From c95164c80dc65893414d79496175e8ac6c64ae7c Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Sat, 11 May 2024 20:15:08 -0700 Subject: [PATCH] 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 | 17 ++++++------ panda/board/safety/safety_gm.h | 10 +++---- selfdrive/car/gm/interface.py | 6 ++++- selfdrive/car/gm/values.py | 28 +++++++++++++------- 4 files changed, 36 insertions(+), 25 deletions(-) diff --git a/opendbc/gm_global_a_powertrain_generated.dbc b/opendbc/gm_global_a_powertrain_generated.dbc index 1c78dd7b0..5758db698 100644 --- a/opendbc/gm_global_a_powertrain_generated.dbc +++ b/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 diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h index fec187c40..3194fa597 100644 --- a/panda/board/safety/safety_gm.h +++ b/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 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index b201fa40e..bb68b3b84 100644 --- a/selfdrive/car/gm/interface.py +++ b/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 diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 15878c183..67c379d52 100644 --- a/selfdrive/car/gm/values.py +++ b/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})