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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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241
selfdrive/car/gm/values.py
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@@ -1,13 +1,11 @@
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Union
from dataclasses import dataclass, field
from enum import Enum, IntFlag
from cereal import car
from openpilot.common.numpy_fast import interp
from openpilot.common.params import Params
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
@@ -60,7 +58,7 @@ class CarControllerParams:
elif CP.carFingerprint in SDGM_CAR:
self.MAX_GAS = 7496
self.MAX_GAS_PLUS = 7496
self.MAX_GAS_PLUS = 8848
self.MAX_ACC_REGEN = 5610
self.INACTIVE_REGEN = 5650
max_regen_acceleration = 0.
@@ -95,35 +93,6 @@ class CarControllerParams:
self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
class CAR(StrEnum):
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017"
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_LACROSSE = "BUICK LACROSSE 2017"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE = "CADILLAC ESCALADE 2017"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
BOLT_EUV = "CHEVROLET BOLT EUV 2022"
SILVERADO = "CHEVROLET SILVERADO 1500 2020"
EQUINOX = "CHEVROLET EQUINOX 2019"
TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
# 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...
VOLT_CC = "CHEVROLET VOLT NO ACC"
BOLT_CC = "CHEVROLET BOLT EV NO ACC"
EQUINOX_CC = "CHEVROLET EQUINOX NO ACC"
SUBURBAN = "CHEVROLET SUBURBAN PREMIER 2016"
SUBURBAN_CC = "CHEVROLET SUBURBAN NO ACC"
YUKON_CC = "GMC YUKON NO ACC"
CT6_CC = "CADILLAC CT6 NO ACC"
TRAILBLAZER_CC = "CHEVROLET TRAILBLAZER 2024 NO ACC"
XT4 = "CADILLAC XT4 2023"
TRAX = "CHEVROLET TRAX 2024"
class Footnote(Enum):
OBD_II = CarFootnote(
'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
@@ -132,7 +101,7 @@ class Footnote(Enum):
@dataclass
class GMCarInfo(CarInfo):
class GMCarDocs(CarDocs):
package: str = "Adaptive Cruise Control (ACC)"
def init_make(self, CP: car.CarParams):
@@ -143,39 +112,151 @@ class GMCarInfo(CarInfo):
self.footnotes.append(Footnote.OBD_II)
CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.BOLT_EUV: [
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
CAR.SILVERADO: [
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
@dataclass(frozen=True, kw_only=True)
class GMCarSpecs(CarSpecs):
tireStiffnessFactor: float = 0.444 # not optimized yet
CAR.VOLT_CC: GMCarInfo("Chevrolet Volt No ACC"),
CAR.BOLT_CC: GMCarInfo("Chevrolet Bolt No ACC"),
CAR.EQUINOX_CC: GMCarInfo("Chevrolet Equinox No ACC"),
CAR.SUBURBAN: GMCarInfo("Chevrolet Suburban Premier 2016-2020"),
CAR.SUBURBAN_CC: GMCarInfo("Chevrolet Suburban No ACC"),
CAR.YUKON_CC: GMCarInfo("GMC Yukon No ACC"),
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"),
}
@dataclass
class GMPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
class CAR(Platforms):
HOLDEN_ASTRA = GMPlatformConfig(
"HOLDEN ASTRA RS-V BK 2017",
[GMCarDocs("Holden Astra 2017")],
GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
)
VOLT = GMPlatformConfig(
"CHEVROLET VOLT PREMIER 2017",
[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, minEnableSpeed=-1),
dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
)
CADILLAC_ATS = GMPlatformConfig(
"CADILLAC ATS Premium Performance 2018",
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
)
MALIBU = GMPlatformConfig(
"CHEVROLET MALIBU PREMIER 2017",
[GMCarDocs("Chevrolet Malibu Premier 2017")],
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
)
ACADIA = GMPlatformConfig(
"GMC ACADIA DENALI 2018",
[GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
)
BUICK_LACROSSE = GMPlatformConfig(
"BUICK LACROSSE 2017",
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
)
BUICK_REGAL = GMPlatformConfig(
"BUICK REGAL ESSENCE 2018",
[GMCarDocs("Buick Regal Essence 2018")],
GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
)
ESCALADE = GMPlatformConfig(
"CADILLAC ESCALADE 2017",
[GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
)
ESCALADE_ESV = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2016",
[GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
)
ESCALADE_ESV_2019 = GMPlatformConfig(
"CADILLAC ESCALADE ESV 2019",
[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
ESCALADE_ESV.specs,
)
BOLT_EUV = GMPlatformConfig(
"CHEVROLET BOLT EUV 2022",
[
GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
],
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
SILVERADO = GMPlatformConfig(
"CHEVROLET SILVERADO 1500 2020",
[
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
)
EQUINOX = GMPlatformConfig(
"CHEVROLET EQUINOX 2019",
[GMCarDocs("Chevrolet Equinox 2019-22")],
GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
)
TRAILBLAZER = GMPlatformConfig(
"CHEVROLET TRAILBLAZER 2021",
[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...
VOLT_CC = GMPlatformConfig(
"CHEVROLET VOLT NO ACC",
[GMCarDocs("Chevrolet Volt 2017-18")],
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=1.0),
)
BOLT_CC = GMPlatformConfig(
"CHEVROLET BOLT EV NO ACC",
[GMCarDocs("Chevrolet Bolt No ACC")],
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
EQUINOX_CC = GMPlatformConfig(
"CHEVROLET EQUINOX NO ACC",
[GMCarDocs("Chevrolet Equinox No ACC")],
GMCarSpecs(mass=3500, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
SUBURBAN = GMPlatformConfig(
"CHEVROLET SUBURBAN PREMIER 2016",
[GMCarDocs("Chevrolet Suburban Premier 2016-2020")],
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
)
SUBURBAN_CC = GMPlatformConfig(
"CHEVROLET SUBURBAN NO ACC",
[GMCarDocs("Chevrolet Suburban No ACC")],
GMCarSpecs(mass=2731, wheelbase=3.032, steerRatio=17.3, centerToFrontRatio=0.49, tireStiffnessFactor=1.0),
)
YUKON_CC = GMPlatformConfig(
"GMC YUKON NO ACC",
[GMCarDocs("GMC Yukon No ACC")],
CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
)
CT6_CC = GMPlatformConfig(
"CADILLAC CT6 NO ACC",
[GMCarDocs("Cadillac CT6 No ACC")],
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
)
TRAILBLAZER_CC = GMPlatformConfig(
"CHEVROLET TRAILBLAZER NO ACC",
[GMCarDocs("Chevrolet Trailblazer 2024 No ACC")],
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
)
XT4 = GMPlatformConfig(
"CADILLAC XT4 2023",
[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
)
BABYENCLAVE = GMPlatformConfig(
"BUICK BABY ENCLAVE 2020",
[GMCarDocs("Buick Baby Enclave 2020-23")],
CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
)
TRAX = GMPlatformConfig(
"CHEVROLET TRAX 2024",
[GMCarDocs("Chevrolet TRAX 2024")],
CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
)
class CruiseButtons:
@@ -206,26 +287,38 @@ class GMFlags(IntFlag):
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.
# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0' # likely does not contain anything useful
GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
# Part number of XML data file that is used to configure ECU
GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c'
GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b' # used to know if XML file is compatible with the ECU software/hardware
# This DID is for identifying the part number that reflects the mix of hardware,
# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb'
GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc'
GM_FW_RESPONSE = b'\x5a'
GM_FW_REQUESTS = [
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST,
GM_SOFTWARE_MODULE_1_REQUEST,
GM_SOFTWARE_MODULE_2_REQUEST,
GM_SOFTWARE_MODULE_3_REQUEST,
GM_XML_DATA_FILE_PART_NUMBER,
GM_XML_CONFIG_COMPAT_ID,
GM_END_MODEL_PART_NUMBER_REQUEST,
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
GM_BASE_MODEL_PART_NUMBER_REQUEST,
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
]
GM_RX_OFFSET = 0x400
@@ -243,15 +336,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
)
DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
DBC[CAR.VOLT] = dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
DBC[CAR.VOLT_CC] = DBC[CAR.VOLT]
EV_CAR = {CAR.VOLT, CAR.BOLT_EUV, CAR.VOLT_CC, CAR.BOLT_CC}
CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC}
# We're integrated at the Safety Data Gateway Module on these cars
SDGM_CAR = {CAR.XT4}
SDGM_CAR = {CAR.XT4, CAR.BABYENCLAVE}
# Slow acceleration cars
SLOW_ACC = {CAR.SILVERADO}
@@ -261,3 +350,5 @@ CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER, CAR
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
DBC = CAR.create_dbc_map()