GM truck gas tune

Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>

common/params.cc

@@ -270,6 +270,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"FrogsGoMoo", PERSISTENT},
     {"FrogsGoMooTune", PERSISTENT},
     {"FullMap", PERSISTENT},
+    {"GasRegenCmd", PERSISTENT},
     {"GoatScream", PERSISTENT},
     {"LaneLinesWidth", PERSISTENT},
     {"LateralTune", PERSISTENT},

opendbc/gm_global_a_powertrain_generated.dbc

@@ -211,15 +211,14 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
  SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
 
 BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO
- SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
+ SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO
- SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO
- SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO
- SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 

panda/board/safety/safety_gm.h

@@ -18,8 +18,8 @@ const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS_SPORT = {
   .max_gas = 8191,
-  .min_gas = 1404,
+  .min_gas = 5500,
-  .inactive_gas = 1404,
+  .inactive_gas = 5500,
   .max_brake = 400,
 };
 
@@ -32,8 +32,8 @@ const LongitudinalLimits GM_CAM_LONG_LIMITS = {
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS_SPORT = {
   .max_gas = 8848,
-  .min_gas = 1514,
+  .min_gas = 5610,
-  .inactive_gas = 1554,
+  .inactive_gas = 5650,
   .max_brake = 400,
 };
 
@@ -196,7 +196,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
     bool apply = GET_BIT(to_send, 0U);
-    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
 
     bool violation = false;
     // Allow apply bit in pre-enabled and overriding states

selfdrive/car/gm/gmcan.py

@@ -65,7 +65,6 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
     "GasRegenFullStopActive": at_full_stop,
     "GasRegenAlwaysOne": 1,
     "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
   }
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]

selfdrive/car/gm/interface.py

@@ -8,7 +8,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, SLOW_ACC
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -122,6 +122,10 @@ class CarInterface(CarInterfaceBase):
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
 
+      if candidate in SLOW_ACC and params.get_bool("GasRegenCmd"):
+        ret.longitudinalTuning.kpV = [1.5, 1.125]
+        ret.stopAccel = -0.25
+
       if experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")

selfdrive/car/gm/values.py

@@ -38,18 +38,23 @@ class CarControllerParams:
 
   def __init__(self, CP):
     # Gas/brake lookups
-    self.ZERO_GAS = 2048  # Coasting
+    self.ZERO_GAS = 6144  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
     if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
-      self.MAX_GAS = 3400
+      self.MAX_GAS = 7496
       self.MAX_GAS_PLUS = 8848
-      self.MAX_ACC_REGEN = 1514
+      self.MAX_ACC_REGEN = 5610
-      self.INACTIVE_REGEN = 1554
+      self.INACTIVE_REGEN = 5650
       # Camera ACC vehicles have no regen while enabled.
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
       max_regen_acceleration = 0.
 
+      if CP.carFingerprint in SLOW_ACC and Params().get_bool("GasRegenCmd"):
+        self.MAX_GAS = 8650
+        self.MAX_GAS_PLUS = 8650 # Don't Stack Extra Speed
+        self.ACCEL_MAX_PLUS = 2
+
     elif CP.carFingerprint in SDGM_CAR:
       self.MAX_GAS = 7496
       self.MAX_GAS_PLUS = 7496
@@ -58,10 +63,10 @@ class CarControllerParams:
       max_regen_acceleration = 0.
 
     else:
-      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
       self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
+      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 1404
+      self.INACTIVE_REGEN = 5500
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
       max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
@@ -229,6 +234,9 @@ CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YU
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {CAR.XT4}
 
+# Slow acceleration cars
+SLOW_ACC = {CAR.SILVERADO}
+
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
 CAMERA_ACC_CAR.update({CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC})

selfdrive/frogpilot/ui/vehicle_settings.cc

@@ -110,6 +110,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
   });
 
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
+    {"GasRegenCmd", "GM Truck Gas Tune", "Increase acceleration and smoothen brake to stop. For use on Silverado/Sierra only.", ""},
     {"LongPitch", "Long Pitch Compensation", "Reduce speed and acceleration error for greater passenger comfort and improved vehicle efficiency.", ""},
 
     {"LongitudinalTune", "Longitudinal Tune", "Use a custom Toyota longitudinal tune.\n\nCydia = More focused on TSS-P vehicles but works for all Toyotas\n\nDragonPilot = Focused on TSS2 vehicles\n\nFrogPilot = Takes the best of both worlds with some personal tweaks focused around my 2019 Lexus ES 350", ""},
@@ -152,7 +153,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
     });
   }
 
-  std::set<std::string> rebootKeys = {};
+  std::set<std::string> rebootKeys = {"GasRegenCmd"};
   for (const std::string &key : rebootKeys) {
     QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
       if (started) {

selfdrive/frogpilot/ui/vehicle_settings.h

@@ -28,7 +28,7 @@ private:
 
   std::map<std::string, ParamControl*> toggles;
 
-  std::set<QString> gmKeys = {"LongPitch"};
+  std::set<QString> gmKeys = {"GasRegenCmd", "LongPitch"};
   std::set<QString> subaruKeys = {};
   std::set<QString> toyotaKeys = {"LongitudinalTune"};