364 lines
14 KiB
Python
364 lines
14 KiB
Python
from dataclasses import dataclass, field
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from enum import Enum, IntFlag
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import numpy as np
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from opendbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
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from opendbc.car.structs import CarParams
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from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
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from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
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Ecu = CarParams.Ecu
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class CarControllerParams:
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STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
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STEER_STEP = 4 # Active control frames per command (~33hz)
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INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
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STEER_DELTA_UP = 5 # Delta rates require review due to observed EPS weakness
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STEER_DELTA_DOWN = 7
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STEER_DRIVER_ALLOWANCE = 65
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STEER_DRIVER_MULTIPLIER = 4
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STEER_DRIVER_FACTOR = 100
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NEAR_STOP_BRAKE_PHASE = 0.1 #0.5 # m/s
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SNG_INTERCEPTOR_GAS = 18. / 255.
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SNG_TIME = 30 # frames until the above is reached
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# Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
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ADAS_KEEPALIVE_STEP = 100
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CAMERA_KEEPALIVE_STEP = 100
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# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
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# perform the closed loop control, and might need some
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# to apply some more braking if we're on a downhill slope.
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# Our controller should still keep the 2 second average above
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# -3.5 m/s^2 as per planner limits
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ACCEL_MAX = 2. # m/s^2
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ACCEL_MIN = -4. # m/s^2
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def __init__(self, CP):
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# Gas/brake lookups
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self.ZERO_GAS = 2048 # Coasting
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self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
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if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR:
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self.MAX_GAS = 3400
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self.MAX_ACC_REGEN = 1514
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self.INACTIVE_REGEN = 1554
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# Camera ACC vehicles have no regen while enabled.
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# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
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max_regen_acceleration = 0.
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else:
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self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
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self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen
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self.INACTIVE_REGEN = 1404
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# ICE has much less engine braking force compared to regen in EVs,
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# lower threshold removes some braking deadzone
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max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
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self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
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self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
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self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
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self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
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# determined by letting Volt regen to a stop in L gear from 89mph,
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# and by letting off gas and allowing car to creep, for determining
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# the positive threshold values at very low speed
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EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
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EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.905, -1.14, -1.16, -1.175] # [m/s^s]
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def update_ev_gas_brake_threshold(self, v_ego):
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gas_brake_threshold = np.interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
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self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
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self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
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class GMSafetyFlags(IntFlag):
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HW_CAM = 1
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HW_CAM_LONG = 2
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CC_LONG = 4
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NO_CAMERA = 8
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HW_ASCM_LONG = 16
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NO_ACC = 32
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PEDAL_LONG = 64 # TODO: This can be inferred
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GAS_INTERCEPTOR = 128
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@dataclass
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class GMCarDocs(CarDocs):
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package: str = "Adaptive Cruise Control (ACC)"
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def init_make(self, CP: CarParams):
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if CP.networkLocation == CarParams.NetworkLocation.fwdCamera:
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self.car_parts = CarParts.common([CarHarness.gm])
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else:
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self.car_parts = CarParts.common([CarHarness.obd_ii])
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@dataclass(frozen=True, kw_only=True)
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class GMCarSpecs(CarSpecs):
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tireStiffnessFactor: float = 0.444 # not optimized yet
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@dataclass
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class GMPlatformConfig(PlatformConfig):
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dbc_dict: DbcDict = field(default_factory=lambda: {
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Bus.pt: 'gm_global_a_powertrain_volt',
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Bus.radar: 'gm_global_a_object',
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Bus.chassis: 'gm_global_a_chassis',
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})
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@dataclass
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class GMASCMPlatformConfig(GMPlatformConfig):
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def init(self):
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# ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
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#self.car_docs = []
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pass
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class CAR(Platforms):
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HOLDEN_ASTRA = GMASCMPlatformConfig(
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[GMCarDocs("Holden Astra 2017")],
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GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
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)
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CHEVROLET_VOLT = GMASCMPlatformConfig(
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[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
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GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.55, tireStiffnessFactor=0.469, minEnableSpeed=-1),
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)
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CADILLAC_ATS = GMASCMPlatformConfig(
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[GMCarDocs("Cadillac ATS Premium Performance 2018")],
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GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
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)
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CHEVROLET_MALIBU = GMASCMPlatformConfig(
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[GMCarDocs("Chevrolet Malibu Premier 2017")],
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GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
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)
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GMC_ACADIA = GMASCMPlatformConfig(
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[GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
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GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
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)
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BUICK_LACROSSE = GMASCMPlatformConfig(
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[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
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GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
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)
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BUICK_REGAL = GMASCMPlatformConfig(
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[GMCarDocs("Buick Regal Essence 2018")],
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GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
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)
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CADILLAC_ESCALADE = GMASCMPlatformConfig(
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[GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
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GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
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)
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CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
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[GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
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GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
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)
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CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
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[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
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CADILLAC_ESCALADE_ESV.specs,
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)
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CHEVROLET_BOLT_EUV = GMPlatformConfig(
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[
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GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
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GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
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],
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GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
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)
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CHEVROLET_SILVERADO = GMPlatformConfig(
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[
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GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
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GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
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],
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GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
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)
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CHEVROLET_EQUINOX = GMPlatformConfig(
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[GMCarDocs("Chevrolet Equinox 2019-22")],
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GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
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)
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CHEVROLET_TRAILBLAZER = GMPlatformConfig(
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[GMCarDocs("Chevrolet Trailblazer 2021-22")],
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GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
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)
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CADILLAC_XT4 = GMPlatformConfig(
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[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
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CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
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)
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CHEVROLET_VOLT_2019 = GMPlatformConfig(
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[GMCarDocs("Chevrolet Volt 2019", "Adaptive Cruise Control (ACC) & LKAS")],
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GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
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)
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CHEVROLET_TRAVERSE = GMPlatformConfig(
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[GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
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CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
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)
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# Separate car def is required when there is no ASCM
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# (for now) unless there is a way to detect it when it has been unplugged...
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CHEVROLET_VOLT_CC = GMPlatformConfig(
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[GMCarDocs("Chevrolet Volt LT 2017-18")],
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CHEVROLET_VOLT.specs,
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)
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CHEVROLET_BOLT_CC = GMPlatformConfig(
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[
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GMCarDocs("Chevrolet Bolt EUV 2022-23 - No-ACC"),
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GMCarDocs("Chevrolet Bolt EV 2017-23 - No-ACC"),
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],
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CHEVROLET_BOLT_EUV.specs,
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)
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CHEVROLET_EQUINOX_CC = GMPlatformConfig(
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[GMCarDocs("Chevrolet Equinox NO ACC 2019-22")],
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CHEVROLET_EQUINOX.specs,
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)
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CHEVROLET_SUBURBAN = GMPlatformConfig(
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[GMCarDocs("Chevrolet Suburban Premier 2016-20")],
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CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
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)
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CHEVROLET_SUBURBAN_CC = GMPlatformConfig(
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[GMCarDocs("Chevrolet Suburban 2016-20")],
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CHEVROLET_SUBURBAN.specs,
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)
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GMC_YUKON_CC = GMPlatformConfig(
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[GMCarDocs("GMC Yukon No ACC")],
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CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
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)
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CADILLAC_CT6_CC = GMPlatformConfig(
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[GMCarDocs("Cadillac CT6 No ACC")],
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CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
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)
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CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
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[GMCarDocs("Chevrolet Trailblazer NO ACC 2021-22")],
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CHEVROLET_TRAILBLAZER.specs,
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)
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CHEVROLET_MALIBU_CC = GMPlatformConfig(
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[GMCarDocs("Chevrolet Malibu No ACC")],
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CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
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)
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CADILLAC_XT5_CC = GMPlatformConfig(
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[GMCarDocs("Cadillac XT5 No ACC")],
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CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
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)
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BUICK_BABYENCLAVE = GMPlatformConfig(
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[GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")],
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CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
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)
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CHEVROLET_TRAX = GMPlatformConfig(
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[GMCarDocs("Chevrolet TRAX 2024")],
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CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.1, centerToFrontRatio=0.7),
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)
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CADILLAC_CT6_ACC = GMPlatformConfig(
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[GMCarDocs("CT6-2019 Advanced ACC", "Adaptive Cruise Control (ACC)")],
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GMCarSpecs(mass=1736, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
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)
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GMC_YUKON = GMPlatformConfig(
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[GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
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GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
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)
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class CruiseButtons:
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INIT = 0
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UNPRESS = 1
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RES_ACCEL = 2
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DECEL_SET = 3
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MAIN = 5
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CANCEL = 6
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GAP_DIST = 7
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class AccState:
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OFF = 0
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ACTIVE = 1
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FAULTED = 3
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STANDSTILL = 4
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class CanBus:
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POWERTRAIN = 0
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OBSTACLE = 1
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CAMERA = 2
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CHASSIS = 2
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LOOPBACK = 128
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DROPPED = 192
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class GMFlags(IntFlag):
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PEDAL_LONG = 1
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CC_LONG = 2
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NO_CAMERA = 4
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NO_ACCELERATOR_POS_MSG = 8
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SPEED_RELATED_MSG = 16
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# In a Data Module, an identifier is a string used to recognize an object,
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# either by itself or together with the identifiers of parent objects.
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# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
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GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0' # likely does not contain anything useful
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GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
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GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
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GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
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# Part number of XML data file that is used to configure ECU
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GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c'
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GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b' # used to know if XML file is compatible with the ECU software/hardware
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# This DID is for identifying the part number that reflects the mix of hardware,
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# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
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# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
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GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
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GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb'
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GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
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GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc'
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GM_FW_RESPONSE = b'\x5a'
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GM_FW_REQUESTS = [
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GM_BOOT_SOFTWARE_PART_NUMER_REQUEST,
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GM_SOFTWARE_MODULE_1_REQUEST,
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GM_SOFTWARE_MODULE_2_REQUEST,
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GM_SOFTWARE_MODULE_3_REQUEST,
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GM_XML_DATA_FILE_PART_NUMBER,
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GM_XML_CONFIG_COMPAT_ID,
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GM_END_MODEL_PART_NUMBER_REQUEST,
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GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
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GM_BASE_MODEL_PART_NUMBER_REQUEST,
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GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
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]
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GM_RX_OFFSET = 0x400
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FW_QUERY_CONFIG = FwQueryConfig(
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requests=[request for req in GM_FW_REQUESTS for request in [
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Request(
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[StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
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[StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
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rx_offset=GM_RX_OFFSET,
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bus=0,
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logging=True,
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),
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]],
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extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
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)
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EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
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CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
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CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC}
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# We're integrated at the Safety Data Gateway Module on these cars
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SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
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# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
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CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
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CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})
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# CAMERA_ACC_CAR.update(CC_ONLY_CAR)
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# Alt ASCMActiveCruiseControlStatus
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ALT_ACCS = {CAR.GMC_YUKON}
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STEER_THRESHOLD = 1.0
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DBC = CAR.create_dbc_map()
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if __name__ == "__main__":
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cars = []
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for platform in CAR:
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for doc in platform.config.car_docs:
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cars.append(doc.name)
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cars.sort()
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for c in cars:
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print(c)
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