mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-18 22:23:56 +08:00
Code Issues Packages Projects Releases Wiki Activity

GM: prep and cleanup for future ports (#24910)

Browse Source 
* Interface radarOffCan set, comments

* pass pcmCruise value to common events

* add transType and networkLoc to iface

* carstate use transtype to detect EV

* ctrl: limit sends by config

* Add clarifying comments for new vals

* clean up

* comment on new line

* these have the same frequency

* remove 25hz

* add to upper comment

* update refs

* update refs

* move into same block

move into same block

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Jason Shuler
2022-06-30 18:47:26 -04:00
committed by GitHub
parent 11b5d51da6
commit 9279c02258
4 changed files with 61 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files

82
selfdrive/car/gm/carcontroller.py
View File

@@ -8,10 +8,12 @@ from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.start_time = 0.
self.apply_steer_last = 0
self.apply_gas = 0
@@ -24,9 +26,9 @@ class CarController:
self.params = CarControllerParams()
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
def update(self, CC, CS):
actuators = CC.actuators
@@ -60,48 +62,48 @@ class CarController:
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
# Gas/regen and brakes - all at 25Hz
if (self.frame % 4) == 0:
if not CC.longActive:
# Stock ECU sends max regen when not enabled
self.apply_gas = self.params.MAX_ACC_REGEN
self.apply_brake = 0
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
if self.CP.openpilotLongitudinalControl:
# Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0:
if not CC.longActive:
# Stock ECU sends max regen when not enabled
self.apply_gas = self.params.MAX_ACC_REGEN
self.apply_brake = 0
else:
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
idx = (self.frame // 4) % 4
idx = (self.frame // 4) % 4
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
# Send dashboard UI commands (ACC status), 25hz
if (self.frame % 4) == 0:
send_fcw = hud_alert == VisualAlert.fcw
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
# Send dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
time_and_headlights_step = 10
tt = self.frame * DT_CTRL
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
if not self.CP.radarOffCan:
tt = self.frame * DT_CTRL
time_and_headlights_step = 10
if self.frame % time_and_headlights_step == 0:
idx = (self.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(self.packer_obj, CanBus.OBSTACLE))
if self.frame % time_and_headlights_step == 0:
idx = (self.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(self.packer_obj, CanBus.OBSTACLE))
speed_and_accelerometer_step = 2
if self.frame % speed_and_accelerometer_step == 0:
idx = (self.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 self.frame % speed_and_accelerometer_step == 0:
idx = (self.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 self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.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.
@@ -110,7 +112,7 @@ class CarController:
lka_active = CS.lkas_status == 1
lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical)
if self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
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

8
selfdrive/car/gm/carstate.py
View File

@@ -3,7 +3,9 @@ from common.numpy_fast import mean
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, STEER_THRESHOLD
from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
TransmissionType = car.CarParams.TransmissionType
class CarState(CarStateBase):
@@ -35,7 +37,7 @@ class CarState(CarStateBase):
ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
# Regen braking is braking
if self.car_fingerprint == CAR.VOLT:
if self.CP.transmissionType == TransmissionType.direct:
ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -120,7 +122,7 @@ class CarState(CarStateBase):
("EBCMBrakePedalPosition", 100),
]
if CP.carFingerprint == CAR.VOLT:
if CP.transmissionType == TransmissionType.direct:
signals.append(("RegenPaddle", "EBCMRegenPaddle"))
checks.append(("EBCMRegenPaddle", 50))

19
selfdrive/car/gm/interface.py
View File

@@ -9,6 +9,8 @@ from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -45,7 +47,11 @@ class CarInterface(CarInterfaceBase):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.pcmCruise = False # stock cruise control is kept off
ret.pcmCruise = False # For ASCM, stock non-adaptive cruise control is kept off
ret.radarOffCan = False # For ASCM, radar exists
ret.transmissionType = TransmissionType.automatic
# NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
ret.networkLocation = NetworkLocation.gateway
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -77,17 +83,18 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
if candidate == CAR.VOLT:
ret.transmissionType = TransmissionType.direct
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.MALIBU:
@@ -160,7 +167,7 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = [be]
events = self.create_common_events(ret, pcm_enable=False)
events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise)
if ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
@@ -170,7 +177,7 @@ class CarInterface(CarInterfaceBase):
events.add(car.CarEvent.EventName.belowSteerSpeed)
# handle button presses
events.events.extend(create_button_enable_events(ret.buttonEvents))
events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
ret.events = events.to_msg()

2
selfdrive/test/process_replay/ref_commit
View File

@@ -1 +1 @@
a98dfc72bb4c5624c2223ca65d52b151f419460c
d7c610172f3ff10b68403abc19b260c91c848ebb