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firestar5683
2026-03-31 19:54:42 -05:00
parent b37bc78810
commit fd2209b01c
2 changed files with 55 additions and 11 deletions
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opendbc_repo/opendbc/safety/modes/gm.h
+21 -11
View File
@@ -606,10 +606,16 @@ static safety_config gm_init(uint16_t param) {
};
static RxCheck gm_pedal_rx_checks[] = {
GM_COMMON_RX_CHECKS
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x3D1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // Non-ACC PCM
{.msg = {{0x201, 0, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // pedal
{.msg = {{0x184, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{0x1E1, 2, 7, 100000U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{ 0 }}},
{.msg = {{0xF1, 0, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{0xF1, 2, 6, 100000U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{ 0 }}},
{.msg = {{0x1C4, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static RxCheck gm_cam_acc_rx_checks[] = {
@@ -619,11 +625,16 @@ static safety_config gm_init(uint16_t param) {
};
static RxCheck gm_cam_acc_pedal_rx_checks[] = {
GM_COMMON_RX_CHECKS
GM_ACC_RX_CHECKS
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x201, 0, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // pedal
{.msg = {{0x370, 2, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // camera ACC status
{.msg = {{0x184, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{0x1E1, 2, 7, 100000U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{ 0 }}},
{.msg = {{0xF1, 0, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{0xF1, 2, 6, 100000U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{ 0 }}},
{.msg = {{0x1C4, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static RxCheck gm_sdgm_acc_rx_checks[] = {
@@ -650,8 +661,7 @@ static safety_config gm_init(uint16_t param) {
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
// Keep pedal-long behavior robust even if only PEDAL_LONG is present during transitions.
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR) || gm_pedal_long;
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
gm_bolt_2022_pedal = GET_FLAG(param, GM_PARAM_BOLT_2022_PEDAL);
starpilot/system/starpilot_stats.py
+34
View File
@@ -8,6 +8,7 @@ sys.path.append(os.path.join(os.path.dirname(__file__), "..", "third_party"))
from collections import Counter
from datetime import datetime, timezone
from cereal import log
from influxdb_client import InfluxDBClient, Point
from influxdb_client.client.write_api import SYNCHRONOUS
@@ -50,6 +51,33 @@ def _json_object(value):
return {}
return {}
def get_live_delay_stats():
defaults = {
"lagd_calibration_percent": 0,
"lagd_valid_blocks": 0,
"lagd_applied_delay_seconds": 0.0,
"lagd_learned_delay_seconds": 0.0,
"lagd_learned_delay_std_seconds": 0.0,
}
live_delay_data = params.get("LiveDelay")
if not live_delay_data:
return defaults
try:
with log.Event.from_bytes(live_delay_data) as live_delay_msg:
live_delay = live_delay_msg.liveDelay
return {
"lagd_calibration_percent": int(getattr(live_delay, "calPerc", 0)),
"lagd_valid_blocks": int(getattr(live_delay, "validBlocks", 0)),
"lagd_applied_delay_seconds": float(getattr(live_delay, "lateralDelay", 0.0)),
"lagd_learned_delay_seconds": float(getattr(live_delay, "lateralDelayEstimate", 0.0)),
"lagd_learned_delay_std_seconds": float(getattr(live_delay, "lateralDelayEstimateStd", 0.0)),
}
except Exception as exception:
print(f"Failed to parse LiveDelay stats: {exception}")
return defaults
def get_population_value(population_str):
if population_str is None:
return None
@@ -209,6 +237,7 @@ def send_stats():
device_type = HARDWARE.get_device_type()
stats_dongle_id = params.get("StarPilotDongleId", encoding="utf-8") or params.get("DongleId", encoding="utf-8") or "unknown"
live_delay_stats = get_live_delay_stats()
user_point = (
Point("user_stats")
@@ -238,6 +267,11 @@ def send_stats():
.field("has_sascm", getattr(starpilot_toggles, "has_sascm", False))
.field("has_zss", starpilot_toggles.has_zss)
.field("latitude", latitude)
.field("lagd_applied_delay_seconds", live_delay_stats["lagd_applied_delay_seconds"])
.field("lagd_calibration_percent", live_delay_stats["lagd_calibration_percent"])
.field("lagd_learned_delay_seconds", live_delay_stats["lagd_learned_delay_seconds"])
.field("lagd_learned_delay_std_seconds", live_delay_stats["lagd_learned_delay_std_seconds"])
.field("lagd_valid_blocks", live_delay_stats["lagd_valid_blocks"])
.field("longitude", longitude)
.field("rainbow_path", starpilot_toggles.rainbow_path)
.field("random_events", starpilot_toggles.random_events)