mirror of
https://github.com/sunnypilot/sunnypilot.git
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GM: Bolt EUV 2022-23 port (#24875)
* Switch to ECMPRDNL2 for GM gear
* Removing manumatic gear #
* values.py almost complete
* Silverado and Bolt EUV val and CP
* GM controller updated
* Cam hrns supp done (in theory)
* cleanup for new cars
* Remove extra constant
* WS, etc cleanup
* removing the unused
* Fix kpBP typo
* Updated docs
* Skip's PIF tune
* Dropped LKA CAN error patch
* Add silverado sigmoid ff
* CAN Err & LKA latch patch
* Remove EPS fault fix (another PR)
* Remove Silverado (another PR)
* clean up some common params
* Remove Escalade FP
Remove Escalade FP
* comment
* Premier is just a trim
Premier is just a trim
Premier is just a trim
* no footnote: new Bolt is like most other cars, older GM were outliers not at the camera
* clean up
clean up
* bump panda
* bump panda
* bump panda
* bump panda
* bump panda
* remove comments
* try spamming buttons on bus 2
* bump panda
* bumping opendbc w btn rc
* not needed for this port
This reverts commit 6af1f0ba799e075f877d7acc8ca0f117d97da361.
* add button safety
* Send next rc when spamming btns
* forward other signals in message
* missing DriveModeButton
* fill cruiseState.speed
* see if resume works without counter
* try the whole message
* send immediately and at 10Hz
* no resume, back to just button signal
* even holding random buttons it cancels
* Use torque controller with base tune
* stock long GM don't auto-resume yet
* Testing GM zero min steer speed
* Revert latcontrol
* revert opendbc
* latActive is basically lkas_enabled
* Update Bolt torque params
* comment
* clean up
* Add to releases
* Add test route
* Don't specify segment
* bump panda
* bump panda
* no harness for Bolt just yet
* Apply suggestions from code review
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
* We support all and 2023
* move safetyParam up to first cam check
* Bump panda and update docs
* Update RELEASES.md
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 4ffe9e68db
This commit is contained in:
Jason Shuler
@@ -1,5 +1,6 @@
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Version 0.8.16 (2022-XX-XX)
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========================
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* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
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* Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
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* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
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* Subaru Outback 2020-22 support
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@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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- [](##) - Limited ability to make tighter turns.
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# 200 Supported Cars
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# 201 Supported Cars
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|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
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|---|---|---|:---:|:---:|:---:|:---:|
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@@ -33,6 +33,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
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|Audi|RS3 2018|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
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|Audi|S3 2015-17|ACC + Lane Assist|[](##)|[](##)|[](##)|[](##)|
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|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[](##)|[](##)|[](##)|[](##)|
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|Chevrolet|Bolt EUV 2022-23|All|[](##)|[](##)|[](##)|[](##)|
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|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
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|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
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|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[](##)|[](##)|[](##)|[](##)|
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2
panda
2
panda
Submodule panda updated: 508ee90f8e...5e0dde7b48
@@ -10,6 +10,10 @@ from common.conversions import Conversions as CV
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GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2
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MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
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# Makes that lack auto-resume with stock long, and auto resume in any configuration
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NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
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NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
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class Tier(Enum):
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GOLD = 0
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@@ -147,11 +151,11 @@ class CarInfo:
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else:
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alc = ""
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# Exception for Nissan, Subaru, and stock long Toyota which do not auto-resume yet
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# Exception for cars which do not auto-resume yet
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acc = ""
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if self.min_enable_speed > 0:
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acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
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elif CP.carName not in ("nissan", "subaru", "toyota") or (CP.carName == "toyota" and CP.openpilotLongitudinalControl):
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elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl):
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acc = " <strong>that automatically resumes from a stop</strong>"
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if self.row[Column.STEERING_TORQUE] != Star.FULL:
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@@ -210,6 +214,7 @@ class Harness(Enum):
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hyundai_p = "Hyundai P"
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custom = "Developer"
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obd_ii = "OBD-II"
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gm = "GM"
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nissan_a = "Nissan A"
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nissan_b = "Nissan B"
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mazda = "Mazda"
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@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.gm import gmcan
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from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
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from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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NetworkLocation = car.CarParams.NetworkLocation
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@@ -19,6 +19,7 @@ class CarController:
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self.apply_gas = 0
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self.apply_brake = 0
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self.frame = 0
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self.last_button_frame = 0
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self.lka_steering_cmd_counter_last = -1
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self.lka_icon_status_last = (False, False)
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@@ -46,8 +47,7 @@ class CarController:
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if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
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self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
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elif (self.frame % self.params.STEER_STEP) == 0:
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lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED
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if lkas_enabled:
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if CC.latActive:
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new_steer = int(round(actuators.steer * self.params.STEER_MAX))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
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else:
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@@ -58,7 +58,7 @@ class CarController:
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# moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
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idx = (CS.lka_steering_cmd_counter + 1) % 4
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can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
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can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
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if self.CP.openpilotLongitudinalControl:
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# Gas/regen, brakes, and UI commands - all at 25Hz
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@@ -107,6 +107,13 @@ class CarController:
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if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
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can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
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else:
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# Stock longitudinal, integrated at camera
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if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
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if CC.cruiseControl.cancel:
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self.last_button_frame = self.frame
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can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
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# Show green icon when LKA torque is applied, and
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# alarming orange icon when approaching torque limit.
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# If not sent again, LKA icon disappears in about 5 seconds.
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@@ -114,6 +121,8 @@ class CarController:
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lka_active = CS.lkas_status == 1
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lka_critical = lka_active and abs(actuators.steer) > 0.9
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lka_icon_status = (lka_active, lka_critical)
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# SW_GMLAN not yet on cam harness, no HUD alerts
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if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
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steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
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can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
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@@ -1,4 +1,5 @@
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from cereal import car
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from common.conversions import Conversions as CV
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from common.numpy_fast import mean
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from opendbc.can.can_define import CANDefine
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from opendbc.can.parser import CANParser
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@@ -6,6 +7,7 @@ from selfdrive.car.interfaces import CarStateBase
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from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
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TransmissionType = car.CarParams.TransmissionType
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NetworkLocation = car.CarParams.NetworkLocation
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class CarState(CarStateBase):
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@@ -15,7 +17,7 @@ class CarState(CarStateBase):
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self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
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self.lka_steering_cmd_counter = 0
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def update(self, pt_cp, loopback_cp):
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def update(self, pt_cp, cam_cp, loopback_cp):
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ret = car.CarState.new_message()
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self.prev_cruise_buttons = self.cruise_buttons
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@@ -77,9 +79,21 @@ class CarState(CarStateBase):
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ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
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ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
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if self.CP.networkLocation == NetworkLocation.fwdCamera:
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ret.cruiseState.speed = (cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] / 16) * CV.KPH_TO_MS
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return ret
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@staticmethod
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def get_cam_can_parser(CP):
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signals = []
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checks = []
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if CP.networkLocation == NetworkLocation.fwdCamera:
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signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"))
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checks.append(("ASCMActiveCruiseControlStatus", 25))
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return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
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@staticmethod
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def get_can_parser(CP):
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signals = [
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@@ -1,5 +1,9 @@
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from selfdrive.car import make_can_msg
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def create_buttons(packer, bus, button):
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values = {"ACCButtons": button}
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return packer.make_can_msg("ASCMSteeringButton", bus, values)
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def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
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values = {
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@@ -1,10 +1,11 @@
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#!/usr/bin/env python3
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from cereal import car
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from math import fabs
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from panda import Panda
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from common.conversions import Conversions as CV
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from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
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from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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@@ -48,29 +49,36 @@ class CarInterface(CarInterfaceBase):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "gm"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
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ret.pcmCruise = False # For ASCM, stock non-adaptive cruise control is kept off
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ret.radarOffCan = False # For ASCM, radar exists
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ret.transmissionType = TransmissionType.automatic
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# NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
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ret.networkLocation = NetworkLocation.gateway
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if candidate in EV_CAR:
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ret.transmissionType = TransmissionType.direct
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else:
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ret.transmissionType = TransmissionType.automatic
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if candidate in CAMERA_ACC_CAR:
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ret.openpilotLongitudinalControl = False
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ret.networkLocation = NetworkLocation.fwdCamera
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ret.radarOffCan = True # no radar
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ret.pcmCruise = True
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
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else: # ASCM, OBD-II harness
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ret.openpilotLongitudinalControl = True
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ret.networkLocation = NetworkLocation.gateway
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ret.radarOffCan = False
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ret.pcmCruise = False # stock non-adaptive cruise control is kept off
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# These cars have been put into dashcam only due to both a lack of users and test coverage.
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# These cars likely still work fine. Once a user confirms each car works and a test route is
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# added to selfdrive/car/tests/routes.py, we can remove it from this list.
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ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
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# Presence of a camera on the object bus is ok.
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# Have to go to read_only if ASCM is online (ACC-enabled cars),
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# or camera is on powertrain bus (LKA cars without ACC).
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ret.openpilotLongitudinalControl = True
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tire_stiffness_factor = 0.444 # not optimized yet
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# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
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ret.minSteerSpeed = 7 * CV.MPH_TO_MS
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
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ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
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ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
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tire_stiffness_factor = 0.444 # not optimized yet
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ret.longitudinalTuning.kpBP = [5., 35.]
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ret.longitudinalTuning.kpV = [2.4, 1.5]
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@@ -84,7 +92,6 @@ class CarInterface(CarInterfaceBase):
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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if candidate == CAR.VOLT:
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ret.transmissionType = TransmissionType.direct
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ret.mass = 1607. + STD_CARGO_KG
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ret.wheelbase = 2.69
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ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
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@@ -143,6 +150,16 @@ class CarInterface(CarInterfaceBase):
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ret.lateralTuning.pid.kf = 0.000045
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tire_stiffness_factor = 1.0
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elif candidate == CAR.BOLT_EUV:
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ret.minEnableSpeed = -1
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ret.mass = 1669. + STD_CARGO_KG
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ret.wheelbase = 2.675
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ret.steerRatio = 16.8
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ret.centerToFront = ret.wheelbase * 0.4
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tire_stiffness_factor = 1.0
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ret.steerActuatorDelay = 0.2
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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@@ -156,7 +173,7 @@ class CarInterface(CarInterfaceBase):
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# returns a car.CarState
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_loopback)
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ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
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if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
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be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
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@@ -14,7 +14,6 @@ class CarControllerParams:
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STEER_STEP = 2 # Control frames per command (50hz)
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STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness
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STEER_DELTA_DOWN = 17
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MIN_STEER_SPEED = 3. # m/s
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STEER_DRIVER_ALLOWANCE = 50
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STEER_DRIVER_MULTIPLIER = 4
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STEER_DRIVER_FACTOR = 100
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@@ -59,10 +58,7 @@ class CAR:
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ACADIA = "GMC ACADIA DENALI 2018"
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BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
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ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
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EV_CAR = {CAR.VOLT}
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STEER_THRESHOLD = 1.0
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BOLT_EUV = "CHEVROLET BOLT EUV 2022"
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class Footnote(Enum):
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@@ -87,6 +83,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
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CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
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CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
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CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
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CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "All", footnotes=[], harness=Harness.gm),
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}
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||||
@@ -107,6 +104,7 @@ class AccState:
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||||
class CanBus:
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POWERTRAIN = 0
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OBSTACLE = 1
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CAMERA = 2
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CHASSIS = 2
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SW_GMLAN = 3
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LOOPBACK = 128
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@@ -155,6 +153,17 @@ FINGERPRINTS = {
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{
|
||||
309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
|
||||
}],
|
||||
CAR.BOLT_EUV: [
|
||||
{
|
||||
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
|
||||
}],
|
||||
}
|
||||
|
||||
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
|
||||
|
||||
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
CAMERA_ACC_CAR = {CAR.BOLT_EUV}
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
@@ -47,6 +47,7 @@ routes = [
|
||||
TestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
|
||||
TestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
|
||||
TestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
|
||||
TestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV),
|
||||
|
||||
TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
|
||||
TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
|
||||
|
||||
@@ -58,7 +58,6 @@ class TestCarModelBase(unittest.TestCase):
|
||||
raise unittest.SkipTest
|
||||
|
||||
if 'FILTER' in os.environ:
|
||||
print(tuple(os.environ.get('FILTER').split(', ')))
|
||||
if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
|
||||
raise unittest.SkipTest
|
||||
|
||||
|
||||
@@ -24,6 +24,7 @@ KIA EV6 2022: [3.5, 2.5, 0.0]
|
||||
RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
|
||||
RAM HD 5TH GEN: [1.4, 1.4, 0.0]
|
||||
SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
|
||||
CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
|
||||
|
||||
# Dashcam or fallback configured as ideal car
|
||||
mock: [10.0, 10, 0.0]
|
||||
|
||||
Reference in New Issue
Block a user