OPGM
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
James
GitHub
parent
0127e70563
commit
0fb01b95a7
@ -117,6 +117,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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paramsdPermanentError @119;
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actuatorsApiUnavailable @120;
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# FrogPilot Events
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pedalInterceptorNoBrake @134;
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radarCanErrorDEPRECATED @15;
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communityFeatureDisallowedDEPRECATED @62;
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radarCommIssueDEPRECATED @67;
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@ -682,7 +685,7 @@ struct CarParams {
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gateway @1; # Integration at vehicle's CAN gateway
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}
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enableGasInterceptorDEPRECATED @2 :Bool;
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enableGasInterceptor @2 :Bool;
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enableCameraDEPRECATED @4 :Bool;
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enableApgsDEPRECATED @6 :Bool;
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steerRateCostDEPRECATED @33 :Float32;
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372
opendbc/gm_global_a_powertrain_volt.dbc
Normal file
372
opendbc/gm_global_a_powertrain_volt.dbc
Normal file
@ -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
|
||||
|
||||
BO_ 1912 PSCM_778: 8 K43_PSCM
|
||||
|
||||
BO_ 1930 ASCM_78A: 7 K124_ASCM
|
||||
|
||||
BO_TX_BU_ 384 : K124_ASCM,NEO;
|
||||
BO_TX_BU_ 880 : NEO,K124_ASCM;
|
||||
BO_TX_BU_ 1033 : K124_ASCM,NEO;
|
||||
BO_TX_BU_ 715 : NEO,K124_ASCM;
|
||||
BO_TX_BU_ 789 : NEO,K124_ASCM;
|
||||
BO_TX_BU_ 800 : NEO,K124_ASCM;
|
||||
|
||||
|
||||
CM_ BU_ K16_BECM "Battery Energy Control Module";
|
||||
CM_ BU_ K73_TCIC "Telematics Communication Control Module";
|
||||
CM_ BU_ K9_BCM "Body Control Module";
|
||||
CM_ BU_ K43_PSCM "Power Steering Control Module";
|
||||
CM_ BU_ K17_EBCM "Electronic Brake Control Module";
|
||||
CM_ BU_ K20_ECM "Engine Control Module";
|
||||
CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
|
||||
CM_ BU_ NEO "Comma NEO";
|
||||
CM_ BU_ K124_ASCM "Active Safety Control Module";
|
||||
CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
|
||||
CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
|
||||
CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
|
||||
CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active";
|
||||
CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active";
|
||||
CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode";
|
||||
CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
|
||||
CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
|
||||
CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
|
||||
CM_ SG_ 497 SystemPowerMode "Describes ignition";
|
||||
CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy";
|
||||
CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
|
||||
CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
|
||||
CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
|
||||
CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
|
||||
CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
|
||||
BA_DEF_ "UseGMParameterIDs" INT 0 0;
|
||||
BA_DEF_ "ProtocolType" STRING ;
|
||||
BA_DEF_ "BusType" STRING ;
|
||||
BA_DEF_DEF_ "UseGMParameterIDs" 1;
|
||||
BA_DEF_DEF_ "ProtocolType" "GMLAN";
|
||||
BA_DEF_DEF_ "BusType" "";
|
||||
BA_ "BusType" "CAN";
|
||||
BA_ "ProtocolType" "GMLAN";
|
||||
BA_ "UseGMParameterIDs" 0;
|
||||
VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
|
||||
VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off";
|
||||
VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ;
|
||||
VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
|
||||
VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
|
||||
VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
|
||||
VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault";
|
||||
VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
|
||||
VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
|
||||
VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
|
||||
VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
|
||||
VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
|
||||
VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ;
|
||||
VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ;
|
||||
VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ;
|
||||
VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;
|
||||
VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting";
|
||||
VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged";
|
||||
VAL_ 501 ManualMode 1 "Active" 0 "Inactive"
|
||||
@ -221,6 +221,15 @@ void ignition_can_hook(CANPacket_t *to_push) {
|
||||
ignition_can_cnt = 0U;
|
||||
}
|
||||
|
||||
} else if (bus == 2) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
int len = GET_LEN(to_push);
|
||||
// GM exception, SDGM cars have this message on bus 2
|
||||
if ((addr == 0x1F1) && (len == 8)) {
|
||||
// SystemPowerMode (2=Run, 3=Crank Request)
|
||||
ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
|
||||
ignition_can_cnt = 0U;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -275,7 +275,7 @@ void generic_rx_checks(bool stock_ecu_detected) {
|
||||
regen_braking_prev = regen_braking;
|
||||
|
||||
// check if stock ECU is on bus broken by car harness
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected) {
|
||||
if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected && !gm_skip_relay_check) {
|
||||
relay_malfunction_set();
|
||||
}
|
||||
}
|
||||
@ -327,6 +327,8 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
|
||||
// reset state set by safety mode
|
||||
safety_mode_cnt = 0U;
|
||||
relay_malfunction = false;
|
||||
enable_gas_interceptor = false;
|
||||
gas_interceptor_prev = 0;
|
||||
gas_pressed = false;
|
||||
gas_pressed_prev = false;
|
||||
brake_pressed = false;
|
||||
@ -541,6 +543,10 @@ bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limit
|
||||
return violation;
|
||||
}
|
||||
|
||||
bool longitudinal_interceptor_checks(const CANPacket_t *to_send) {
|
||||
return (!get_longitudinal_allowed() || brake_pressed_prev) && (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1));
|
||||
}
|
||||
|
||||
// Safety checks for torque-based steering commands
|
||||
bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits) {
|
||||
bool violation = false;
|
||||
|
||||
@ -27,30 +27,48 @@ const LongitudinalLimits *gm_long_limits;
|
||||
|
||||
const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
|
||||
|
||||
const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, // pt bus
|
||||
// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
|
||||
// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
|
||||
const int GM_GAS_INTERCEPTOR_THRESHOLD = 515; // (610 + 306.25) / 2 ratio between offset and gain from dbc file
|
||||
#define GM_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
|
||||
|
||||
const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, // pt bus
|
||||
{0xA1, 1, 7}, {0x306, 1, 8}, {0x308, 1, 7}, {0x310, 1, 2}, // obs bus
|
||||
{0x315, 2, 5}}; // ch bus
|
||||
|
||||
const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, // pt bus
|
||||
const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, // pt bus
|
||||
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
|
||||
|
||||
const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, // pt bus
|
||||
const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, // pt bus
|
||||
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
|
||||
|
||||
const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus
|
||||
{0x184, 2, 8}}; // camera bus
|
||||
|
||||
const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus
|
||||
{0x184, 2, 8}, {0x1E1, 2, 7}}; // camera bus
|
||||
|
||||
// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
|
||||
RxCheck gm_rx_checks[] = {
|
||||
{.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0xBE, 0, 6, .frequency = 10U}, // Volt, Silverado, Acadia Denali
|
||||
{0xBE, 0, 7, .frequency = 10U}, // Bolt EUV
|
||||
{0xBE, 0, 8, .frequency = 10U}}}, // Escalade
|
||||
{.msg = {{0x1E1, 0, 7, .frequency = 10U}, // Non-SDGM Car
|
||||
{0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car
|
||||
{.msg = {{0xF1, 0, 6, .frequency = 10U}, // Non-SDGM Car
|
||||
{0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
|
||||
{.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
{.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
|
||||
};
|
||||
|
||||
const uint16_t GM_PARAM_HW_CAM = 1;
|
||||
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
|
||||
const uint16_t GM_PARAM_HW_SDGM = 4;
|
||||
const uint16_t GM_PARAM_CC_LONG = 8;
|
||||
const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
|
||||
const uint16_t GM_PARAM_NO_CAMERA = 32;
|
||||
const uint16_t GM_PARAM_NO_ACC = 64;
|
||||
const uint16_t GM_PARAM_PEDAL_LONG = 128; // TODO: this can be inferred
|
||||
const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256;
|
||||
|
||||
enum {
|
||||
GM_BTN_UNPRESS = 1,
|
||||
@ -61,32 +79,19 @@ enum {
|
||||
|
||||
typedef enum {
|
||||
GM_ASCM,
|
||||
GM_CAM
|
||||
GM_CAM,
|
||||
GM_SDGM
|
||||
} GmHardware;
|
||||
GmHardware gm_hw = GM_ASCM;
|
||||
bool gm_cam_long = false;
|
||||
bool gm_pcm_cruise = false;
|
||||
bool gm_has_acc = true;
|
||||
bool gm_pedal_long = false;
|
||||
bool gm_cc_long = false;
|
||||
bool gm_skip_relay_check = false;
|
||||
bool gm_force_ascm = false;
|
||||
|
||||
static void gm_rx_hook(const CANPacket_t *to_push) {
|
||||
if (GET_BUS(to_push) == 0U) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == 0x184) {
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// sample rear wheel speeds
|
||||
if (addr == 0x34A) {
|
||||
int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
|
||||
int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
|
||||
vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
|
||||
}
|
||||
|
||||
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
|
||||
if ((addr == 0x1E1) && !gm_pcm_cruise) {
|
||||
static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
|
||||
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
|
||||
|
||||
// enter controls on falling edge of set or rising edge of resume (avoids fault)
|
||||
@ -104,34 +109,81 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
|
||||
cruise_button_prev = button;
|
||||
}
|
||||
|
||||
static void gm_rx_hook(const CANPacket_t *to_push) {
|
||||
if ((GET_BUS(to_push) == 2U) && (GET_ADDR(to_push) == 0x1E1) && (gm_hw == GM_SDGM)) {
|
||||
// SDGM buttons are on bus 2
|
||||
handle_gm_wheel_buttons(to_push);
|
||||
}
|
||||
if (GET_BUS(to_push) == 0U) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
||||
if (addr == 0x184) {
|
||||
int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
|
||||
torque_driver_new = to_signed(torque_driver_new, 11);
|
||||
// update array of samples
|
||||
update_sample(&torque_driver, torque_driver_new);
|
||||
}
|
||||
|
||||
// sample rear wheel speeds
|
||||
if (addr == 0x34A) {
|
||||
int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
|
||||
int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
|
||||
vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
|
||||
}
|
||||
|
||||
// ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM)
|
||||
if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long) && (gm_hw != GM_SDGM)) {
|
||||
handle_gm_wheel_buttons(to_push);
|
||||
}
|
||||
|
||||
// Reference for brake pressed signals:
|
||||
// https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
|
||||
if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
|
||||
brake_pressed = GET_BYTE(to_push, 1) >= 8U;
|
||||
}
|
||||
|
||||
if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
|
||||
if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
|
||||
brake_pressed = GET_BIT(to_push, 40U);
|
||||
}
|
||||
|
||||
if (addr == 0x1C4) {
|
||||
if (!enable_gas_interceptor) {
|
||||
gas_pressed = GET_BYTE(to_push, 5) != 0U;
|
||||
}
|
||||
|
||||
// enter controls on rising edge of ACC, exit controls when ACC off
|
||||
if (gm_pcm_cruise) {
|
||||
if (gm_pcm_cruise && gm_has_acc) {
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 1) >> 5) != 0U;
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
}
|
||||
}
|
||||
|
||||
// Cruise check for CC only cars
|
||||
if ((addr == 0x3D1) && !gm_has_acc) {
|
||||
bool cruise_engaged = (GET_BYTE(to_push, 4) >> 7) != 0U;
|
||||
if (gm_cc_long) {
|
||||
pcm_cruise_check(cruise_engaged);
|
||||
} else {
|
||||
cruise_engaged_prev = cruise_engaged;
|
||||
}
|
||||
}
|
||||
|
||||
if (addr == 0xBD) {
|
||||
regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
|
||||
}
|
||||
|
||||
// Pedal Interceptor
|
||||
if ((addr == 0x201) && enable_gas_interceptor) {
|
||||
int gas_interceptor = GM_GET_INTERCEPTOR(to_push);
|
||||
gas_pressed = gas_interceptor > GM_GAS_INTERCEPTOR_THRESHOLD;
|
||||
gas_interceptor_prev = gas_interceptor;
|
||||
// gm_pcm_cruise = false;
|
||||
}
|
||||
|
||||
bool stock_ecu_detected = (addr == 0x180); // ASCMLKASteeringCmd
|
||||
|
||||
// Check ASCMGasRegenCmd only if we're blocking it
|
||||
if (!gm_pcm_cruise && (addr == 0x2CB)) {
|
||||
if (!gm_pcm_cruise && !gm_pedal_long && (addr == 0x2CB)) {
|
||||
stock_ecu_detected = true;
|
||||
}
|
||||
generic_rx_checks(stock_ecu_detected);
|
||||
@ -163,6 +215,13 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
|
||||
}
|
||||
}
|
||||
|
||||
// GAS: safety check (interceptor)
|
||||
if (addr == 0x200) {
|
||||
if (longitudinal_interceptor_checks(to_send)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// GAS/REGEN: safety check
|
||||
if (addr == 0x2CB) {
|
||||
bool apply = GET_BIT(to_send, 0U);
|
||||
@ -179,11 +238,16 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
|
||||
}
|
||||
|
||||
// BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
|
||||
if ((addr == 0x1E1) && gm_pcm_cruise) {
|
||||
if ((addr == 0x1E1) && (gm_pcm_cruise || gm_pedal_long || gm_cc_long)) {
|
||||
int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
|
||||
|
||||
bool allowed_cancel = (button == 6) && cruise_engaged_prev;
|
||||
if (!allowed_cancel) {
|
||||
bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
|
||||
// For standard CC, allow spamming of SET / RESUME
|
||||
if (gm_cc_long) {
|
||||
allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
|
||||
}
|
||||
|
||||
if (!allowed_btn) {
|
||||
tx = false;
|
||||
}
|
||||
}
|
||||
@ -194,7 +258,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
|
||||
static int gm_fwd_hook(int bus_num, int addr) {
|
||||
int bus_fwd = -1;
|
||||
|
||||
if (gm_hw == GM_CAM) {
|
||||
if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
|
||||
if (bus_num == 0) {
|
||||
// block PSCMStatus; forwarded through openpilot to hide an alert from the camera
|
||||
bool is_pscm_msg = (addr == 0x184);
|
||||
@ -218,23 +282,42 @@ static int gm_fwd_hook(int bus_num, int addr) {
|
||||
}
|
||||
|
||||
static safety_config gm_init(uint16_t param) {
|
||||
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
|
||||
if GET_FLAG(param, GM_PARAM_HW_CAM) {
|
||||
gm_hw = GM_CAM;
|
||||
} else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
|
||||
gm_hw = GM_SDGM;
|
||||
} else {
|
||||
gm_hw = GM_ASCM;
|
||||
}
|
||||
|
||||
if (gm_hw == GM_ASCM) {
|
||||
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
|
||||
|
||||
if (gm_hw == GM_ASCM || gm_force_ascm) {
|
||||
gm_long_limits = &GM_ASCM_LONG_LIMITS;
|
||||
} else if (gm_hw == GM_CAM) {
|
||||
} else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
|
||||
gm_long_limits = &GM_CAM_LONG_LIMITS;
|
||||
} else {
|
||||
}
|
||||
|
||||
#ifdef ALLOW_DEBUG
|
||||
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
|
||||
#endif
|
||||
gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long;
|
||||
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
|
||||
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
|
||||
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
|
||||
gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
|
||||
gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
|
||||
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
|
||||
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
|
||||
|
||||
safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
|
||||
if (gm_hw == GM_CAM) {
|
||||
ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
|
||||
if (gm_cc_long) {
|
||||
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS);
|
||||
} else if (gm_cam_long) {
|
||||
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
|
||||
} else {
|
||||
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
|
||||
}
|
||||
} else if (gm_hw == GM_SDGM) {
|
||||
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
@ -203,6 +203,7 @@ bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limit
|
||||
bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits);
|
||||
bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits);
|
||||
bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits);
|
||||
bool longitudinal_interceptor_checks(const CANPacket_t *to_send);
|
||||
void pcm_cruise_check(bool cruise_engaged);
|
||||
|
||||
void safety_tick(const safety_config *safety_config);
|
||||
@ -210,6 +211,8 @@ void safety_tick(const safety_config *safety_config);
|
||||
// This can be set by the safety hooks
|
||||
bool controls_allowed = false;
|
||||
bool relay_malfunction = false;
|
||||
bool enable_gas_interceptor = false;
|
||||
int gas_interceptor_prev = 0;
|
||||
bool gas_pressed = false;
|
||||
bool gas_pressed_prev = false;
|
||||
bool brake_pressed = false;
|
||||
|
||||
@ -224,6 +224,13 @@ class Panda:
|
||||
|
||||
FLAG_GM_HW_CAM = 1
|
||||
FLAG_GM_HW_CAM_LONG = 2
|
||||
FLAG_GM_HW_SDGM = 4
|
||||
FLAG_GM_CC_LONG = 8
|
||||
FLAG_GM_HW_ASCM_LONG = 16
|
||||
FLAG_GM_NO_CAMERA = 32
|
||||
FLAG_GM_NO_ACC = 64
|
||||
FLAG_GM_PEDAL_LONG = 128 # TODO: This can be inferred
|
||||
FLAG_GM_GAS_INTERCEPTOR = 256
|
||||
|
||||
FLAG_FORD_LONG_CONTROL = 1
|
||||
FLAG_FORD_CANFD = 2
|
||||
|
||||
@ -43,6 +43,10 @@ bool get_relay_malfunction(void){
|
||||
return relay_malfunction;
|
||||
}
|
||||
|
||||
int get_gas_interceptor_prev(void){
|
||||
return gas_interceptor_prev;
|
||||
}
|
||||
|
||||
bool get_gas_pressed_prev(void){
|
||||
return gas_pressed_prev;
|
||||
}
|
||||
|
||||
@ -10,6 +10,7 @@ def setup_safety_helpers(ffi):
|
||||
int get_alternative_experience(void);
|
||||
void set_relay_malfunction(bool c);
|
||||
bool get_relay_malfunction(void);
|
||||
int get_gas_interceptor_prev(void);
|
||||
bool get_gas_pressed_prev(void);
|
||||
bool get_brake_pressed_prev(void);
|
||||
bool get_regen_braking_prev(void);
|
||||
@ -60,6 +61,7 @@ class PandaSafety(Protocol):
|
||||
def get_alternative_experience(self) -> int: ...
|
||||
def set_relay_malfunction(self, c: bool) -> None: ...
|
||||
def get_relay_malfunction(self) -> bool: ...
|
||||
def get_gas_interceptor_prev(self) -> bool: ...
|
||||
def get_gas_pressed_prev(self) -> bool: ...
|
||||
def get_brake_pressed_prev(self) -> bool: ...
|
||||
def get_regen_braking_prev(self) -> bool: ...
|
||||
|
||||
@ -118,6 +118,91 @@ class PandaSafetyTestBase(unittest.TestCase):
|
||||
self.assertEqual(meas_max_func(), 0)
|
||||
|
||||
|
||||
class GasInterceptorSafetyTest(PandaSafetyTestBase):
|
||||
|
||||
INTERCEPTOR_THRESHOLD = 0
|
||||
|
||||
cnt_gas_cmd = 0
|
||||
cnt_user_gas = 0
|
||||
|
||||
packer: CANPackerPanda
|
||||
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
if cls.__name__ == "GasInterceptorSafetyTest" or cls.__name__.endswith("Base"):
|
||||
cls.safety = None
|
||||
raise unittest.SkipTest
|
||||
|
||||
def _interceptor_gas_cmd(self, gas: int):
|
||||
values: dict[str, float | int] = {"COUNTER_PEDAL": self.__class__.cnt_gas_cmd & 0xF}
|
||||
if gas > 0:
|
||||
values["GAS_COMMAND"] = gas * 255.
|
||||
values["GAS_COMMAND2"] = gas * 255.
|
||||
self.__class__.cnt_gas_cmd += 1
|
||||
return self.packer.make_can_msg_panda("GAS_COMMAND", 0, values)
|
||||
|
||||
def _interceptor_user_gas(self, gas: int):
|
||||
values = {"INTERCEPTOR_GAS": gas, "INTERCEPTOR_GAS2": gas,
|
||||
"COUNTER_PEDAL": self.__class__.cnt_user_gas}
|
||||
self.__class__.cnt_user_gas += 1
|
||||
return self.packer.make_can_msg_panda("GAS_SENSOR", 0, values)
|
||||
|
||||
# Skip non-interceptor user gas tests
|
||||
def test_prev_gas(self):
|
||||
pass
|
||||
|
||||
def test_disengage_on_gas(self):
|
||||
pass
|
||||
|
||||
def test_alternative_experience_no_disengage_on_gas(self):
|
||||
pass
|
||||
|
||||
def test_prev_gas_interceptor(self):
|
||||
self._rx(self._interceptor_user_gas(0x0))
|
||||
self.assertFalse(self.safety.get_gas_interceptor_prev())
|
||||
self._rx(self._interceptor_user_gas(0x1000))
|
||||
self.assertTrue(self.safety.get_gas_interceptor_prev())
|
||||
self._rx(self._interceptor_user_gas(0x0))
|
||||
|
||||
def test_disengage_on_gas_interceptor(self):
|
||||
for g in range(0x1000):
|
||||
self._rx(self._interceptor_user_gas(0))
|
||||
self.safety.set_controls_allowed(True)
|
||||
self._rx(self._interceptor_user_gas(g))
|
||||
remain_enabled = g <= self.INTERCEPTOR_THRESHOLD
|
||||
self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
|
||||
self._rx(self._interceptor_user_gas(0))
|
||||
|
||||
def test_alternative_experience_no_disengage_on_gas_interceptor(self):
|
||||
self.safety.set_controls_allowed(True)
|
||||
self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
|
||||
for g in range(0x1000):
|
||||
self._rx(self._interceptor_user_gas(g))
|
||||
# Test we allow lateral, but not longitudinal
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
self.assertEqual(g <= self.INTERCEPTOR_THRESHOLD, self.safety.get_longitudinal_allowed())
|
||||
# Make sure we can re-gain longitudinal actuation
|
||||
self._rx(self._interceptor_user_gas(0))
|
||||
self.assertTrue(self.safety.get_longitudinal_allowed())
|
||||
|
||||
def test_allow_engage_with_gas_interceptor_pressed(self):
|
||||
self._rx(self._interceptor_user_gas(0x1000))
|
||||
self.safety.set_controls_allowed(1)
|
||||
self._rx(self._interceptor_user_gas(0x1000))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
self._rx(self._interceptor_user_gas(0))
|
||||
|
||||
def test_gas_interceptor_safety_check(self):
|
||||
for gas in np.arange(0, 4000, 100):
|
||||
for controls_allowed in [True, False]:
|
||||
self.safety.set_controls_allowed(controls_allowed)
|
||||
if controls_allowed:
|
||||
send = True
|
||||
else:
|
||||
send = gas == 0
|
||||
self.assertEqual(send, self._tx(self._interceptor_gas_cmd(gas)))
|
||||
|
||||
|
||||
class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC):
|
||||
|
||||
MAX_ACCEL: float = 2.0
|
||||
@ -763,7 +848,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
|
||||
continue
|
||||
if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
|
||||
continue
|
||||
if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety'}):
|
||||
if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmSdgmSafety', 'TestGmInterceptorSafety', 'TestGmCcLongitudinalSafety'}):
|
||||
continue
|
||||
if attr.startswith('TestFord') and current_test.startswith('TestFord'):
|
||||
continue
|
||||
|
||||
@ -222,6 +222,161 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
|
||||
self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_HW_CAM_LONG)
|
||||
self.safety.init_tests()
|
||||
|
||||
class TestGmSdgmSafety(TestGmSafetyBase):
|
||||
FWD_BUS_LOOKUP = {0: 2, 2: 0}
|
||||
TX_MSGS = [[0x180, 0], [0x1E1, 0], # pt bus
|
||||
[0x184, 2]] # obj bus
|
||||
FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184]} # block LKAS message and PSCMStatus
|
||||
BUTTONS_BUS = 0 # tx
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
|
||||
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
|
||||
self.safety = libpanda_py.libpanda
|
||||
self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_SDGM)
|
||||
self.safety.init_tests()
|
||||
|
||||
def _user_brake_msg(self, brake):
|
||||
values = {"BrakePressed": brake}
|
||||
return self.packer.make_can_msg_panda("ECMEngineStatus", 0, values)
|
||||
|
||||
def test_buttons(self):
|
||||
# Only CANCEL button is allowed while cruise is enabled
|
||||
self.safety.set_controls_allowed(0)
|
||||
for btn in range(8):
|
||||
self.assertFalse(self._tx(self._button_msg(btn)))
|
||||
|
||||
self.safety.set_controls_allowed(1)
|
||||
for btn in range(8):
|
||||
self.assertFalse(self._tx(self._button_msg(btn)))
|
||||
|
||||
for enabled in (True, False):
|
||||
self._rx(self._pcm_status_msg(enabled))
|
||||
self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
|
||||
|
||||
##### OPGM TESTS #####
|
||||
|
||||
def interceptor_msg(gas, addr):
|
||||
to_send = common.make_msg(0, addr, 6)
|
||||
to_send[0].data[0] = (gas & 0xFF00) >> 8
|
||||
to_send[0].data[1] = gas & 0xFF
|
||||
to_send[0].data[2] = (gas & 0xFF00) >> 8
|
||||
to_send[0].data[3] = gas & 0xFF
|
||||
return to_send
|
||||
|
||||
|
||||
class TestGmInterceptorSafety(common.GasInterceptorSafetyTest, TestGmCameraSafety):
|
||||
INTERCEPTOR_THRESHOLD = 515
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
|
||||
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
|
||||
self.safety = libpanda_py.libpanda
|
||||
self.safety.set_safety_hooks(
|
||||
Panda.SAFETY_GM,
|
||||
Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_NO_ACC | Panda.FLAG_GM_PEDAL_LONG | Panda.FLAG_GM_GAS_INTERCEPTOR)
|
||||
self.safety.init_tests()
|
||||
|
||||
def test_pcm_sets_cruise_engaged(self):
|
||||
for enabled in [True, False]:
|
||||
self._rx(self._pcm_status_msg(enabled))
|
||||
self.assertEqual(enabled, self.safety.get_cruise_engaged_prev())
|
||||
|
||||
def test_no_pcm_enable(self):
|
||||
self._rx(self._interceptor_user_gas(0))
|
||||
self.safety.set_controls_allowed(0)
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
self._rx(self._pcm_status_msg(True))
|
||||
self.assertFalse(self.safety.get_controls_allowed())
|
||||
self.assertTrue(self.safety.get_cruise_engaged_prev())
|
||||
|
||||
def test_no_response_to_acc_pcm_message(self):
|
||||
self._rx(self._interceptor_user_gas(0))
|
||||
def _acc_pcm_msg(enable):
|
||||
values = {"CruiseState": enable}
|
||||
return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
|
||||
for enable in [True, False]:
|
||||
self.safety.set_controls_allowed(enable)
|
||||
self._rx(_acc_pcm_msg(True))
|
||||
self.assertEqual(enable, self.safety.get_controls_allowed())
|
||||
self._rx(_acc_pcm_msg(False))
|
||||
self.assertEqual(enable, self.safety.get_controls_allowed())
|
||||
|
||||
def test_buttons(self):
|
||||
self._rx(self._interceptor_user_gas(0))
|
||||
# Only CANCEL button is allowed while cruise is enabled
|
||||
self.safety.set_controls_allowed(0)
|
||||
for btn in range(8):
|
||||
self.assertFalse(self._tx(self._button_msg(btn)))
|
||||
|
||||
self.safety.set_controls_allowed(1)
|
||||
for btn in range(8):
|
||||
self.assertFalse(self._tx(self._button_msg(btn)))
|
||||
|
||||
self.safety.set_controls_allowed(1)
|
||||
for enabled in (True, False):
|
||||
self._rx(self._pcm_status_msg(enabled))
|
||||
self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
|
||||
self.assertTrue(self.safety.get_controls_allowed())
|
||||
|
||||
def test_fwd_hook(self):
|
||||
pass
|
||||
|
||||
def test_disable_control_allowed_from_cruise(self):
|
||||
pass
|
||||
|
||||
def test_enable_control_allowed_from_cruise(self):
|
||||
pass
|
||||
|
||||
def _interceptor_gas_cmd(self, gas):
|
||||
return interceptor_msg(gas, 0x200)
|
||||
|
||||
def _interceptor_user_gas(self, gas):
|
||||
return interceptor_msg(gas, 0x201)
|
||||
|
||||
def _pcm_status_msg(self, enable):
|
||||
values = {"CruiseActive": enable}
|
||||
return self.packer.make_can_msg_panda("ECMCruiseControl", 0, values)
|
||||
|
||||
|
||||
class TestGmCcLongitudinalSafety(TestGmCameraSafety):
|
||||
TX_MSGS = [[384, 0], [481, 0], [388, 2]]
|
||||
FWD_BLACKLISTED_ADDRS = {2: [384], 0: [388]} # block LKAS message and PSCMStatus
|
||||
BUTTONS_BUS = 0 # tx only
|
||||
|
||||
MAX_GAS = 3400
|
||||
MAX_REGEN = 1514
|
||||
INACTIVE_REGEN = 1554
|
||||
MAX_BRAKE = 400
|
||||
|
||||
def setUp(self):
|
||||
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
|
||||
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
|
||||
self.safety = libpanda_py.libpanda
|
||||
self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_NO_ACC | Panda.FLAG_GM_CC_LONG)
|
||||
self.safety.init_tests()
|
||||
|
||||
def _pcm_status_msg(self, enable):
|
||||
values = {"CruiseActive": enable}
|
||||
return self.packer.make_can_msg_panda("ECMCruiseControl", 0, values)
|
||||
|
||||
def test_fwd_hook(self):
|
||||
pass
|
||||
|
||||
def test_buttons(self):
|
||||
self.safety.set_controls_allowed(0)
|
||||
for btn in range(8):
|
||||
self.assertFalse(self._tx(self._button_msg(btn)))
|
||||
|
||||
self.safety.set_controls_allowed(1)
|
||||
for btn in range(8):
|
||||
self.assertFalse(self._tx(self._button_msg(btn)))
|
||||
|
||||
for enabled in (True, False):
|
||||
for btn in (Buttons.RES_ACCEL, Buttons.DECEL_SET, Buttons.CANCEL):
|
||||
self._rx(self._pcm_status_msg(enabled))
|
||||
self.assertEqual(enabled, self._tx(self._button_msg(btn)))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
@ -165,6 +165,41 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
|
||||
return above_limit_frames, request
|
||||
|
||||
|
||||
def crc8_pedal(data):
|
||||
crc = 0xFF # standard init value
|
||||
poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1
|
||||
size = len(data)
|
||||
for i in range(size - 1, -1, -1):
|
||||
crc ^= data[i]
|
||||
for _ in range(8):
|
||||
if ((crc & 0x80) != 0):
|
||||
crc = ((crc << 1) ^ poly) & 0xFF
|
||||
else:
|
||||
crc <<= 1
|
||||
return crc
|
||||
|
||||
|
||||
def create_gas_interceptor_command(packer, gas_amount, idx):
|
||||
# Common gas pedal msg generator
|
||||
enable = gas_amount > 0.001
|
||||
|
||||
values = {
|
||||
"ENABLE": enable,
|
||||
"COUNTER_PEDAL": idx & 0xF,
|
||||
}
|
||||
|
||||
if enable:
|
||||
values["GAS_COMMAND"] = gas_amount * 255.
|
||||
values["GAS_COMMAND2"] = gas_amount * 255.
|
||||
|
||||
dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]
|
||||
|
||||
checksum = crc8_pedal(dat[:-1])
|
||||
values["CHECKSUM_PEDAL"] = checksum
|
||||
|
||||
return packer.make_can_msg("GAS_COMMAND", 0, values)
|
||||
|
||||
|
||||
def make_can_msg(addr, dat, bus):
|
||||
return [addr, 0, dat, bus]
|
||||
|
||||
|
||||
@ -1,16 +1,19 @@
|
||||
from cereal import car
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.numpy_fast import interp
|
||||
from openpilot.common.numpy_fast import interp, clip
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.common.params_pyx import Params
|
||||
from opendbc.can.packer import CANPacker
|
||||
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
|
||||
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
|
||||
from openpilot.selfdrive.car.gm import gmcan
|
||||
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
|
||||
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
|
||||
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
||||
|
||||
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
LongCtrlState = car.CarControl.Actuators.LongControlState
|
||||
GearShifter = car.CarState.GearShifter
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
|
||||
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
|
||||
CAMERA_CANCEL_DELAY_FRAMES = 10
|
||||
@ -25,20 +28,38 @@ class CarController(CarControllerBase):
|
||||
self.apply_steer_last = 0
|
||||
self.apply_gas = 0
|
||||
self.apply_brake = 0
|
||||
self.apply_speed = 0
|
||||
self.frame = 0
|
||||
self.last_steer_frame = 0
|
||||
self.last_button_frame = 0
|
||||
self.cancel_counter = 0
|
||||
self.pedal_steady = 0.
|
||||
|
||||
self.lka_steering_cmd_counter = 0
|
||||
self.lka_icon_status_last = (False, False)
|
||||
|
||||
self.params = CarControllerParams(self.CP)
|
||||
self.params_ = Params()
|
||||
|
||||
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
|
||||
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
|
||||
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
|
||||
|
||||
@staticmethod
|
||||
def calc_pedal_command(accel: float, long_active: bool) -> float:
|
||||
if not long_active: return 0.
|
||||
|
||||
zero = 0.15625 # 40/256
|
||||
if accel > 0.:
|
||||
# Scales the accel from 0-1 to 0.156-1
|
||||
pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
|
||||
else:
|
||||
# if accel is negative, -0.1 -> 0.015625
|
||||
pedal_gas = clip(zero + accel, 0., zero) # Make brake the same size as gas, but clip to regen
|
||||
|
||||
return pedal_gas
|
||||
|
||||
|
||||
def update(self, CC, CS, now_nanos):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
@ -87,10 +108,22 @@ 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
|
||||
if self.CP.carFingerprint in EV_CAR:
|
||||
self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
|
||||
self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
||||
self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
else:
|
||||
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)))
|
||||
@ -98,18 +131,36 @@ class CarController(CarControllerBase):
|
||||
# FIXME: brakes aren't applied immediately when enabling at a stop
|
||||
if stopping:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
if self.CP.carFingerprint in CC_ONLY_CAR:
|
||||
# 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
|
||||
can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators))
|
||||
if self.CP.enableGasInterceptor:
|
||||
can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
|
||||
if self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
friction_brake_bus = CanBus.CHASSIS
|
||||
# GM Camera exceptions
|
||||
# TODO: can we always check the longControlState?
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
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,
|
||||
@ -139,6 +190,15 @@ class CarController(CarControllerBase):
|
||||
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
|
||||
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
||||
|
||||
# TODO: integrate this with the code block below?
|
||||
if (
|
||||
(self.CP.flags & GMFlags.PEDAL_LONG.value) # Always cancel stock CC when using pedal interceptor
|
||||
or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled) # Cancel stock CC if OP is not active
|
||||
) and CS.out.cruiseState.enabled:
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
|
||||
|
||||
else:
|
||||
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
|
||||
# A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
|
||||
@ -148,6 +208,9 @@ class CarController(CarControllerBase):
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
|
||||
self.last_button_frame = self.frame
|
||||
if self.CP.carFingerprint in SDGM_CAR:
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
else:
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
@ -160,6 +223,7 @@ class CarController(CarControllerBase):
|
||||
new_actuators.steerOutputCan = self.apply_steer_last
|
||||
new_actuators.gas = self.apply_gas
|
||||
new_actuators.brake = self.apply_brake
|
||||
new_actuators.speed = self.apply_speed
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
|
||||
@ -5,10 +5,11 @@ 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
|
||||
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR
|
||||
|
||||
TransmissionType = car.CarParams.TransmissionType
|
||||
NetworkLocation = car.CarParams.NetworkLocation
|
||||
GearShifter = car.CarState.GearShifter
|
||||
STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
|
||||
|
||||
|
||||
@ -29,14 +30,22 @@ class CarState(CarStateBase):
|
||||
self.prev_distance_button = 0
|
||||
self.distance_button = 0
|
||||
|
||||
self.single_pedal_mode = False
|
||||
self.pedal_steady = 0.
|
||||
|
||||
def update(self, pt_cp, cam_cp, loopback_cp):
|
||||
ret = car.CarState.new_message()
|
||||
|
||||
self.prev_cruise_buttons = self.cruise_buttons
|
||||
self.prev_distance_button = self.distance_button
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
else:
|
||||
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
|
||||
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
|
||||
# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
|
||||
@ -46,7 +55,7 @@ class CarState(CarStateBase):
|
||||
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
|
||||
if self.loopback_lka_steering_cmd_updated:
|
||||
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
|
||||
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
|
||||
@ -66,6 +75,9 @@ class CarState(CarStateBase):
|
||||
else:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
|
||||
|
||||
if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
|
||||
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
|
||||
else:
|
||||
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
|
||||
@ -79,7 +91,13 @@ class CarState(CarStateBase):
|
||||
# Regen braking is braking
|
||||
if self.CP.transmissionType == TransmissionType.direct:
|
||||
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
|
||||
self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1
|
||||
|
||||
if self.CP.enableGasInterceptor:
|
||||
ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
|
||||
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
|
||||
|
||||
@ -94,6 +112,7 @@ class CarState(CarStateBase):
|
||||
ret.steerFaultTemporary = self.lkas_status == 2
|
||||
ret.steerFaultPermanent = self.lkas_status == 3
|
||||
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
@ -106,6 +125,19 @@ class CarState(CarStateBase):
|
||||
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
|
||||
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
else:
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
|
||||
cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
|
||||
|
||||
# 1 - latched
|
||||
ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
|
||||
ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
|
||||
ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
|
||||
ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
|
||||
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
|
||||
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
|
||||
@ -113,26 +145,53 @@ class CarState(CarStateBase):
|
||||
|
||||
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
|
||||
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
|
||||
if self.CP.carFingerprint not in CC_ONLY_CAR:
|
||||
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
|
||||
else:
|
||||
ret.stockAeb = False
|
||||
# openpilot controls nonAdaptive when not pcmCruise
|
||||
if self.CP.pcmCruise:
|
||||
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
|
||||
if self.CP.carFingerprint in CC_ONLY_CAR:
|
||||
ret.accFaulted = False
|
||||
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
|
||||
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
|
||||
|
||||
@staticmethod
|
||||
def get_cam_can_parser(CP):
|
||||
messages = []
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
|
||||
messages += [
|
||||
("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),
|
||||
("ASCMLKASteeringCmd", 10),
|
||||
]
|
||||
if CP.carFingerprint not in CC_ONLY_CAR:
|
||||
messages += [
|
||||
("ASCMActiveCruiseControlStatus", 25),
|
||||
]
|
||||
|
||||
@ -141,22 +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))
|
||||
|
||||
@ -165,9 +233,25 @@ class CarState(CarStateBase):
|
||||
messages += [
|
||||
("ASCMLKASteeringCmd", 0),
|
||||
]
|
||||
if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
|
||||
messages.remove(("ECMAcceleratorPos", 80))
|
||||
messages.append(("EBCMBrakePedalPosition", 100))
|
||||
|
||||
if CP.transmissionType == TransmissionType.direct:
|
||||
messages.append(("EBCMRegenPaddle", 50))
|
||||
messages += [
|
||||
("EBCMRegenPaddle", 50),
|
||||
("EVDriveMode", 0),
|
||||
]
|
||||
|
||||
if CP.carFingerprint in CC_ONLY_CAR:
|
||||
messages += [
|
||||
("ECMCruiseControl", 10),
|
||||
]
|
||||
|
||||
if CP.enableGasInterceptor:
|
||||
messages += [
|
||||
("GAS_SENSOR", 50),
|
||||
]
|
||||
|
||||
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
|
||||
|
||||
|
||||
@ -17,10 +17,32 @@ FINGERPRINTS = {
|
||||
},
|
||||
{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
|
||||
},
|
||||
# Volt Premier 2017 w/ flashed firmware, cam harness + pedal
|
||||
{
|
||||
189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
|
||||
},
|
||||
# jfkoz
|
||||
{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
|
||||
}],
|
||||
CAR.BUICK_LACROSSE: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 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, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 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, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT_CC: [
|
||||
# FIXME: Need a message to distinguish flashed from non-flashed
|
||||
# Volt Premier w/o acc 2016
|
||||
# {
|
||||
# 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
|
||||
# },
|
||||
# {
|
||||
# 201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
|
||||
# },
|
||||
# # Volt Premier w/o ACC 2018 + Pedal
|
||||
# {
|
||||
# 189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
|
||||
# }
|
||||
],
|
||||
CAR.BUICK_REGAL: [{
|
||||
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 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, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
@ -48,6 +70,55 @@ FINGERPRINTS = {
|
||||
CAR.CHEVROLET_BOLT_EUV: [{
|
||||
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
}],
|
||||
CAR.CHEVROLET_BOLT_CC: [
|
||||
# Bolt Premier w/o ACC 2017
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
|
||||
},
|
||||
# Bolt Premier no ACC 2018 + Pedal
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8
|
||||
},
|
||||
# Bolt Premier no ACC 2019 + Pedal
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
|
||||
},
|
||||
# Bolt Premier no ACC 2020
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1268: 2, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2024: 8
|
||||
},
|
||||
# Bolt Premier no ACC 2020 2
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
|
||||
},
|
||||
# Bolt Premier no ACC 2020 w pedal
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
|
||||
},
|
||||
# Bolt EV Premier 2017
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
|
||||
},
|
||||
# Bolt EV Premier 2017 w Pedal
|
||||
{ # pylint: disable=duplicate-key
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 # pylint: disable=duplicate-key # noqa: F601
|
||||
},
|
||||
# Bolt EV Premier 2017 2 w Pedal
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
|
||||
},
|
||||
# Bolt EV Premier no ACC 2023
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 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, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1601: 8, 1616: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
|
||||
},
|
||||
# Bolt EV Premier no ACC 2021
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
|
||||
},
|
||||
# shermy99's Bolt EV Premier no ACC 2023
|
||||
{
|
||||
170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 309: 8, 311: 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, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513:6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 579: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1347: 8, 1513: 8, 1516: 8, 1601: 8, 1609: 8, 1613: 8, 1616: 8, 1618: 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, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1920: 8, 1922: 7, 1924: 8, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2017: 8, 2018: 8, 2020: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
|
||||
}],
|
||||
CAR.CHEVROLET_SILVERADO: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
}],
|
||||
@ -57,6 +128,73 @@ FINGERPRINTS = {
|
||||
{
|
||||
190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
|
||||
}],
|
||||
CAR.CHEVROLET_EQUINOX_CC: [
|
||||
# lem's 2020 Equinox, LKAS no ACC
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 444: 7, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 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, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1273: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1611: 8, 1618: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1930: 7
|
||||
}],
|
||||
# Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
|
||||
# TODO: split with FW versions
|
||||
# CAR.TRAILBLAZER: [
|
||||
# {
|
||||
# 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 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, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
|
||||
# }],
|
||||
CAR.CHEVROLET_SUBURBAN: [
|
||||
# Chevy Suburban Premier 2019 w Stock ACC no camera
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8
|
||||
},
|
||||
# Chevy Suburban Premier 2019 w Stock ACC (72 ver)
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1355: 8
|
||||
},
|
||||
# Chevy Suburban Premier 2019 w Stock ACC (70 ver)
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8
|
||||
}],
|
||||
CAR.CHEVROLET_SUBURBAN_CC: [
|
||||
# Slav's 2018 Suburban, LKAS no ACC
|
||||
{
|
||||
170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7
|
||||
},
|
||||
# Qube's 2017 Suburban, LKAS no ACC
|
||||
{
|
||||
193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1920: 8, 1924: 8, 1927: 8, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8
|
||||
}],
|
||||
CAR.GMC_YUKON_CC: [
|
||||
# greeninja's 2017 Yukon
|
||||
{
|
||||
193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 510: 8, 532: 6, 562: 8, 563: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8
|
||||
}],
|
||||
CAR.CADILLAC_CT6_CC: [
|
||||
# badgers4life's 2017 CT6
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 4, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 393: 7, 398: 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, 456: 8, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 7, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 4, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 8, 1924: 8, 1927: 8, 1928: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
CAR.CHEVROLET_TRAILBLAZER_CC: [
|
||||
{
|
||||
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.CADILLAC_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
|
||||
}],
|
||||
CAR.CADILLAC_XT5_CC: [
|
||||
# TRain's 2017 XT5
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 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, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
|
||||
}],
|
||||
CAR.CHEVROLET_TRAVERSE: [
|
||||
# Chevy Traverse w/ ACC 2023
|
||||
{
|
||||
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, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 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, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.BUICK_BABYENCLAVE: [
|
||||
# Buick Baby Enclave w/ ACC 2020-23
|
||||
{
|
||||
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, 311: 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, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 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, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 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, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 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, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
|
||||
|
||||
@ -1,5 +1,10 @@
|
||||
import math
|
||||
|
||||
from cereal import log
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.common.realtime import DT_CTRL
|
||||
from openpilot.selfdrive.car import make_can_msg
|
||||
from openpilot.selfdrive.car.gm.values import CAR
|
||||
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
|
||||
|
||||
|
||||
def create_buttons(packer, bus, idx, button):
|
||||
@ -171,3 +176,49 @@ def create_lka_icon_command(bus, active, critical, steer):
|
||||
else:
|
||||
dat = b"\x00\x00\x00"
|
||||
return make_can_msg(0x104c006c, dat, bus)
|
||||
|
||||
|
||||
def create_gm_cc_spam_command(packer, controller, CS, actuators):
|
||||
if controller.params_.get_bool("IsMetric"):
|
||||
_CV = CV.MS_TO_KPH
|
||||
RATE_UP_MAX = 0.04
|
||||
RATE_DOWN_MAX = 0.04
|
||||
else:
|
||||
_CV = CV.MS_TO_MPH
|
||||
RATE_UP_MAX = 0.2
|
||||
RATE_DOWN_MAX = 0.2
|
||||
|
||||
accel = actuators.accel * _CV # m/s/s to mph/s
|
||||
speedSetPoint = int(round(CS.out.cruiseState.speed * _CV))
|
||||
|
||||
cruiseBtn = CruiseButtons.INIT
|
||||
if speedSetPoint == CS.CP.minEnableSpeed and accel < -1:
|
||||
cruiseBtn = CruiseButtons.CANCEL
|
||||
controller.apply_speed = 0
|
||||
rate = 0.04
|
||||
elif accel < 0:
|
||||
cruiseBtn = CruiseButtons.DECEL_SET
|
||||
if speedSetPoint > (CS.out.vEgo * _CV) + 3.0: # If accel is changing directions, bring set speed to current speed as fast as possible
|
||||
rate = RATE_DOWN_MAX
|
||||
else:
|
||||
rate = max(-1 / accel, RATE_DOWN_MAX)
|
||||
controller.apply_speed = speedSetPoint - 1
|
||||
elif accel > 0:
|
||||
cruiseBtn = CruiseButtons.RES_ACCEL
|
||||
if speedSetPoint < (CS.out.vEgo * _CV) - 3.0:
|
||||
rate = RATE_UP_MAX
|
||||
else:
|
||||
rate = max(1 / accel, RATE_UP_MAX)
|
||||
controller.apply_speed = speedSetPoint + 1
|
||||
else:
|
||||
controller.apply_speed = speedSetPoint
|
||||
rate = float('inf')
|
||||
|
||||
# Check rlogs closely - our message shouldn't show up on the pt bus for us
|
||||
# Or bus 2, since we're forwarding... but I think it does
|
||||
if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
|
||||
controller.last_button_frame = controller.frame
|
||||
idx = (CS.buttons_counter + 1) % 4 # Need to predict the next idx for '22-23 EUV
|
||||
return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
|
||||
else:
|
||||
return []
|
||||
|
||||
139
selfdrive/car/gm/interface.py
Executable file → Normal file
139
selfdrive/car/gm/interface.py
Executable file → Normal file
@ -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
|
||||
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
|
||||
|
||||
@ -20,9 +20,14 @@ NetworkLocation = car.CarParams.NetworkLocation
|
||||
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
|
||||
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
|
||||
|
||||
PEDAL_MSG = 0x201
|
||||
CAM_MSG = 0x320 # AEBCmd
|
||||
# TODO: Is this always linked to camera presence?
|
||||
ACCELERATOR_POS_MSG = 0xbe
|
||||
|
||||
NON_LINEAR_TORQUE_PARAMS = {
|
||||
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
|
||||
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
|
||||
}
|
||||
@ -43,7 +48,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
|
||||
|
||||
def get_steer_feedforward_function(self):
|
||||
if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
|
||||
if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
|
||||
return self.get_steer_feedforward_volt
|
||||
else:
|
||||
return CarInterfaceBase.get_steer_feedforward_default
|
||||
@ -79,7 +84,7 @@ class CarInterface(CarInterfaceBase):
|
||||
return float(self.neural_ff_model.predict(inputs)) + friction
|
||||
|
||||
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
|
||||
if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV:
|
||||
if self.CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
|
||||
self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
|
||||
return self.torque_from_lateral_accel_neural
|
||||
elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
|
||||
@ -93,6 +98,9 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
|
||||
ret.autoResumeSng = False
|
||||
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
|
||||
if PEDAL_MSG in fingerprint[0]:
|
||||
ret.enableGasInterceptor = True
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
|
||||
|
||||
if candidate in EV_CAR:
|
||||
ret.transmissionType = TransmissionType.direct
|
||||
@ -102,7 +110,7 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.longitudinalTuning.kiBP = [5., 35.]
|
||||
|
||||
if candidate in CAMERA_ACC_CAR:
|
||||
ret.experimentalLongitudinalAvailable = True
|
||||
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.radarUnavailable = True # no radar
|
||||
ret.pcmCruise = True
|
||||
@ -121,6 +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
|
||||
@ -133,11 +150,9 @@ class CarInterface(CarInterfaceBase):
|
||||
# Tuning
|
||||
ret.longitudinalTuning.kiV = [2.4, 1.5]
|
||||
|
||||
# These cars have been put into dashcam only due to both a lack of users and test coverage.
|
||||
# These cars likely still work fine. Once a user confirms each car works and a test route is
|
||||
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
|
||||
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
|
||||
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
|
||||
if ret.enableGasInterceptor:
|
||||
# Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
|
||||
|
||||
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
@ -149,7 +164,8 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
|
||||
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
|
||||
|
||||
if candidate == CAR.CHEVROLET_VOLT:
|
||||
if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
|
||||
ret.minEnableSpeed = -1
|
||||
ret.lateralTuning.pid.kpBP = [0., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 0.17]
|
||||
ret.lateralTuning.pid.kiBP = [0.]
|
||||
@ -180,10 +196,14 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_BOLT_EUV:
|
||||
elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
# ACC Bolts use pedal for full longitudinal control, not just sng
|
||||
ret.flags |= GMFlags.PEDAL_LONG.value
|
||||
|
||||
elif candidate == CAR.CHEVROLET_SILVERADO:
|
||||
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
|
||||
# with foot on brake to allow engagement, but this platform only has that check in the camera.
|
||||
@ -192,13 +212,93 @@ class CarInterface(CarInterfaceBase):
|
||||
ret.minEnableSpeed = -1.
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_EQUINOX:
|
||||
elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAILBLAZER:
|
||||
elif candidate in (CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAILBLAZER_CC):
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_CC):
|
||||
ret.steerActuatorDelay = 0.075
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.GMC_YUKON_CC:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT4:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT5_CC:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAVERSE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BUICK_BABYENCLAVE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_CT6_CC:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
if ret.enableGasInterceptor:
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
|
||||
ret.minEnableSpeed = -1
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.stoppingControl = True
|
||||
ret.autoResumeSng = True
|
||||
|
||||
if candidate in CC_ONLY_CAR:
|
||||
ret.flags |= GMFlags.PEDAL_LONG.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
|
||||
# Note: Low speed, stop and go not tested. Should be fairly smooth on highway
|
||||
ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
|
||||
ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
|
||||
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
|
||||
|
||||
elif candidate in CC_ONLY_CAR:
|
||||
ret.flags |= GMFlags.CC_LONG.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
|
||||
ret.radarUnavailable = True
|
||||
ret.experimentalLongitudinalAvailable = False
|
||||
ret.minEnableSpeed = 24 * CV.MPH_TO_MS
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.pcmCruise = False
|
||||
|
||||
ret.stoppingDecelRate = 11.18 # == 25 mph/s (.04 rate)
|
||||
|
||||
ret.longitudinalActuatorDelayLowerBound = 1. # TODO: measure this
|
||||
ret.longitudinalActuatorDelayUpperBound = 2.
|
||||
|
||||
ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.]
|
||||
ret.longitudinalTuning.kiV = [0., 20., 20.] # set lower end to 0 since we can't drive below that speed
|
||||
|
||||
if candidate in CC_ONLY_CAR:
|
||||
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] and not candidate in SDGM_CAR:
|
||||
ret.flags |= GMFlags.NO_CAMERA.value
|
||||
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
|
||||
|
||||
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
|
||||
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
|
||||
|
||||
return ret
|
||||
|
||||
# returns a car.CarState
|
||||
@ -226,13 +326,22 @@ 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:
|
||||
if ret.cruiseState.standstill and not self.CP.autoResumeSng:
|
||||
events.add(EventName.resumeRequired)
|
||||
if ret.vEgo < self.CP.minSteerSpeed:
|
||||
events.add(EventName.belowSteerSpeed)
|
||||
|
||||
if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
|
||||
events.add(EventName.speedTooLow)
|
||||
|
||||
if (self.CP.flags & GMFlags.PEDAL_LONG.value) and \
|
||||
self.CP.transmissionType == TransmissionType.direct and \
|
||||
not self.CS.single_pedal_mode and \
|
||||
c.longActive:
|
||||
events.add(EventName.pedalInterceptorNoBrake)
|
||||
|
||||
ret.events = events.to_msg()
|
||||
|
||||
return ret
|
||||
|
||||
@ -1,6 +1,8 @@
|
||||
from dataclasses import dataclass, field
|
||||
from enum import IntFlag
|
||||
|
||||
from cereal import car
|
||||
from openpilot.common.numpy_fast import interp
|
||||
from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
|
||||
from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarParts
|
||||
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
@ -17,7 +19,9 @@ 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
|
||||
@ -36,7 +40,7 @@ class CarControllerParams:
|
||||
self.ZERO_GAS = 2048 # Coasting
|
||||
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
|
||||
|
||||
if CP.carFingerprint in CAMERA_ACC_CAR:
|
||||
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
|
||||
self.MAX_GAS = 3400
|
||||
self.MAX_ACC_REGEN = 1514
|
||||
self.INACTIVE_REGEN = 1554
|
||||
@ -44,6 +48,12 @@ 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
|
||||
@ -58,6 +68,17 @@ class CarControllerParams:
|
||||
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
|
||||
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
|
||||
|
||||
# determined by letting Volt regen to a stop in L gear from 89mph,
|
||||
# and by letting off gas and allowing car to creep, for determining
|
||||
# the positive threshold values at very low speed
|
||||
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]
|
||||
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, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
|
||||
|
||||
def update_ev_gas_brake_threshold(self, v_ego):
|
||||
gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
|
||||
self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
|
||||
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMCarDocs(CarDocs):
|
||||
@ -94,7 +115,8 @@ class CAR(Platforms):
|
||||
)
|
||||
CHEVROLET_VOLT = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
|
||||
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
|
||||
)
|
||||
CADILLAC_ATS = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
|
||||
@ -150,6 +172,59 @@ class CAR(Platforms):
|
||||
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
|
||||
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
# Separate car def is required when there is no ASCM
|
||||
# (for now) unless there is a way to detect it when it has been unplugged...
|
||||
CHEVROLET_VOLT_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2017-18 - No-ACC", min_enable_speed=0)],
|
||||
CHEVROLET_VOLT.specs,
|
||||
)
|
||||
CHEVROLET_BOLT_CC = GMPlatformConfig(
|
||||
[
|
||||
GMCarDocs("Chevrolet Bolt EUV 2022-23 - No-ACC"),
|
||||
GMCarDocs("Chevrolet Bolt EV 2017-23 - No-ACC"),
|
||||
],
|
||||
CHEVROLET_BOLT_EUV.specs,
|
||||
)
|
||||
CHEVROLET_EQUINOX_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
|
||||
CHEVROLET_EQUINOX.specs,
|
||||
)
|
||||
CHEVROLET_SUBURBAN = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Suburban Premier 2016-2020")],
|
||||
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
|
||||
)
|
||||
CHEVROLET_SUBURBAN_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Suburban Premier 2016-2020 - No-ACC")],
|
||||
CHEVROLET_SUBURBAN.specs,
|
||||
)
|
||||
GMC_YUKON_CC = GMPlatformConfig(
|
||||
[GMCarDocs("GMC Yukon No ACC")],
|
||||
CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
|
||||
)
|
||||
CADILLAC_CT6_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac CT6 No ACC")],
|
||||
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
|
||||
CHEVROLET_TRAILBLAZER.specs,
|
||||
)
|
||||
CADILLAC_XT4 = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
|
||||
CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CADILLAC_XT5_CC = GMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT5 No ACC")],
|
||||
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
|
||||
)
|
||||
CHEVROLET_TRAVERSE = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Traverse 2023", "Driver Assist Package")],
|
||||
CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
|
||||
)
|
||||
BUICK_BABYENCLAVE = GMPlatformConfig(
|
||||
[GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")],
|
||||
CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
|
||||
)
|
||||
|
||||
|
||||
class CruiseButtons:
|
||||
@ -174,6 +249,12 @@ class CanBus:
|
||||
LOOPBACK = 128
|
||||
DROPPED = 192
|
||||
|
||||
class GMFlags(IntFlag):
|
||||
PEDAL_LONG = 1
|
||||
CC_LONG = 2
|
||||
NO_CAMERA = 4
|
||||
NO_ACCELERATOR_POS_MSG = 8
|
||||
|
||||
|
||||
# In a Data Module, an identifier is a string used to recognize an object,
|
||||
# either by itself or together with the identifiers of parent objects.
|
||||
@ -224,10 +305,17 @@ FW_QUERY_CONFIG = FwQueryConfig(
|
||||
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
|
||||
)
|
||||
|
||||
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV}
|
||||
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
|
||||
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}
|
||||
# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
|
||||
|
||||
# We're integrated at the Safety Data Gateway Module on these cars
|
||||
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
|
||||
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})
|
||||
# CAMERA_ACC_CAR.update(CC_ONLY_CAR)
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
|
||||
File diff suppressed because one or more lines are too long
@ -39,11 +39,14 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"RAM_1500_5TH_GEN" = [2.0, 2.0, 0.05]
|
||||
"RAM_HD_5TH_GEN" = [1.4, 1.4, 0.05]
|
||||
"SUBARU_OUTBACK" = [2.0, 1.5, 0.2]
|
||||
"BUICK_BABYENCLAVE" = [1.45, 1.6, 0.2]
|
||||
"CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
|
||||
"CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
|
||||
"CADILLAC_XT4" = [1.45, 1.6, 0.2]
|
||||
"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
|
||||
"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
|
||||
"CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
|
||||
"CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
|
||||
"CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
|
||||
"VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
|
||||
"VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
|
||||
|
||||
@ -55,6 +55,14 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
|
||||
"CADILLAC_ATS" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
|
||||
"HOLDEN_ASTRA" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
|
||||
"CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
|
||||
"CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
|
||||
"CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO"
|
||||
"CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"
|
||||
"GMC_YUKON_CC" = "CHEVROLET_SILVERADO"
|
||||
"CADILLAC_CT6_CC" = "CHEVROLET_VOLT"
|
||||
"CADILLAC_XT5_CC" = "CHEVROLET_EQUINOX"
|
||||
|
||||
"SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7"
|
||||
"SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3"
|
||||
|
||||
@ -570,6 +570,9 @@ class Controls:
|
||||
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
|
||||
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
|
||||
|
||||
if len(long_plan.speeds):
|
||||
actuators.speed = long_plan.speeds[-1]
|
||||
|
||||
# Steering PID loop and lateral MPC
|
||||
self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
|
||||
actuators.curvature = self.desired_curvature
|
||||
|
||||
@ -952,6 +952,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
|
||||
},
|
||||
|
||||
EventName.pedalInterceptorNoBrake: {
|
||||
ET.WARNING: Alert(
|
||||
"Braking Unavailable",
|
||||
"Shift to L",
|
||||
AlertStatus.userPrompt, AlertSize.mid,
|
||||
Priority.HIGH, VisualAlert.wrongGear, AudibleAlert.promptRepeat, 4.),
|
||||
},
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user