OPGM - Pedal interceptor SnG
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
parent
e102fdcb43
commit
58236aab77
372
opendbc/gm_global_a_powertrain_volt.dbc
Normal file
372
opendbc/gm_global_a_powertrain_volt.dbc
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@ -0,0 +1,372 @@
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CM_ "AUTOGENERATED FILE, DO NOT EDIT";
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CM_ "Imported file _comma.dbc starts here";
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BO_ 512 GAS_COMMAND: 6 NEO
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SG_ GAS_COMMAND : 7|16@0+ (0.2777778,-96.111115) [0|1] "" INTERCEPTOR
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SG_ GAS_COMMAND2 : 23|16@0+ (0.120853074,-79.15877) [0|1] "" INTERCEPTOR
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SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
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SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
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SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
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BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
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SG_ INTERCEPTOR_GAS : 7|16@0+ (0.2777778,-96.111115) [0|1] "" NEO
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SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.120853074,-79.15877) [0|1] "" NEO
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SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO
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SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO
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SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO
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VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
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CM_ "gm_global_a_powertrain.dbc starts here";
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VERSION ""
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NS_ :
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NS_DESC_
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CM_
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BA_DEF_
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BA_
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VAL_
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CAT_DEF_
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CAT_
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FILTER
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BA_DEF_DEF_
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EV_DATA_
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ENVVAR_DATA_
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SGTYPE_
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SGTYPE_VAL_
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BA_DEF_SGTYPE_
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BA_SGTYPE_
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SIG_TYPE_REF_
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VAL_TABLE_
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SIG_GROUP_
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SIG_VALTYPE_
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SIGTYPE_VALTYPE_
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BO_TX_BU_
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BA_DEF_REL_
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BA_REL_
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BA_DEF_DEF_REL_
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BU_SG_REL_
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BU_EV_REL_
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BU_BO_REL_
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SG_MUL_VAL_
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BS_:
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BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB
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VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ;
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VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ;
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VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
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VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
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VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ;
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VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ;
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VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ;
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VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
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VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
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VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
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VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ;
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VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
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BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
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SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] "" NEO
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BO_ 190 ECMAcceleratorPos: 6 K20_ECM
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SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO
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SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO
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BO_ 201 ECMEngineStatus: 8 K20_ECM
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SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
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SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO
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SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
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SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO
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SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
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SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO
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BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
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SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX
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SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX
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SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX
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SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX
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SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX
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SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX
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BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
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SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX
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SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO
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BO_ 298 BCMDoorBeltStatus: 8 K9_BCM
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SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO
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SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO
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SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO
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SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO
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SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO
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SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO
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BO_ 309 ECMPRDNL: 8 K20_ECM
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SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO
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SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX
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BO_ 320 BCMTurnSignals: 3 K9_BCM
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SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO
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SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX
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SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
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SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX
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BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM
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SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX
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SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX
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BO_ 328 PSCM_148: 1 K43_PSCM
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BO_ 381 ESPStatus: 6 K20_ECM
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SG_ TractionControlOn : 5|1@0+ (1,0) [0|0] "" NEO
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SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO
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BO_ 384 ASCMLKASteeringCmd: 4 NEO
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SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" NEO
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SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] "" NEO
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SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] "" NEO
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SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] "" NEO
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BO_ 388 PSCMStatus: 8 K43_PSCM
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SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO
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SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO
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SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO
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SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
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SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
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SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
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SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX
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SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX
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BO_ 417 AcceleratorPedal: 7 XXX
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SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO
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BO_ 451 GasAndAcc: 8 XXX
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SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO
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BO_ 452 AcceleratorPedal2: 8 XXX
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SG_ CruiseState : 15|3@0+ (1,0) [0|7] "" NEO
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SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO
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BO_ 481 ASCMSteeringButton: 7 K124_ASCM
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SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO
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SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO
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SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
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SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO
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SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
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SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
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SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO
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BO_ 485 PSCMSteeringAngle: 8 K43_PSCM
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SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO
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SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO
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BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM
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SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO
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SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO
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SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO
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SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO
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BO_ 352 BCMImmobilizer: 5 K9_BCM
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SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX
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BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM
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SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX
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SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX
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SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX
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BO_ 501 ECMPRDNL2: 8 K20_ECM
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SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
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SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
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SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
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BO_ 532 BRAKE_RELATED: 6 XXX
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SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX
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BO_ 560 EPBStatus: 8 EPB
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SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO
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BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM
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SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
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BO_ 608 SPEED_RELATED: 8 XXX
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SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX
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SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX
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BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
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SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO
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SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO
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BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
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SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO
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SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO
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SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO
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SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO
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SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO
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SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO
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SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO
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SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] "" NEO
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SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] "" NEO
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BO_ 717 ASCM_2CD: 5 K124_ASCM
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BO_ 761 BRAKE_RELATED_2: 7 XXX
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SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX
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BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
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SG_ RollingCounter : 33|2@0+ (1,0) [0|0] "" NEO
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SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO
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SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO
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SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO
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BO_ 800 AEBCmd: 6 K124_ASCM
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SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO
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SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO
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SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO
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SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO
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SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO
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BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
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SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO
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SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO
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BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
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SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
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SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
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BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
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SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO
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SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO
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SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO
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SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO
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BO_ 869 ASCM_365: 4 K124_ASCM
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BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
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SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX
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SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
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SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO
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SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO
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SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO
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SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO
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SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX
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BO_ 967 EVDriveMode: 4 XXX
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SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX
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SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX
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SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX
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BO_ 977 ECMCruiseControl: 8 K20_ECM
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SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
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SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
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BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
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SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO
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SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO
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BO_ 1033 ASCMKeepAlive: 7 NEO
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SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO
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BO_ 1034 ASCM_40A: 7 K124_ASCM
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BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM
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SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO
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BO_ 1249 VIN_Part2: 8 K20_ECM
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SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO
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BO_ 1296 ASCM_510: 4 K124_ASCM
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BO_ 1300 VIN_Part1: 8 K20_ECM
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SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO
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BO_ 1912 PSCM_778: 8 K43_PSCM
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BO_ 1930 ASCM_78A: 7 K124_ASCM
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BO_TX_BU_ 384 : K124_ASCM,NEO;
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BO_TX_BU_ 880 : NEO,K124_ASCM;
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BO_TX_BU_ 1033 : K124_ASCM,NEO;
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BO_TX_BU_ 715 : NEO,K124_ASCM;
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BO_TX_BU_ 789 : NEO,K124_ASCM;
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BO_TX_BU_ 800 : NEO,K124_ASCM;
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CM_ BU_ K16_BECM "Battery Energy Control Module";
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CM_ BU_ K73_TCIC "Telematics Communication Control Module";
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CM_ BU_ K9_BCM "Body Control Module";
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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"
|
||||
@ -492,6 +492,7 @@ opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
|
||||
opendbc/chrysler_pacifica_2017_hybrid_private_fusion.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_chassis.dbc
|
||||
|
||||
|
||||
@ -110,12 +110,18 @@ class CarController(CarControllerBase):
|
||||
# Gas/regen, brakes, and UI commands - all at 25Hz
|
||||
if self.frame % 4 == 0:
|
||||
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
|
||||
if not CC.longActive:
|
||||
# ASCM sends max regen when not enabled
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
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:
|
||||
# Normal operation
|
||||
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)))
|
||||
# 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
|
||||
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
|
||||
|
||||
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 CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed:
|
||||
# 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
|
||||
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
|
||||
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,
|
||||
|
||||
@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
|
||||
from opendbc.can.can_define import CANDefine
|
||||
from opendbc.can.parser import CANParser
|
||||
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
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
@ -90,7 +90,8 @@ class CarState(CarStateBase):
|
||||
|
||||
if self.CP.enableGasInterceptor:
|
||||
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:
|
||||
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
|
||||
ret.gasPressed = ret.gas > 1e-5
|
||||
|
||||
@ -240,6 +240,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.longitudinalTuning.kf = 0.15
|
||||
ret.stoppingDecelRate = 0.8
|
||||
else: # Pedal used for SNG, ACC for longitudinal control otherwise
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
|
||||
ret.startingState = True
|
||||
ret.vEgoStopping = 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
|
||||
self.CP.networkLocation == NetworkLocation.fwdCamera):
|
||||
events.add(EventName.belowEngageSpeed)
|
||||
if ret.cruiseState.standstill:
|
||||
if ret.cruiseState.standstill and not self.CP.autoResumeSng:
|
||||
events.add(EventName.resumeRequired)
|
||||
if ret.vEgo < self.CP.minSteerSpeed:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
@ -18,7 +18,9 @@ class CarControllerParams:
|
||||
STEER_DRIVER_ALLOWANCE = 65
|
||||
STEER_DRIVER_MULTIPLIER = 4
|
||||
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"
|
||||
ADAS_KEEPALIVE_STEP = 100
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user