mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 06:33:57 +08:00
Remove Cadillac CT6 port (#1359)
* remove CT6 port
* dont need this route
* extra char
* fix carcontroller params
old-commit-hash: e22482eb31
This commit is contained in:
Adeeb
@@ -4,27 +4,19 @@ from common.numpy_fast import interp
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.car import apply_std_steer_torque_limits
|
||||
from selfdrive.car.gm import gmcan
|
||||
from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS, CanBus
|
||||
from selfdrive.car.gm.values import DBC, CanBus
|
||||
from opendbc.can.packer import CANPacker
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
|
||||
|
||||
class CarControllerParams():
|
||||
def __init__(self, car_fingerprint):
|
||||
if car_fingerprint in SUPERCRUISE_CARS:
|
||||
self.STEER_MAX = 150
|
||||
self.STEER_STEP = 1 # how often we update the steer cmd
|
||||
self.STEER_DELTA_UP = 2 # 0.75s time to peak torque
|
||||
self.STEER_DELTA_DOWN = 5 # 0.3s from peak torque to zero
|
||||
self.MIN_STEER_SPEED = -1. # can steer down to zero
|
||||
else:
|
||||
self.STEER_MAX = 300
|
||||
self.STEER_STEP = 2 # how often we update the steer cmd
|
||||
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
|
||||
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
|
||||
self.MIN_STEER_SPEED = 3.
|
||||
|
||||
def __init__(self):
|
||||
self.STEER_MAX = 300
|
||||
self.STEER_STEP = 2 # how often we update the steer cmd
|
||||
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
|
||||
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
|
||||
self.MIN_STEER_SPEED = 3.
|
||||
self.STEER_DRIVER_ALLOWANCE = 50 # allowed driver torque before start limiting
|
||||
self.STEER_DRIVER_MULTIPLIER = 4 # weight driver torque heavily
|
||||
self.STEER_DRIVER_FACTOR = 100 # from dbc
|
||||
@@ -61,23 +53,15 @@ def actuator_hystereses(final_pedal, pedal_steady):
|
||||
|
||||
return final_pedal, pedal_steady
|
||||
|
||||
def process_hud_alert(hud_alert):
|
||||
# initialize to no alert
|
||||
steer = 0
|
||||
if hud_alert == VisualAlert.steerRequired:
|
||||
steer = 1
|
||||
return steer
|
||||
|
||||
class CarController():
|
||||
def __init__(self, dbc_name, CP, VM):
|
||||
self.pedal_steady = 0.
|
||||
self.start_time = 0.
|
||||
self.apply_steer_last = 0
|
||||
self.car_fingerprint = CP.carFingerprint
|
||||
self.lka_icon_status_last = (False, False)
|
||||
self.steer_rate_limited = False
|
||||
|
||||
self.params = CarControllerParams(CP.carFingerprint)
|
||||
self.params = CarControllerParams()
|
||||
|
||||
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
|
||||
self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
|
||||
@@ -90,9 +74,6 @@ class CarController():
|
||||
# Send CAN commands.
|
||||
can_sends = []
|
||||
|
||||
alert_out = process_hud_alert(hud_alert)
|
||||
steer = alert_out
|
||||
|
||||
### STEER ###
|
||||
|
||||
if (frame % P.STEER_STEP) == 0:
|
||||
@@ -107,76 +88,72 @@ class CarController():
|
||||
self.apply_steer_last = apply_steer
|
||||
idx = (frame // P.STEER_STEP) % 4
|
||||
|
||||
if self.car_fingerprint in SUPERCRUISE_CARS:
|
||||
can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
|
||||
CanBus, apply_steer, CS.out.vEgo, idx, lkas_enabled)
|
||||
else:
|
||||
can_sends.append(gmcan.create_steering_control(self.packer_pt,
|
||||
CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
|
||||
can_sends.append(gmcan.create_steering_control(self.packer_pt,
|
||||
CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
|
||||
|
||||
### GAS/BRAKE ###
|
||||
|
||||
if self.car_fingerprint not in SUPERCRUISE_CARS:
|
||||
# no output if not enabled, but keep sending keepalive messages
|
||||
# treat pedals as one
|
||||
final_pedal = actuators.gas - actuators.brake
|
||||
# no output if not enabled, but keep sending keepalive messages
|
||||
# treat pedals as one
|
||||
final_pedal = actuators.gas - actuators.brake
|
||||
|
||||
# *** apply pedal hysteresis ***
|
||||
final_brake, self.brake_steady = actuator_hystereses(
|
||||
final_pedal, self.pedal_steady)
|
||||
# *** apply pedal hysteresis ***
|
||||
final_brake, self.brake_steady = actuator_hystereses(
|
||||
final_pedal, self.pedal_steady)
|
||||
|
||||
if not enabled:
|
||||
# Stock ECU sends max regen when not enabled.
|
||||
apply_gas = P.MAX_ACC_REGEN
|
||||
apply_brake = 0
|
||||
else:
|
||||
apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
|
||||
apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
|
||||
if not enabled:
|
||||
# Stock ECU sends max regen when not enabled.
|
||||
apply_gas = P.MAX_ACC_REGEN
|
||||
apply_brake = 0
|
||||
else:
|
||||
apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
|
||||
apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
|
||||
|
||||
# Gas/regen and brakes - all at 25Hz
|
||||
if (frame % 4) == 0:
|
||||
idx = (frame // 4) % 4
|
||||
# Gas/regen and brakes - all at 25Hz
|
||||
if (frame % 4) == 0:
|
||||
idx = (frame // 4) % 4
|
||||
|
||||
at_full_stop = enabled and CS.out.standstill
|
||||
near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
|
||||
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx, near_stop, at_full_stop))
|
||||
at_full_stop = enabled and CS.out.standstill
|
||||
near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
|
||||
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx, near_stop, at_full_stop))
|
||||
|
||||
at_full_stop = enabled and CS.out.standstill
|
||||
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, apply_gas, idx, enabled, at_full_stop))
|
||||
at_full_stop = enabled and CS.out.standstill
|
||||
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, apply_gas, idx, enabled, at_full_stop))
|
||||
|
||||
# Send dashboard UI commands (ACC status), 25hz
|
||||
if (frame % 4) == 0:
|
||||
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
|
||||
# Send dashboard UI commands (ACC status), 25hz
|
||||
if (frame % 4) == 0:
|
||||
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)
|
||||
time_and_headlights_step = 10
|
||||
tt = frame * DT_CTRL
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (10hz)
|
||||
time_and_headlights_step = 10
|
||||
tt = frame * DT_CTRL
|
||||
|
||||
if frame % time_and_headlights_step == 0:
|
||||
idx = (frame // time_and_headlights_step) % 4
|
||||
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
||||
can_sends.append(gmcan.create_adas_headlights_status(CanBus.OBSTACLE))
|
||||
if frame % time_and_headlights_step == 0:
|
||||
idx = (frame // time_and_headlights_step) % 4
|
||||
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
||||
can_sends.append(gmcan.create_adas_headlights_status(CanBus.OBSTACLE))
|
||||
|
||||
speed_and_accelerometer_step = 2
|
||||
if frame % speed_and_accelerometer_step == 0:
|
||||
idx = (frame // speed_and_accelerometer_step) % 4
|
||||
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
||||
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
|
||||
speed_and_accelerometer_step = 2
|
||||
if frame % speed_and_accelerometer_step == 0:
|
||||
idx = (frame // speed_and_accelerometer_step) % 4
|
||||
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
||||
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
|
||||
|
||||
if frame % P.ADAS_KEEPALIVE_STEP == 0:
|
||||
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
||||
if frame % P.ADAS_KEEPALIVE_STEP == 0:
|
||||
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
||||
|
||||
# Show green icon when LKA torque is applied, and
|
||||
# alarming orange icon when approaching torque limit.
|
||||
# If not sent again, LKA icon disappears in about 5 seconds.
|
||||
# Conveniently, sending camera message periodically also works as a keepalive.
|
||||
lka_active = CS.lkas_status == 1
|
||||
lka_critical = lka_active and abs(actuators.steer) > 0.9
|
||||
lka_icon_status = (lka_active, lka_critical)
|
||||
if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
|
||||
or lka_icon_status != self.lka_icon_status_last:
|
||||
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer))
|
||||
self.lka_icon_status_last = lka_icon_status
|
||||
# Show green icon when LKA torque is applied, and
|
||||
# alarming orange icon when approaching torque limit.
|
||||
# If not sent again, LKA icon disappears in about 5 seconds.
|
||||
# Conveniently, sending camera message periodically also works as a keepalive.
|
||||
lka_active = CS.lkas_status == 1
|
||||
lka_critical = lka_active and abs(actuators.steer) > 0.9
|
||||
lka_icon_status = (lka_active, lka_critical)
|
||||
if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
|
||||
or lka_icon_status != self.lka_icon_status_last:
|
||||
steer_alert = hud_alert == VisualAlert.steerRequired
|
||||
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
|
||||
self.lka_icon_status_last = lka_icon_status
|
||||
|
||||
return can_sends
|
||||
|
||||
@@ -6,7 +6,7 @@ from opendbc.can.parser import CANParser
|
||||
from selfdrive.car.interfaces import CarStateBase
|
||||
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
|
||||
CruiseButtons, is_eps_status_ok, \
|
||||
STEER_THRESHOLD, SUPERCRUISE_CARS
|
||||
STEER_THRESHOLD
|
||||
|
||||
|
||||
class CarState(CarStateBase):
|
||||
@@ -53,21 +53,14 @@ class CarState(CarStateBase):
|
||||
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
|
||||
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
|
||||
|
||||
if self.car_fingerprint in SUPERCRUISE_CARS:
|
||||
self.park_brake = False
|
||||
ret.cruiseState.available = False
|
||||
ret.espDisabled = False
|
||||
regen_pressed = False
|
||||
self.pcm_acc_status = int(pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive'])
|
||||
else:
|
||||
self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
|
||||
ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]['CruiseMainOn'])
|
||||
ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
|
||||
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
|
||||
if self.car_fingerprint == CAR.VOLT:
|
||||
regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
|
||||
else:
|
||||
regen_pressed = False
|
||||
self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
|
||||
ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]['CruiseMainOn'])
|
||||
ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
|
||||
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
|
||||
|
||||
regen_pressed = False
|
||||
if self.car_fingerprint == CAR.VOLT:
|
||||
regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
|
||||
|
||||
# Regen braking is braking
|
||||
ret.brakePressed = ret.brake > 1e-5 or regen_pressed
|
||||
@@ -94,6 +87,7 @@ class CarState(CarStateBase):
|
||||
("RightSeatBelt", "BCMDoorBeltStatus", 0),
|
||||
("TurnSignals", "BCMTurnSignals", 0),
|
||||
("AcceleratorPedal", "AcceleratorPedal", 0),
|
||||
("CruiseState", "AcceleratorPedal2", 0),
|
||||
("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
|
||||
("SteeringWheelAngle", "PSCMSteeringAngle", 0),
|
||||
("FLWheelSpd", "EBCMWheelSpdFront", 0),
|
||||
@@ -103,22 +97,14 @@ class CarState(CarStateBase):
|
||||
("PRNDL", "ECMPRDNL", 0),
|
||||
("LKADriverAppldTrq", "PSCMStatus", 0),
|
||||
("LKATorqueDeliveredStatus", "PSCMStatus", 0),
|
||||
("TractionControlOn", "ESPStatus", 0),
|
||||
("EPBClosed", "EPBStatus", 0),
|
||||
("CruiseMainOn", "ECMEngineStatus", 0),
|
||||
]
|
||||
|
||||
if CP.carFingerprint == CAR.VOLT:
|
||||
signals += [
|
||||
("RegenPaddle", "EBCMRegenPaddle", 0),
|
||||
]
|
||||
if CP.carFingerprint in SUPERCRUISE_CARS:
|
||||
signals += [
|
||||
("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
|
||||
]
|
||||
else:
|
||||
signals += [
|
||||
("TractionControlOn", "ESPStatus", 0),
|
||||
("EPBClosed", "EPBStatus", 0),
|
||||
("CruiseMainOn", "ECMEngineStatus", 0),
|
||||
("CruiseState", "AcceleratorPedal2", 0),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)
|
||||
|
||||
@@ -11,32 +11,6 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
|
||||
|
||||
return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
|
||||
|
||||
def create_steering_control_ct6(packer, CanBus, apply_steer, v_ego, idx, enabled):
|
||||
|
||||
values = {
|
||||
"LKASteeringCmdActive": 1 if enabled else 0,
|
||||
"LKASteeringCmd": apply_steer,
|
||||
"RollingCounter": idx,
|
||||
"SetMe1": 1,
|
||||
"LKASVehicleSpeed": abs(v_ego * 3.6),
|
||||
"LKASMode": 2 if enabled else 0,
|
||||
"LKASteeringCmdChecksum": 0 # assume zero and then manually compute it
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
|
||||
# the checksum logic is weird
|
||||
values['LKASteeringCmdChecksum'] = (0x2a +
|
||||
sum(dat[:4]) +
|
||||
values['LKASMode']) & 0x3ff
|
||||
# pack again with checksum
|
||||
dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
|
||||
|
||||
return [0x152, 0, dat, CanBus.POWERTRAIN], \
|
||||
[0x154, 0, dat, CanBus.POWERTRAIN], \
|
||||
[0x151, 0, dat, CanBus.CHASSIS], \
|
||||
[0x153, 0, dat, CanBus.CHASSIS]
|
||||
|
||||
|
||||
def create_adas_keepalive(bus):
|
||||
dat = b"\x00\x00\x00\x00\x00\x00\x00"
|
||||
return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
|
||||
@@ -147,47 +121,3 @@ def create_lka_icon_command(bus, active, critical, steer):
|
||||
dat = b"\x00\x00\x00"
|
||||
return make_can_msg(0x104c006c, dat, bus)
|
||||
|
||||
# TODO: WIP
|
||||
'''
|
||||
def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):
|
||||
|
||||
# counters loops across [0, 29, 42, 55] but checksum only considers 0, 1, 2, 3
|
||||
cntrs = [0, 29, 42, 55]
|
||||
if apply_brake == 0:
|
||||
mode = 0x1
|
||||
else:
|
||||
mode = 0xa
|
||||
|
||||
if at_full_stop:
|
||||
mode = 0xd
|
||||
elif near_stop:
|
||||
mode = 0xb
|
||||
|
||||
brake = (0x1000 - apply_brake) & 0xfff
|
||||
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
|
||||
|
||||
values = {
|
||||
"RollingCounter" : cntrs[idx],
|
||||
"FrictionBrakeMode" : mode,
|
||||
"FrictionBrakeChecksum": checksum,
|
||||
"FrictionBrakeCmd" : -apply_brake
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("EBCMFrictionBrakeCmd", 0, values)[2]
|
||||
# msg is 0x315 but we are doing the panda forwarding
|
||||
return make_can_msg(0x314, dat, 2)
|
||||
|
||||
def create_gas_regen_command_ct6(bus, throttle, idx, acc_engaged, at_full_stop):
|
||||
cntrs = [0, 7, 10, 13]
|
||||
eng_bit = 1 if acc_engaged else 0
|
||||
gas_high = (throttle >> 8) | 0x80
|
||||
gas_low = (throttle) & 0xff
|
||||
full_stop = 0x20 if at_full_stop else 0
|
||||
|
||||
chk1 = (0x100 - gas_high - 1) & 0xff
|
||||
chk2 = (0x100 - gas_low - idx) & 0xff
|
||||
dat = [(idx << 6) | eng_bit, 0xc2 | full_stop, gas_high, gas_low,
|
||||
(1 - eng_bit) | (cntrs[idx] << 1), 0x5d - full_stop, chk1, chk2]
|
||||
return make_can_msg(0x2cb, "".join(map(chr, dat)), bus)
|
||||
|
||||
'''
|
||||
|
||||
@@ -3,7 +3,7 @@ from cereal import car
|
||||
from selfdrive.config import Conversions as CV
|
||||
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
||||
from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
|
||||
SUPERCRUISE_CARS, AccState, FINGERPRINTS
|
||||
AccState, FINGERPRINTS
|
||||
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
|
||||
from selfdrive.car.interfaces import CarInterfaceBase
|
||||
|
||||
@@ -29,9 +29,7 @@ class CarInterface(CarInterfaceBase):
|
||||
# Presence of a camera on the object bus is ok.
|
||||
# Have to go to read_only if ASCM is online (ACC-enabled cars),
|
||||
# or camera is on powertrain bus (LKA cars without ACC).
|
||||
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or \
|
||||
has_relay or \
|
||||
candidate == CAR.CADILLAC_CT6
|
||||
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
|
||||
ret.openpilotLongitudinalControl = ret.enableCamera
|
||||
tire_stiffness_factor = 0.444 # not optimized yet
|
||||
|
||||
@@ -93,16 +91,6 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerRatioRear = 0.
|
||||
ret.centerToFront = ret.wheelbase * 0.49
|
||||
|
||||
elif candidate == CAR.CADILLAC_CT6:
|
||||
# engage speed is decided by pcm
|
||||
ret.minEnableSpeed = -1.
|
||||
ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
|
||||
ret.safetyModel = car.CarParams.SafetyModel.cadillac
|
||||
ret.wheelbase = 3.11
|
||||
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
|
||||
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
|
||||
ret.centerToFront = ret.wheelbase * 0.465
|
||||
|
||||
# TODO: get actual value, for now starting with reasonable value for
|
||||
# civic and scaling by mass and wheelbase
|
||||
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
||||
@@ -159,28 +147,25 @@ class CarInterface(CarInterfaceBase):
|
||||
|
||||
ret.buttonEvents = buttonEvents
|
||||
|
||||
supercruise = self.CS.car_fingerprint in SUPERCRUISE_CARS
|
||||
events = self.create_common_events(ret, pcm_enable=supercruise)
|
||||
events = self.create_common_events(ret, pcm_enable=False)
|
||||
|
||||
if not supercruise:
|
||||
# TODO: why is this only not supercruise? ignore supercruise?
|
||||
if ret.vEgo < self.CP.minEnableSpeed:
|
||||
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
|
||||
if self.CS.park_brake:
|
||||
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if ret.cruiseState.standstill:
|
||||
events.append(create_event('resumeRequired', [ET.WARNING]))
|
||||
if self.CS.pcm_acc_status == AccState.FAULTED:
|
||||
events.append(create_event('controlsFailed', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
if ret.vEgo < self.CP.minEnableSpeed:
|
||||
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
|
||||
if self.CS.park_brake:
|
||||
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
||||
if ret.cruiseState.standstill:
|
||||
events.append(create_event('resumeRequired', [ET.WARNING]))
|
||||
if self.CS.pcm_acc_status == AccState.FAULTED:
|
||||
events.append(create_event('controlsFailed', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
||||
|
||||
# handle button presses
|
||||
for b in ret.buttonEvents:
|
||||
# do enable on both accel and decel buttons
|
||||
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
|
||||
events.append(create_event('buttonEnable', [ET.ENABLE]))
|
||||
# do disable on button down
|
||||
if b.type == ButtonType.cancel and b.pressed:
|
||||
events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
|
||||
# handle button presses
|
||||
for b in ret.buttonEvents:
|
||||
# do enable on both accel and decel buttons
|
||||
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
|
||||
events.append(create_event('buttonEnable', [ET.ENABLE]))
|
||||
# do disable on button down
|
||||
if b.type == ButtonType.cancel and b.pressed:
|
||||
events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
|
||||
|
||||
ret.events = events
|
||||
|
||||
|
||||
@@ -6,13 +6,10 @@ class CAR:
|
||||
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
|
||||
VOLT = "CHEVROLET VOLT PREMIER 2017"
|
||||
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
|
||||
CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
|
||||
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
|
||||
ACADIA = "GMC ACADIA DENALI 2018"
|
||||
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
|
||||
|
||||
SUPERCRUISE_CARS = [CAR.CADILLAC_CT6]
|
||||
|
||||
class CruiseButtons:
|
||||
INIT = 0
|
||||
UNPRESS = 1
|
||||
@@ -34,12 +31,7 @@ class CanBus:
|
||||
SW_GMLAN = 3
|
||||
|
||||
def is_eps_status_ok(eps_status, car_fingerprint):
|
||||
valid_eps_status = []
|
||||
if car_fingerprint in SUPERCRUISE_CARS:
|
||||
valid_eps_status += [0, 1, 4, 5, 6]
|
||||
else:
|
||||
valid_eps_status += [0, 1]
|
||||
return eps_status in valid_eps_status
|
||||
return eps_status in [0, 1]
|
||||
|
||||
FINGERPRINTS = {
|
||||
# Astra BK MY17, ASCM unplugged
|
||||
@@ -65,9 +57,6 @@ FINGERPRINTS = {
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.CADILLAC_CT6: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.MALIBU: [
|
||||
# Malibu Premier w/ ACC 2017
|
||||
{
|
||||
@@ -93,5 +82,4 @@ DBC = {
|
||||
CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
|
||||
CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
|
||||
CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
|
||||
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
|
||||
}
|
||||
|
||||
@@ -76,10 +76,6 @@ routes = {
|
||||
'carFingerprint': FORD.FUSION,
|
||||
'enableCamera': True,
|
||||
},
|
||||
"7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
|
||||
'carFingerprint': GM.CADILLAC_CT6,
|
||||
'enableCamera': True,
|
||||
},
|
||||
"c950e28c26b5b168|2018-05-30--22-03-41": {
|
||||
'carFingerprint': GM.VOLT,
|
||||
'enableCamera': True,
|
||||
|
||||
Reference in New Issue
Block a user