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Co-Authored-By: darkerthan-black <40709016+darkerthan-black@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 94e8d56445
commit 71eecd224c
5 changed files with 19 additions and 2 deletions
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4
selfdrive/car/gm/fingerprints.py
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@@ -176,6 +176,10 @@ FINGERPRINTS = {
{
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.TRAX: [
{
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 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, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 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, 1930: 7
}],
}
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

11
selfdrive/car/gm/interface.py
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@@ -329,12 +329,21 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 17.7
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.TRAX:
ret.mass = 1365.
ret.wheelbase = 2.7
ret.steerRatio = 16.4
ret.centerToFront = ret.wheelbase * 0.4
ret.tireStiffnessFactor = 1.0
ret.steerActuatorDelay = 0.2
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.openpilotLongitudinalControl = True and not params.get_bool("DisableOpenpilotLongitudinal")
ret.stoppingControl = True
ret.autoResumeSng = True

4
selfdrive/car/gm/values.py
View File

@@ -108,6 +108,7 @@ class CAR(StrEnum):
CT6_CC = "CADILLAC CT6 NO ACC"
TRAILBLAZER_CC = "CHEVROLET TRAILBLAZER 2024 NO ACC"
XT4 = "CADILLAC XT4 2023"
TRAX = "CHEVROLET TRAX 2024"
class Footnote(Enum):
@@ -160,6 +161,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
CAR.CT6_CC: GMCarInfo("Cadillac CT6 No ACC"),
CAR.TRAILBLAZER_CC: GMCarInfo("Chevrolet Trailblazer 2024 No ACC"),
CAR.XT4: GMCarInfo("Cadillac XT4 2023", "Driver Assist Package"),
CAR.TRAX: GMCarInfo("Chevrolet TRAX 2024"),
}
@@ -242,7 +244,7 @@ SDGM_CAR = {CAR.XT4}
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 = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER, CAR.TRAX}
CAMERA_ACC_CAR.update({CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC})
STEER_THRESHOLD = 1.0

1
selfdrive/car/torque_data/override.toml
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@@ -44,6 +44,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
"CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
"CHEVROLET EQUINOX 2019" = [2.5, 2.5, 0.05]
"CHEVROLET TRAX 2024" = [1.33, 1.9, 0.16]
"VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
"VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
"HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]

1
selfdrive/car/torque_data/substitute.toml
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@@ -62,6 +62,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"CHEVROLET SUBURBAN PREMIER 2016" = "CHEVROLET SILVERADO 1500 2020"
"CHEVROLET SUBURBAN NO ACC" = "CHEVROLET SILVERADO 1500 2020"
"GMC YUKON NO ACC" = "CHEVROLET SILVERADO 1500 2020"
"CHEVROLET TRAX 2024" = "CHEVROLET VOLT PREMIER 2017"
"CADILLAC CT6 NO ACC" = "CHEVROLET VOLT PREMIER 2017"
"SKODA FABIA 4TH GEN" = "VOLKSWAGEN GOLF 7TH GEN"