GM: Chevy Silverado 2020-21 support (#25429)

* Silverado support Co-authored-by: Jason Shuler <jshuler@gmail.com> * Update docs * Try 2 m/s/s * Should be good torque values * Add Silverado test route * Add to releases * Send counter * can't send multiple or it faults * Send at 33hz, no counter * try 25hz, don't line up exactly with car's buttons * never tried 10hz with same counter * Update selfdrive/car/gm/gmcan.py * Make same as pcmCruise branch * update year and package (different packages needed per-trim) * Update year in releases * Revert to 21 * We can use this package name again * wrong one! Co-authored-by: Shane Smiskol <shane@smiskol.com> old-commit-hash: 1e9fdff642
2026-02-18 20:03:53 +08:00 · 2022-08-19 19:58:06 -04:00
parent ec92e07ebe
commit a019d5ea40
6 changed files with 21 additions and 2 deletions
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -4,6 +4,7 @@ Version 0.8.16 (2022-XX-XX)
  * Reduced turn cutting
 * Auto-detect right hand drive setting with driver monitoring model
 * Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
+* Chevrolet Silverado 2020-21 support thanks to JasonJShuler!
 * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Legacy 2020-22 support thanks to martinl!
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.

-# 202 Supported Cars
+# 203 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Harness|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -19,6 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -160,6 +160,15 @@ class CarInterface(CarInterfaceBase):
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

+    elif candidate == CAR.SILVERADO:
+      ret.minEnableSpeed = -1
+      ret.mass = 2200. + STD_CARGO_KG
+      ret.wheelbase = 3.75
+      ret.steerRatio = 16.3
+      ret.centerToFront = ret.wheelbase * 0.5
+      tire_stiffness_factor = 1.0
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
    # 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)
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -59,6 +59,7 @@ class CAR:
  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
+  SILVERADO = "CHEVROLET SILVERADO 1500 2020"


 class Footnote(Enum):
@@ -84,6 +85,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm),
+  CAR.SILVERADO: GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm),
 }


@@ -157,6 +159,10 @@ FINGERPRINTS = {
  {
    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
  }],
+  CAR.SILVERADO: [
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 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, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 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, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 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, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 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'))
@@ -164,6 +170,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power
 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}
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO}

 STEER_THRESHOLD = 1.0
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -48,6 +48,7 @@ routes = [
  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("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),

  TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
  TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -25,6 +25,7 @@ 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]
+CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]

 # Dashcam or fallback configured as ideal car