Vehicles - GM - Truck Tune

Increase the acceleration and smoothen out the brake control when coming to a stop. For use on Silverado/Sierra only.

Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>

opendbc/gm_global_a_powertrain_generated.dbc

@@ -214,15 +214,14 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
  SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
 
 BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
- SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 

panda/board/safety/safety_gm.h

@@ -18,8 +18,8 @@ const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS_SPORT = {
   .max_gas = 8191,
-  .min_gas = 1404,
-  .inactive_gas = 1404,
+  .min_gas = 5500,
+  .inactive_gas = 5500,
   .max_brake = 400,
 };
 
@@ -32,8 +32,8 @@ const LongitudinalLimits GM_CAM_LONG_LIMITS = {
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS_SPORT = {
   .max_gas = 8848,
-  .min_gas = 1514,
-  .inactive_gas = 1554,
+  .min_gas = 5610,
+  .inactive_gas = 5650,
   .max_brake = 400,
 };
 
@@ -243,7 +243,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
     bool apply = GET_BIT(to_send, 0U);
-    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
 
     bool violation = false;
     // Allow apply bit in pre-enabled and overriding states

selfdrive/car/gm/interface.py

@@ -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, SDGM_CAR
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, SLOW_ACC
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -123,6 +123,10 @@ class CarInterface(CarInterfaceBase):
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
 
+      if candidate in SLOW_ACC and params.get_bool("GasRegenCmd"):
+        ret.longitudinalTuning.kpV = [1.5, 1.125]
+        ret.stopAccel = -0.25
+
       if experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True

selfdrive/car/gm/values.py

@@ -39,30 +39,35 @@ class CarControllerParams:
 
   def __init__(self, CP):
     # Gas/brake lookups
-    self.ZERO_GAS = 2048  # Coasting
+    self.ZERO_GAS = 6144  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
     if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
-      self.MAX_GAS = 3400
+      self.MAX_GAS = 7496
       self.MAX_GAS_PLUS = 8848
-      self.MAX_ACC_REGEN = 1514
-      self.INACTIVE_REGEN = 1554
+      self.MAX_ACC_REGEN = 5610
+      self.INACTIVE_REGEN = 5650
       # Camera ACC vehicles have no regen while enabled.
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
       max_regen_acceleration = 0.
 
+      if CP.carFingerprint in SLOW_ACC and Params().get_bool("GasRegenCmd"):
+        self.MAX_GAS = 8650
+        self.MAX_GAS_PLUS = 8650 # Don't Stack Extra Speed
+        self.ACCEL_MAX_PLUS = 2
+
     elif CP.carFingerprint in SDGM_CAR:
-      self.MAX_GAS = 3400
+      self.MAX_GAS = 7496
       self.MAX_GAS_PLUS = 8848
-      self.MAX_ACC_REGEN = 1514
-      self.INACTIVE_REGEN = 1554
+      self.MAX_ACC_REGEN = 5610
+      self.INACTIVE_REGEN = 5650
       max_regen_acceleration = 0.
 
     else:
-      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
       self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 1404
+      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
+      self.INACTIVE_REGEN = 5500
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
       max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
@@ -325,6 +330,9 @@ CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUIN
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
 
+# Slow acceleration cars
+SLOW_ACC = {CAR.CHEVROLET_SILVERADO}
+
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
 CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})