Add SDGM support
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
parent
d7f2971c9c
commit
5886f1e41f
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@ -227,6 +227,13 @@ void ignition_can_hook(CANPacket_t *to_push) {
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ignition_can_cnt = 0U;
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}
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} else if (bus == 2) {
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// GM exception, SDGM cars have this message on bus 2
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if ((addr == 0x1F1) && (len == 8)) {
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// SystemPowerMode (2=Run, 3=Crank Request)
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ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
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ignition_can_cnt = 0U;
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}
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}
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}
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@ -35,6 +35,9 @@ const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {
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const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, // pt bus
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{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
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const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus
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{0x184, 2, 8}}; // camera bus
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const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, // pt bus
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{0x184, 2, 8}}; // camera bus
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@ -42,7 +45,10 @@ const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8
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RxCheck gm_rx_checks[] = {
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{.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0x1E1, 0, 7, .frequency = 10U}, // Non-SDGM Car
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{0x1E1, 2, 7, .frequency = 10U}}}, // SDGM Car
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{.msg = {{0xF1, 0, 6, .frequency = 10U}, // Non-SDGM Car
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{0xF1, 2, 6, .frequency = 10U}}}, // SDGM Car
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{.msg = {{0xBE, 0, 6, .frequency = 10U}, // Volt, Silverado, Acadia Denali
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{0xBE, 0, 7, .frequency = 10U}, // Bolt EUV
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{0xBE, 0, 8, .frequency = 10U}}}, // Escalade
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@ -52,6 +58,7 @@ RxCheck gm_rx_checks[] = {
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const uint16_t GM_PARAM_HW_CAM = 1;
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const uint16_t GM_PARAM_HW_CAM_LONG = 2;
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const uint16_t GM_PARAM_HW_SDGM = 4;
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enum {
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GM_BTN_UNPRESS = 1,
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@ -60,11 +67,34 @@ enum {
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GM_BTN_CANCEL = 6,
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};
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enum {GM_ASCM, GM_CAM} gm_hw = GM_ASCM;
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enum {GM_ASCM, GM_CAM, GM_SDGM} gm_hw = GM_ASCM;
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bool gm_cam_long = false;
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bool gm_pcm_cruise = false;
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static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
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int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
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// enter controls on falling edge of set or rising edge of resume (avoids fault)
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bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
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bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
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if (set || res) {
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controls_allowed = true;
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}
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// exit controls on cancel press
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if (button == GM_BTN_CANCEL) {
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controls_allowed = false;
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}
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cruise_button_prev = button;
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}
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static void gm_rx_hook(const CANPacket_t *to_push) {
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if ((GET_BUS(to_push) == 2U) && (GET_ADDR(to_push) == 0x1E1) && (gm_hw == GM_SDGM)) {
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// SDGM buttons are on bus 2
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handle_gm_wheel_buttons(to_push);
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}
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if (GET_BUS(to_push) == 0U) {
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int addr = GET_ADDR(to_push);
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@ -82,23 +112,9 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
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vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
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}
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// ACC steering wheel buttons (GM_CAM is tied to the PCM)
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if ((addr == 0x1E1) && !gm_pcm_cruise) {
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int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
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// enter controls on falling edge of set or rising edge of resume (avoids fault)
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bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
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bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
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if (set || res) {
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controls_allowed = true;
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}
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// exit controls on cancel press
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if (button == GM_BTN_CANCEL) {
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controls_allowed = false;
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}
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cruise_button_prev = button;
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// ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM)
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if ((addr == 0x1E1) && (!gm_pcm_cruise || gas_interceptor_detected || gm_cc_long) && (gm_hw != GM_SDGM)) {
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handle_gm_wheel_buttons(to_push);
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}
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// Reference for brake pressed signals:
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@ -107,7 +123,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
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brake_pressed = GET_BYTE(to_push, 1) >= 8U;
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}
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if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
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if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
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brake_pressed = GET_BIT(to_push, 40U) != 0U;
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}
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@ -191,7 +207,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
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static int gm_fwd_hook(int bus_num, int addr) {
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int bus_fwd = -1;
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if (gm_hw == GM_CAM) {
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if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
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if (bus_num == 0) {
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// block PSCMStatus; forwarded through openpilot to hide an alert from the camera
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bool is_pscm_msg = (addr == 0x184);
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@ -215,11 +231,17 @@ static int gm_fwd_hook(int bus_num, int addr) {
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}
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static safety_config gm_init(uint16_t param) {
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gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
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if GET_FLAG(param, GM_PARAM_HW_CAM) {
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gm_hw = GM_CAM;
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} else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
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gm_hw = GM_SDGM;
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} else {
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gm_hw = GM_ASCM;
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}
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if (gm_hw == GM_ASCM) {
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gm_long_limits = &GM_ASCM_LONG_LIMITS;
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} else if (gm_hw == GM_CAM) {
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} else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
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gm_long_limits = &GM_CAM_LONG_LIMITS;
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} else {
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}
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@ -227,12 +249,13 @@ static safety_config gm_init(uint16_t param) {
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#ifdef ALLOW_DEBUG
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gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
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#endif
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gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long;
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gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long || (gm_hw == GM_SDGM);
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safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
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if (gm_hw == GM_CAM) {
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ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
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}
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} else if (gm_hw == GM_SDGM) {
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ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
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return ret;
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}
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@ -231,6 +231,8 @@ class Panda:
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FLAG_GM_HW_CAM = 1
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FLAG_GM_HW_CAM_LONG = 2
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FLAG_GM_HW_SDGM = 4
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FLAG_GM_HW_ASCM_LONG = 16
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FLAG_FORD_LONG_CONTROL = 1
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FLAG_FORD_CANFD = 2
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@ -5,7 +5,7 @@ from openpilot.common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_driver_steer_torque_limits
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from openpilot.selfdrive.car.gm import gmcan
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from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR
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from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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NetworkLocation = car.CarParams.NetworkLocation
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@ -150,7 +150,10 @@ class CarController:
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if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
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if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
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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, CS.buttons_counter, CruiseButtons.CANCEL))
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if self.CP.carFingerprint in SDGM_CAR:
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can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
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else:
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can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
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if self.CP.networkLocation == NetworkLocation.fwdCamera:
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# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
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@ -5,7 +5,7 @@ from openpilot.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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from openpilot.selfdrive.car.interfaces import CarStateBase
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from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR
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from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, SDGM_CAR
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TransmissionType = car.CarParams.TransmissionType
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NetworkLocation = car.CarParams.NetworkLocation
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@ -32,8 +32,12 @@ class CarState(CarStateBase):
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ret = car.CarState.new_message()
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self.prev_cruise_buttons = self.cruise_buttons
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self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
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self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
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if self.CP.carFingerprint not in SDGM_CAR:
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self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
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self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
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else:
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self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
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self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
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self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
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# This is to avoid a fault where you engage while still moving backwards after shifting to D.
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# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
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@ -91,18 +95,32 @@ class CarState(CarStateBase):
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ret.steerFaultTemporary = self.lkas_status == 2
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ret.steerFaultPermanent = self.lkas_status == 3
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# 1 - open, 0 - closed
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ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
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pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
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pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
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pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
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if self.CP.carFingerprint not in SDGM_CAR:
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# 1 - open, 0 - closed
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ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
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pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
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pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
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pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
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# 1 - latched
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ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
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ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
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ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
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# 1 - latched
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ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
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ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
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ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
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ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
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ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
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else:
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# 1 - open, 0 - closed
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ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
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cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
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cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
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cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
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# 1 - latched
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ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
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ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
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ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
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ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
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ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
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ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
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ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
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@ -113,7 +131,10 @@ class CarState(CarStateBase):
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if self.CP.networkLocation == NetworkLocation.fwdCamera:
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if self.CP.carFingerprint not in CC_ONLY_CAR:
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ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
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ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
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if self.CP.carFingerprint not in SDGM_CAR:
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ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
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else:
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ret.stockAeb = False
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# openpilot controls nonAdaptive when not pcmCruise
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if self.CP.pcmCruise:
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ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
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@ -123,8 +144,12 @@ class CarState(CarStateBase):
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ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
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if self.CP.enableBsm:
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ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
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ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
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if self.CP.carFingerprint not in SDGM_CAR:
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ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
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ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
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else:
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ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
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ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
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return ret
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@ -133,9 +158,21 @@ class CarState(CarStateBase):
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messages = []
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if CP.networkLocation == NetworkLocation.fwdCamera:
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messages += [
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("AEBCmd", 10),
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("ASCMLKASteeringCmd", 10),
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]
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if CP.carFingerprint in SDGM_CAR:
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messages += [
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("BCMTurnSignals", 1),
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("BCMDoorBeltStatus", 10),
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("BCMGeneralPlatformStatus", 10),
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("ASCMSteeringButton", 33),
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]
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if CP.enableBsm:
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messages.append(("BCMBlindSpotMonitor", 10))
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else:
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messages += [
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("AEBCmd", 10),
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]
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if CP.carFingerprint not in CC_ONLY_CAR:
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messages += [
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("ASCMActiveCruiseControlStatus", 25),
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@ -146,24 +183,33 @@ class CarState(CarStateBase):
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@staticmethod
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def get_can_parser(CP):
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messages = [
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("BCMTurnSignals", 1),
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("ECMPRDNL2", 10),
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("PSCMStatus", 10),
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("ESPStatus", 10),
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("BCMDoorBeltStatus", 10),
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("BCMGeneralPlatformStatus", 10),
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("EBCMWheelSpdFront", 20),
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("EBCMWheelSpdRear", 20),
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("EBCMFrictionBrakeStatus", 20),
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("AcceleratorPedal2", 33),
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("ASCMSteeringButton", 33),
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("ECMEngineStatus", 100),
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("PSCMSteeringAngle", 100),
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("ECMAcceleratorPos", 80),
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]
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if CP.enableBsm:
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messages.append(("BCMBlindSpotMonitor", 10))
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if CP.carFingerprint in SDGM_CAR:
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messages += [
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("ECMPRDNL2", 40),
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("AcceleratorPedal2", 40),
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("ECMEngineStatus", 80),
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]
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else:
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messages += [
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("ECMPRDNL2", 10),
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("AcceleratorPedal2", 33),
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("ECMEngineStatus", 100),
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("BCMTurnSignals", 1),
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("BCMDoorBeltStatus", 10),
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("BCMGeneralPlatformStatus", 10),
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("ASCMSteeringButton", 33),
|
||||
]
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
|
||||
# Used to read back last counter sent to PT by camera
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
|
|
|
|||
|
|
@ -167,6 +167,11 @@ FINGERPRINTS = {
|
|||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 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, 454: 8, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 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, 717: 5, 723: 4, 730: 4, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
|
||||
}],
|
||||
CAR.XT4: [
|
||||
# Cadillac XT4 w/ ACC 2023
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 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, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 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, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
|
||||
|
|
|
|||
|
|
@ -8,7 +8,7 @@ from openpilot.common.basedir import BASEDIR
|
|||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.selfdrive.car import create_button_events, get_safety_config
|
||||
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
|
||||
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR
|
||||
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
|
||||
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
|
||||
from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
|
||||
|
||||
|
|
@ -128,6 +128,15 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
||||
|
||||
elif candidate in SDGM_CAR:
|
||||
ret.experimentalLongitudinalAvailable = False
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.pcmCruise = True
|
||||
ret.radarUnavailable = True
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by ASCM
|
||||
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
|
||||
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
|
|
@ -293,6 +302,14 @@ class CarInterface(CarInterfaceBase):
|
|||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.XT4:
|
||||
ret.mass = 3660. * CV.LB_TO_KG
|
||||
ret.wheelbase = 2.78
|
||||
ret.steerRatio = 14.4
|
||||
ret.centerToFront = ret.wheelbase * 0.4
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CT6_CC:
|
||||
ret.wheelbase = 3.11
|
||||
ret.mass = 5198. * CV.LB_TO_KG
|
||||
|
|
@ -329,7 +346,7 @@ class CarInterface(CarInterfaceBase):
|
|||
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
|
||||
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
|
||||
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
|
||||
self.CP.networkLocation == NetworkLocation.fwdCamera):
|
||||
(self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if ret.cruiseState.standstill:
|
||||
events.add(EventName.resumeRequired)
|
||||
|
|
|
|||
|
|
@ -49,6 +49,12 @@ class CarControllerParams:
|
|||
# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
|
||||
max_regen_acceleration = 0.
|
||||
|
||||
elif CP.carFingerprint in SDGM_CAR:
|
||||
self.MAX_GAS = 3400
|
||||
self.MAX_ACC_REGEN = 1514
|
||||
self.INACTIVE_REGEN = 1554
|
||||
max_regen_acceleration = 0.
|
||||
|
||||
else:
|
||||
self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
|
||||
self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
|
||||
|
|
@ -89,6 +95,7 @@ class CAR(StrEnum):
|
|||
YUKON_CC = "GMC YUKON NO ACC"
|
||||
CT6_CC = "CADILLAC CT6 NO ACC"
|
||||
TRAILBLAZER_CC = "CHEVROLET TRAILBLAZER 2024 NO ACC"
|
||||
XT4 = "CADILLAC XT4 2023"
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
|
|
@ -140,6 +147,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
|
|||
CAR.YUKON_CC: GMCarInfo("GMC Yukon No ACC"),
|
||||
CAR.CT6_CC: GMCarInfo("Cadillac CT6 No ACC"),
|
||||
CAR.TRAILBLAZER_CC: GMCarInfo("Chevrolet Trailblazer 2024 No ACC"),
|
||||
CAR.XT4: GMCarInfo("Cadillac XT4 2023", "Driver Assist Package"),
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -212,6 +220,9 @@ DBC[CAR.VOLT_CC] = DBC[CAR.VOLT]
|
|||
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV, CAR.VOLT_CC, CAR.BOLT_CC}
|
||||
CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC}
|
||||
|
||||
# We're integrated at the Safety Data Gateway Module on these cars
|
||||
SDGM_CAR = {CAR.XT4}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
|
||||
CAMERA_ACC_CAR.update({CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC})
|
||||
|
|
|
|||
|
|
@ -39,6 +39,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
|||
"SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2]
|
||||
"CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
|
||||
"CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2]
|
||||
"CADILLAC XT4 2023" = [1.45, 1.6, 0.2]
|
||||
"CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05]
|
||||
"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
|
||||
"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
|
||||
|
|
|
|||
Loading…
Reference in New Issue