifter
@@ -55,10 +58,17 @@ class CarState(CarStateBase):
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
ret.onstarGpsLongitude = cam_cp.vl["TCICOnStarGPSPosition"]["GPSLongitude"] # ONSTAR_GPS_TEST
ret.onstarGpsLatitude = cam_cp.vl["TCICOnStarGPSPosition"]["GPSLatitude"] # ONSTAR_GPS_TEST
ret.onstarGpsAltitude = 0. #pt_cp.vl["WrongGPSAltitude"]["GPSAltitude"] # ONSTAR_GPS_TEST
ret.onstarGpsBearing = cam_cp.vl["SPEED_RELATED"]["GPSBearing"] # ONSTAR_GPS_TEST
if params.get_bool("OnStarGPS"):
ret.onstarGpsLongitude = cam_cp.vl["TCICOnStarGPSPosition"]["GPSLongitude"] # ONSTAR_GPS_TEST
ret.onstarGpsLatitude = cam_cp.vl["TCICOnStarGPSPosition"]["GPSLatitude"] # ONSTAR_GPS_TEST
ret.onstarGpsAltitude = 0. #pt_cp.vl["WrongGPSAltitude"]["GPSAltitude"] # ONSTAR_GPS_TEST
ret.onstarGpsBearing = cam_cp.vl["SPEED_RELATED"]["GPSBearing"] # ONSTAR_GPS_TEST
else:
ret.onstarGpsLongitude = 0. # ONSTAR_GPS_TEST
ret.onstarGpsLatitude = 0. # ONSTAR_GPS_TEST
ret.onstarGpsAltitude = 0. # ONSTAR_GPS_TEST
ret.onstarGpsBearing = 0. # ONSTAR_GPS_TEST
ret.currentGearNumber = pt_cp.vl["ECMPRDNL2"]["CurrentGearNumber"] # ONSTAR_GPS_TEST
ret.nextGearNumber = pt_cp.vl["ECMPRDNL2"]["NextGearNumber"] # ONSTAR_GPS_TEST
@@ -281,11 +291,15 @@ class CarState(CarStateBase):
("BCMDoorBeltStatus", 10),
("BCMGeneralPlatformStatus", 10),
("ASCMSteeringButton", 33),
("TCICOnStarGPSPosition", 10), #10Hz # ONSTAR_GPS_TEST
("SPEED_RELATED", 10), #10Hz # ONSTAR_GPS_TEST
# ("WrongGPSAltitude", 20), #20Hz # ONSTAR_GPS_TEST
# ("ECMPRDNL2", 40), #40Hz # ONSTAR_GPS_TEST
]
if params.get_bool("OnStarGPS"):
messages += [
("TCICOnStarGPSPosition", 10), #10Hz # ONSTAR_GPS_TEST
("SPEED_RELATED", 10), #10Hz # ONSTAR_GPS_TEST
# ("WrongGPSAltitude", 20), #20Hz # ONSTAR_GPS_TEST
# ("ECMPRDNL2", 40), #40Hz # ONSTAR_GPS_TEST
]
if CP.enableBsm:
messages.append(("BCMBlindSpotMonitor", 10))
else: