OPGM - Add SDGM support
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com> Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>
This commit is contained in:
FrogAi
parent
58236aab77
commit
6101fd0eb2
@ -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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@ -43,6 +43,9 @@ const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, /
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const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, // 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_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus
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{0x184, 2, 8}, {0x1E1, 2, 7}}; // camera bus
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@ -50,18 +53,21 @@ const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus
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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 = {{0xF1, 0, 6, .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 = 100000U}}}, // SDGM Car
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{.msg = {{0xF1, 0, 6, .frequency = 10U}, // Non-SDGM Car
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{0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
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{.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
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{.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
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};
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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_CC_LONG = 4;
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const uint16_t GM_PARAM_HW_ASCM_LONG = 8;
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const uint16_t GM_PARAM_NO_CAMERA = 16;
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const uint16_t GM_PARAM_NO_ACC = 32;
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const uint16_t GM_PARAM_HW_SDGM = 4;
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const uint16_t GM_PARAM_CC_LONG = 8;
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const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
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const uint16_t GM_PARAM_NO_CAMERA = 32;
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const uint16_t GM_PARAM_NO_ACC = 64;
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const uint16_t GM_PARAM_PEDAL_LONG = 128; // TODO: this can be inferred
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const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256;
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@ -72,7 +78,12 @@ 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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typedef enum {
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GM_ASCM,
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GM_CAM,
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GM_SDGM
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} GmHardware;
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GmHardware 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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bool gm_has_acc = true;
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@ -81,26 +92,7 @@ bool gm_cc_long = false;
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bool gm_skip_relay_check = false;
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bool gm_force_ascm = false;
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static void gm_rx_hook(const CANPacket_t *to_push) {
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if (GET_BUS(to_push) == 0U) {
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int addr = GET_ADDR(to_push);
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if (addr == 0x184) {
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int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
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torque_driver_new = to_signed(torque_driver_new, 11);
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// update array of samples
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update_sample(&torque_driver, torque_driver_new);
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}
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// sample rear wheel speeds
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if (addr == 0x34A) {
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int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
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int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
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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 || gm_cc_long)) {
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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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@ -118,13 +110,40 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
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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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if (addr == 0x184) {
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int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
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torque_driver_new = to_signed(torque_driver_new, 11);
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// update array of samples
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update_sample(&torque_driver, torque_driver_new);
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}
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// sample rear wheel speeds
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if (addr == 0x34A) {
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int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
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int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
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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 and GM_SDGM are tied to the PCM)
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if ((addr == 0x1E1) && (!gm_pcm_cruise || 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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// https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
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if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
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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);
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}
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@ -240,7 +259,7 @@ 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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@ -264,13 +283,19 @@ 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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gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
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if (gm_hw == GM_ASCM || gm_force_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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@ -278,7 +303,7 @@ static safety_config gm_init(uint16_t param) {
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gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
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gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
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gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
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gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
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gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
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gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
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gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
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enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
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@ -292,6 +317,8 @@ static safety_config gm_init(uint16_t param) {
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} else {
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ret = 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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}
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return ret;
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}
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@ -229,7 +229,11 @@ 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_CC_LONG = 4
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FLAG_GM_HW_SDGM = 4
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FLAG_GM_CC_LONG = 8
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FLAG_GM_HW_ASCM_LONG = 16
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FLAG_GM_NO_CAMERA = 32
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FLAG_GM_NO_ACC = 64
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FLAG_GM_PEDAL_LONG = 128 # TODO: This can be inferred
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FLAG_GM_GAS_INTERCEPTOR = 256
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@ -849,7 +849,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
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continue
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if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
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continue
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if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmInterceptorSafety', 'TestGmCcLongitudinalSafety'}):
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if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmSdgmSafety', 'TestGmInterceptorSafety', 'TestGmCcLongitudinalSafety'}):
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continue
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if attr.startswith('TestFord') and current_test.startswith('TestFord'):
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continue
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@ -223,6 +223,37 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
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self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_HW_CAM_LONG)
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self.safety.init_tests()
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class TestGmSdgmSafety(TestGmSafetyBase):
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FWD_BUS_LOOKUP = {0: 2, 2: 0}
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TX_MSGS = [[0x180, 0], [0x1E1, 0], # pt bus
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[0x184, 2]] # obj bus
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FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184]} # block LKAS message and PSCMStatus
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BUTTONS_BUS = 0 # tx
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def setUp(self):
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self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
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self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
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self.safety = libpanda_py.libpanda
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self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_SDGM)
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self.safety.init_tests()
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def _user_brake_msg(self, brake):
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values = {"BrakePressed": brake}
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return self.packer.make_can_msg_panda("ECMEngineStatus", 0, values)
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def test_buttons(self):
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# Only CANCEL button is allowed while cruise is enabled
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self.safety.set_controls_allowed(0)
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for btn in range(8):
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self.assertFalse(self._tx(self._button_msg(btn)))
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self.safety.set_controls_allowed(1)
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for btn in range(8):
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self.assertFalse(self._tx(self._button_msg(btn)))
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for enabled in (True, False):
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self._rx(self._pcm_status_msg(enabled))
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self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
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##### OPGM TESTS #####
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@ -6,7 +6,7 @@ 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, create_gas_interceptor_command
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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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from openpilot.selfdrive.car.interfaces import CarControllerBase
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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@ -205,6 +205,9 @@ class CarController(CarControllerBase):
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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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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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@ -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, CAMERA_ACC_CAR, CC_ONLY_CAR
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from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CAMERA_ACC_CAR, 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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@ -38,9 +38,14 @@ class CarState(CarStateBase):
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self.prev_cruise_buttons = self.cruise_buttons
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self.prev_distance_button = self.distance_button
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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.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
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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.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
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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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@ -107,6 +112,7 @@ 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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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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@ -119,6 +125,19 @@ class CarState(CarStateBase):
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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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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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@ -129,7 +148,10 @@ class CarState(CarStateBase):
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if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
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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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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)
|
||||
@ -139,8 +161,12 @@ class CarState(CarStateBase):
|
||||
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
|
||||
|
||||
if self.CP.enableBsm:
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
else:
|
||||
ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
|
||||
return ret
|
||||
|
||||
@ -149,9 +175,21 @@ class CarState(CarStateBase):
|
||||
messages = []
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
|
||||
messages += [
|
||||
("AEBCmd", 10),
|
||||
("ASCMLKASteeringCmd", 10),
|
||||
]
|
||||
if CP.carFingerprint in SDGM_CAR:
|
||||
messages += [
|
||||
("BCMTurnSignals", 1),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
("BCMGeneralPlatformStatus", 10),
|
||||
("ASCMSteeringButton", 33),
|
||||
]
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
else:
|
||||
messages += [
|
||||
("AEBCmd", 10),
|
||||
]
|
||||
if CP.carFingerprint not in CC_ONLY_CAR:
|
||||
messages += [
|
||||
("ASCMActiveCruiseControlStatus", 25),
|
||||
@ -162,22 +200,31 @@ class CarState(CarStateBase):
|
||||
@staticmethod
|
||||
def get_can_parser(CP):
|
||||
messages = [
|
||||
("BCMTurnSignals", 1),
|
||||
("ECMPRDNL2", 10),
|
||||
("PSCMStatus", 10),
|
||||
("ESPStatus", 10),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
("BCMGeneralPlatformStatus", 10),
|
||||
("EBCMWheelSpdFront", 20),
|
||||
("EBCMWheelSpdRear", 20),
|
||||
("EBCMFrictionBrakeStatus", 20),
|
||||
("AcceleratorPedal2", 33),
|
||||
("ASCMSteeringButton", 33),
|
||||
("ECMEngineStatus", 100),
|
||||
("PSCMSteeringAngle", 100),
|
||||
("ECMAcceleratorPos", 80),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in SDGM_CAR:
|
||||
messages += [
|
||||
("ECMPRDNL2", 40),
|
||||
("AcceleratorPedal2", 40),
|
||||
("ECMEngineStatus", 80),
|
||||
]
|
||||
else:
|
||||
messages += [
|
||||
("ECMPRDNL2", 10),
|
||||
("AcceleratorPedal2", 33),
|
||||
("ECMEngineStatus", 100),
|
||||
("BCMTurnSignals", 1),
|
||||
("BCMDoorBeltStatus", 10),
|
||||
("BCMGeneralPlatformStatus", 10),
|
||||
("ASCMSteeringButton", 33),
|
||||
]
|
||||
if CP.enableBsm:
|
||||
messages.append(("BCMBlindSpotMonitor", 10))
|
||||
|
||||
|
||||
@ -171,6 +171,11 @@ 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
|
||||
|
||||
@ -129,6 +129,15 @@ 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
|
||||
@ -217,6 +226,10 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.XT4:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CT6_CC:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
@ -269,7 +282,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
|
||||
|
||||
# Exception for flashed cars, or cars whose camera was removed
|
||||
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA]:
|
||||
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
|
||||
ret.flags |= GMFlags.NO_CAMERA.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
|
||||
|
||||
@ -303,7 +316,7 @@ 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 and not self.CP.autoResumeSng:
|
||||
events.add(EventName.resumeRequired)
|
||||
|
||||
@ -47,6 +47,12 @@ 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
|
||||
@ -211,6 +217,10 @@ class CAR(Platforms):
|
||||
[GMCarDocs("Chevrolet Trailblazer 2024 No ACC")],
|
||||
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
XT4 = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
|
||||
CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
|
||||
|
||||
class CruiseButtons:
|
||||
@ -294,6 +304,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
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})
|
||||
|
||||
@ -40,6 +40,7 @@ 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…
x
Reference in New Issue
Block a user