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OPGM - Pedal interceptor SnG

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Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-29 02:50:11 -07:00
parent e102fdcb43
commit 58236aab77
6 changed files with 397 additions and 6 deletions
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372
opendbc/gm_global_a_powertrain_volt.dbc Normal file
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CM_ "AUTOGENERATED FILE, DO NOT EDIT";
CM_ "Imported file _comma.dbc starts here";
BO_ 512 GAS_COMMAND: 6 NEO
SG_ GAS_COMMAND : 7|16@0+ (0.2777778,-96.111115) [0|1] "" INTERCEPTOR
SG_ GAS_COMMAND2 : 23|16@0+ (0.120853074,-79.15877) [0|1] "" INTERCEPTOR
SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
SG_ INTERCEPTOR_GAS : 7|16@0+ (0.2777778,-96.111115) [0|1] "" NEO
SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.120853074,-79.15877) [0|1] "" NEO
SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO
SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO
SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO
VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
CM_ "gm_global_a_powertrain.dbc starts here";
VERSION ""
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
CAT_DEF_
CAT_
FILTER
BA_DEF_DEF_
EV_DATA_
ENVVAR_DATA_
SGTYPE_
SGTYPE_VAL_
BA_DEF_SGTYPE_
BA_SGTYPE_
SIG_TYPE_REF_
VAL_TABLE_
SIG_GROUP_
SIG_VALTYPE_
SIGTYPE_VALTYPE_
BO_TX_BU_
BA_DEF_REL_
BA_REL_
BA_DEF_DEF_REL_
BU_SG_REL_
BU_EV_REL_
BU_BO_REL_
SG_MUL_VAL_
BS_:
BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB
VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ;
VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ;
VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ;
VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ;
VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ;
VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ;
VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ;
VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ;
VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] "" NEO
BO_ 190 ECMAcceleratorPos: 6 K20_ECM
SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO
SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO
BO_ 201 ECMEngineStatus: 8 K20_ECM
SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO
SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO
SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO
BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX
SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX
SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX
SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX
SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX
BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX
SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO
BO_ 298 BCMDoorBeltStatus: 8 K9_BCM
SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO
SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO
SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO
SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO
SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO
SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO
BO_ 309 ECMPRDNL: 8 K20_ECM
SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO
SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX
BO_ 320 BCMTurnSignals: 3 K9_BCM
SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO
SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX
SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX
BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM
SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX
SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX
BO_ 328 PSCM_148: 1 K43_PSCM
BO_ 381 ESPStatus: 6 K20_ECM
SG_ TractionControlOn : 5|1@0+ (1,0) [0|0] "" NEO
SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO
BO_ 384 ASCMLKASteeringCmd: 4 NEO
SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" NEO
SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] "" NEO
SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] "" NEO
SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] "" NEO
BO_ 388 PSCMStatus: 8 K43_PSCM
SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO
SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO
SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO
SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX
SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX
BO_ 417 AcceleratorPedal: 7 XXX
SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO
BO_ 451 GasAndAcc: 8 XXX
SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO
BO_ 452 AcceleratorPedal2: 8 XXX
SG_ CruiseState : 15|3@0+ (1,0) [0|7] "" NEO
SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO
BO_ 481 ASCMSteeringButton: 7 K124_ASCM
SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO
SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO
BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO
SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
BO_ 352 BCMImmobilizer: 5 K9_BCM
SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX
BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX
SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
BO_ 501 ECMPRDNL2: 8 K20_ECM
SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
BO_ 532 BRAKE_RELATED: 6 XXX
SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX
BO_ 560 EPBStatus: 8 EPB
SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO
BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM
SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
BO_ 608 SPEED_RELATED: 8 XXX
SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX
SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX
BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO
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
BO_ 717 ASCM_2CD: 5 K124_ASCM
BO_ 761 BRAKE_RELATED_2: 7 XXX
SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX
BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
SG_ RollingCounter : 33|2@0+ (1,0) [0|0] "" NEO
SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO
SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO
SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO
BO_ 800 AEBCmd: 6 K124_ASCM
SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO
SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO
BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO
SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO
BO_ 869 ASCM_365: 4 K124_ASCM
BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX
SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
BO_ 967 EVDriveMode: 4 XXX
SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX
SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX
SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX
BO_ 977 ECMCruiseControl: 8 K20_ECM
SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO
SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO
BO_ 1033 ASCMKeepAlive: 7 NEO
SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO
BO_ 1034 ASCM_40A: 7 K124_ASCM
BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO
BO_ 1249 VIN_Part2: 8 K20_ECM
SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO
BO_ 1296 ASCM_510: 4 K124_ASCM
BO_ 1300 VIN_Part1: 8 K20_ECM
SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO
BO_ 1912 PSCM_778: 8 K43_PSCM
BO_ 1930 ASCM_78A: 7 K124_ASCM
BO_TX_BU_ 384 : K124_ASCM,NEO;
BO_TX_BU_ 880 : NEO,K124_ASCM;
BO_TX_BU_ 1033 : K124_ASCM,NEO;
BO_TX_BU_ 715 : NEO,K124_ASCM;
BO_TX_BU_ 789 : NEO,K124_ASCM;
BO_TX_BU_ 800 : NEO,K124_ASCM;
CM_ BU_ K16_BECM "Battery Energy Control Module";
CM_ BU_ K73_TCIC "Telematics Communication Control Module";
CM_ BU_ K9_BCM "Body Control Module";
CM_ BU_ K43_PSCM "Power Steering Control Module";
CM_ BU_ K17_EBCM "Electronic Brake Control Module";
CM_ BU_ K20_ECM "Engine Control Module";
CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
CM_ BU_ NEO "Comma NEO";
CM_ BU_ K124_ASCM "Active Safety Control Module";
CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active";
CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active";
CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
CM_ SG_ 497 SystemPowerMode "Describes ignition";
CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy";
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
BA_DEF_ "UseGMParameterIDs" INT 0 0;
BA_DEF_ "ProtocolType" STRING ;
BA_DEF_ "BusType" STRING ;
BA_DEF_DEF_ "UseGMParameterIDs" 1;
BA_DEF_DEF_ "ProtocolType" "GMLAN";
BA_DEF_DEF_ "BusType" "";
BA_ "BusType" "CAN";
BA_ "ProtocolType" "GMLAN";
BA_ "UseGMParameterIDs" 0;
VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ;
VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ;
VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;
VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting";
VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged";
VAL_ 501 ManualMode 1 "Active" 0 "Inactive"

1
release/files_common
View File

@ -492,6 +492,7 @@ opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
opendbc/gm_global_a_powertrain_generated.dbc opendbc/gm_global_a_powertrain_generated.dbc
opendbc/gm_global_a_powertrain_volt.dbc
opendbc/gm_global_a_object.dbc opendbc/gm_global_a_object.dbc
opendbc/gm_global_a_chassis.dbc opendbc/gm_global_a_chassis.dbc

18
selfdrive/car/gm/carcontroller.py
View File

@ -110,12 +110,18 @@ class CarController(CarControllerBase):
# Gas/regen, brakes, and UI commands - all at 25Hz # Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0: if self.frame % 4 == 0:
stopping = actuators.longControlState == LongCtrlState.stopping stopping = actuators.longControlState == LongCtrlState.stopping
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
interceptor_gas_cmd = 0 interceptor_gas_cmd = 0
if not CC.longActive: if not CC.longActive:
# ASCM sends max regen when not enabled # ASCM sends max regen when not enabled
self.apply_gas = self.params.INACTIVE_REGEN self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = 0 self.apply_brake = 0
elif near_stop and stopping and not CC.cruiseControl.resume:
self.apply_gas = self.params.INACTIVE_REGEN
self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
else: else:
# Normal operation
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) 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))) self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
# Don't allow any gas above inactive regen while stopping # Don't allow any gas above inactive regen while stopping
@ -126,10 +132,14 @@ class CarController(CarControllerBase):
# gas interceptor only used for full long control on cars without ACC # gas interceptor only used for full long control on cars without ACC
interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive) interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)
if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
# "Tap" the accelerator pedal to re-engage ACC
interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS
self.apply_brake = 0
self.apply_gas = self.params.INACTIVE_REGEN
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)
if self.CP.flags & GMFlags.CC_LONG.value: if self.CP.flags & GMFlags.CC_LONG.value:
if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed: if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed:
# Using extend instead of append since the message is only sent intermittently # Using extend instead of append since the message is only sent intermittently
@ -144,6 +154,10 @@ class CarController(CarControllerBase):
at_full_stop = at_full_stop and stopping at_full_stop = at_full_stop and stopping
friction_brake_bus = CanBus.POWERTRAIN friction_brake_bus = CanBus.POWERTRAIN
if self.CP.autoResumeSng:
resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
at_full_stop = at_full_stop and not resume
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation # 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_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, friction_brake_bus, self.apply_brake, can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,

5
selfdrive/car/gm/carstate.py
View File

@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
from opendbc.can.can_define import CANDefine from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CAMERA_ACC_CAR, CC_ONLY_CAR
TransmissionType = car.CarParams.TransmissionType TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation NetworkLocation = car.CarParams.NetworkLocation
@ -90,7 +90,8 @@ class CarState(CarStateBase):
if self.CP.enableGasInterceptor: if self.CP.enableGasInterceptor:
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2. ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
ret.gasPressed = ret.gas > 3 threshold = 15 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4
ret.gasPressed = ret.gas > threshold
else: else:
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
ret.gasPressed = ret.gas > 1e-5 ret.gasPressed = ret.gas > 1e-5

3
selfdrive/car/gm/interface.py
View File

@ -240,6 +240,7 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kf = 0.15 ret.longitudinalTuning.kf = 0.15
ret.stoppingDecelRate = 0.8 ret.stoppingDecelRate = 0.8
else: # Pedal used for SNG, ACC for longitudinal control otherwise else: # Pedal used for SNG, ACC for longitudinal control otherwise
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
ret.startingState = True ret.startingState = True
ret.vEgoStopping = 0.25 ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25 ret.vEgoStarting = 0.25
@ -304,7 +305,7 @@ class CarInterface(CarInterfaceBase):
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera): self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed) events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill: if ret.cruiseState.standstill and not self.CP.autoResumeSng:
events.add(EventName.resumeRequired) events.add(EventName.resumeRequired)
if ret.vEgo < self.CP.minSteerSpeed: if ret.vEgo < self.CP.minSteerSpeed:
events.add(EventName.belowSteerSpeed) events.add(EventName.belowSteerSpeed)

4
selfdrive/car/gm/values.py
View File

@ -18,7 +18,9 @@ class CarControllerParams:
STEER_DRIVER_ALLOWANCE = 65 STEER_DRIVER_ALLOWANCE = 65
STEER_DRIVER_MULTIPLIER = 4 STEER_DRIVER_MULTIPLIER = 4
STEER_DRIVER_FACTOR = 100 STEER_DRIVER_FACTOR = 100
NEAR_STOP_BRAKE_PHASE = 0.5 # m/s NEAR_STOP_BRAKE_PHASE = 0.25 # m/s
SNG_INTERCEPTOR_GAS = 18. / 255.
SNG_TIME = 30 # frames until the above is reached
# Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera" # Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
ADAS_KEEPALIVE_STEP = 100 ADAS_KEEPALIVE_STEP = 100