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Add fingerprints for non-ACC cars

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Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 7faa6bc89a
commit ce5ddafc5f
6 changed files with 220 additions and 26 deletions
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19
selfdrive/car/gm/carstate.py
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@@ -5,7 +5,7 @@ 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
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
@@ -111,11 +111,16 @@ 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:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
if self.CP.carFingerprint not in CC_ONLY_CAR:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
# 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:
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
@@ -130,8 +135,11 @@ class CarState(CarStateBase):
messages += [
("AEBCmd", 10),
("ASCMLKASteeringCmd", 10),
("ASCMActiveCruiseControlStatus", 25),
]
if CP.carFingerprint not in CC_ONLY_CAR:
messages += [
("ASCMActiveCruiseControlStatus", 25),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA)
@@ -166,6 +174,11 @@ class CarState(CarStateBase):
if CP.transmissionType == TransmissionType.direct:
messages.append(("EBCMRegenPaddle", 50))
if CP.carFingerprint in CC_ONLY_CAR:
messages += [
("ECMCruiseControl", 10),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
@staticmethod