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Acceleration/deceleration profiles

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Added toggle to use DragonPilot's acceleration/deceleration profiles.

Credit goes to DragonPilot!

https: //github.com/dragonpilot-community/dragonpilot
Co-Authored-By: eFini <16603033+efinilan@users.noreply.github.com>
Co-Authored-By: Kumar <36933347+rav4kumar@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-03-06 17:50:06 -07:00
parent f01d5fb25a
commit 121fd2d246
30 changed files with 259 additions and 31 deletions
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28
panda/board/safety/safety_gm.h
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@@ -16,6 +16,13 @@ const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_brake = 400,
};
const LongitudinalLimits GM_ASCM_LONG_LIMITS_SPORT = {
.max_gas = 8191,
.min_gas = 1404,
.inactive_gas = 1404,
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 3400,
.min_gas = 1514,
@@ -23,6 +30,13 @@ const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS_SPORT = {
.max_gas = 8848,
.min_gas = 1514,
.inactive_gas = 1554,
.max_brake = 400,
};
const LongitudinalLimits *gm_long_limits;
const int GM_STANDSTILL_THRSLD = 10; // 0.311kph
@@ -215,12 +229,22 @@ static int gm_fwd_hook(int bus_num, int addr) {
}
static safety_config gm_init(uint16_t param) {
sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
if (gm_hw == GM_ASCM) {
gm_long_limits = &GM_ASCM_LONG_LIMITS;
if (sport_mode) {
gm_long_limits = &GM_ASCM_LONG_LIMITS_SPORT;
} else {
gm_long_limits = &GM_ASCM_LONG_LIMITS;
}
} else if (gm_hw == GM_CAM) {
gm_long_limits = &GM_CAM_LONG_LIMITS;
if (sport_mode) {
gm_long_limits = &GM_CAM_LONG_LIMITS_SPORT;
} else {
gm_long_limits = &GM_CAM_LONG_LIMITS;
}
} else {
}