CC longitudinal control

Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>

panda/board/safety/safety_gm.h

@@ -32,26 +32,26 @@ const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {
                                   {0x315, 2, 5},  // ch bus
                                   {0x104c006c, 3, 3}, {0x10400060, 3, 5}};  // gmlan
 
-const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4},  // pt bus
+const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
                                  {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
+const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6},  // pt bus
+                                      {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
+
 const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
                                   {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6},  // pt bus
+const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
-                                      {0x184, 2, 8}};  // camera bus
+                                     {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
 RxCheck gm_rx_checks[] = {
   {.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
   {.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
   {.msg = {{0x1E1, 0, 7, .frequency = 10U},   // Non-SDGM Car
-           {0x1E1, 2, 7, .frequency = 10U}}}, // SDGM Car
+           {0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car
   {.msg = {{0xF1, 0, 6, .frequency = 10U},   // Non-SDGM Car
-           {0xF1, 2, 6, .frequency = 10U}}}, // SDGM Car
+           {0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
-  {.msg = {{0xBE, 0, 6, .frequency = 10U},    // Volt, Silverado, Acadia Denali
-           {0xBE, 0, 7, .frequency = 10U},    // Bolt EUV
-           {0xBE, 0, 8, .frequency = 10U}}},  // Escalade
   {.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
   {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
 };
@@ -59,6 +59,7 @@ RxCheck gm_rx_checks[] = {
 const uint16_t GM_PARAM_HW_CAM = 1;
 const uint16_t GM_PARAM_HW_CAM_LONG = 2;
 const uint16_t GM_PARAM_HW_SDGM = 4;
+const uint16_t GM_PARAM_CC_LONG = 8;
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -70,6 +71,7 @@ enum {
 enum {GM_ASCM, GM_CAM, GM_SDGM} gm_hw = GM_ASCM;
 bool gm_cam_long = false;
 bool gm_pcm_cruise = false;
+bool gm_cc_long = false;
 
 static void handle_gm_wheel_buttons(CANPacket_t *to_push) {
   int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
@@ -113,7 +115,7 @@ static void gm_rx_hook(CANPacket_t *to_push) {
     }
 
     // ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM)
-    if ((addr == 0x1E1) && (!gm_pcm_cruise || gas_interceptor_detected || gm_cc_long) && (gm_hw != GM_SDGM)) {
+    if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long) && (gm_hw != GM_SDGM)) {
       handle_gm_wheel_buttons(to_push);
     }
 
@@ -183,7 +185,7 @@ static bool gm_tx_hook(CANPacket_t *to_send) {
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
     bool apply = GET_BIT(to_send, 0U) != 0U;
-    int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
 
     bool violation = false;
     // Allow apply bit in pre-enabled and overriding states
@@ -196,11 +198,16 @@ static bool gm_tx_hook(CANPacket_t *to_send) {
   }
 
   // BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
-  if ((addr == 0x1E1) && gm_pcm_cruise) {
+  if ((addr == 0x1E1) && (gm_pcm_cruise || gm_cc_long)) {
     int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
 
-    bool allowed_cancel = (button == 6) && cruise_engaged_prev;
+    bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
-    if (!allowed_cancel) {
+    // For standard CC, allow spamming of SET / RESUME
+    if (gm_cc_long) {
+      allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
+    }
+
+    if (!allowed_btn) {
       tx = false;
     }
   }
@@ -250,16 +257,22 @@ static safety_config gm_init(uint16_t param) {
   } else {
   }
 
-#ifdef ALLOW_DEBUG
+  gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
-  gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
+  gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
-#endif
+  gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
-  gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long || (gm_hw == GM_SDGM);
 
   safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   if (gm_hw == GM_CAM) {
-    ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
+    if (gm_cc_long) {
+      ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS);
+    } else if (gm_cam_long) {
+      ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
+    } else {
+      ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
+    }
   } else if (gm_hw == GM_SDGM) {
     ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
+  }
   return ret;
 }
 

panda/python/__init__.py

@@ -229,6 +229,7 @@ class Panda:
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
   FLAG_GM_HW_SDGM = 4
+  FLAG_GM_CC_LONG = 8
   FLAG_GM_HW_ASCM_LONG = 16
 
   FLAG_FORD_LONG_CONTROL = 1

selfdrive/car/gm/carcontroller.py

@@ -10,6 +10,8 @@ from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams,
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
 LongCtrlState = car.CarControl.Actuators.LongControlState
+GearShifter = car.CarState.GearShifter
+TransmissionType = car.CarParams.TransmissionType
 
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
@@ -24,10 +26,12 @@ class CarController:
     self.apply_steer_last = 0
     self.apply_gas = 0
     self.apply_brake = 0
+    self.apply_speed = 0
     self.frame = 0
     self.last_steer_frame = 0
     self.last_button_frame = 0
     self.cancel_counter = 0
+    self.pedal_steady = 0.
 
     self.lka_steering_cmd_counter = 0
     self.lka_icon_status_last = (False, False)
@@ -106,6 +110,10 @@ class CarController:
 
         at_full_stop = CC.longActive and CS.out.standstill
         near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+        if self.CP.flags & GMFlags.CC_LONG.value:
+          if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed:
+            # Using extend instead of append since the message is only sent intermittently
+            can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators))
         if self.CP.carFingerprint not in CC_ONLY_CAR:
           friction_brake_bus = CanBus.CHASSIS
           # GM Camera exceptions
@@ -167,6 +175,7 @@ class CarController:
     new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas
     new_actuators.brake = self.apply_brake
+    new_actuators.speed = self.apply_speed
 
     self.frame += 1
     return new_actuators, can_sends

selfdrive/car/gm/gmcan.py

@@ -1,5 +1,9 @@
+import math
+
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import make_can_msg
-from openpilot.selfdrive.car.gm.values import CAR
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
 
 
 def create_buttons(packer, bus, idx, button):
@@ -171,3 +175,45 @@ def create_lka_icon_command(bus, active, critical, steer):
   else:
     dat = b"\x00\x00\x00"
   return make_can_msg(0x104c006c, dat, bus)
+
+
+def create_gm_cc_spam_command(packer, controller, CS, actuators):
+  # TODO: Cleanup the timing - normal is every 30ms...
+
+  cruiseBtn = CruiseButtons.INIT
+
+  # if controller.params_.get_bool("IsMetric"):
+  #   accel = actuators.accel * CV.MS_TO_KPH  # m/s/s to km/h/s
+  # else:
+  #   accel = actuators.accel * CV.MS_TO_MPH  # m/s/s to mph/s
+  accel = actuators.accel * CV.MS_TO_MPH  # m/s/s to mph/s
+  speedSetPoint = int(round(CS.out.cruiseState.speed * CV.MS_TO_MPH))
+
+  RATE_UP_MAX = 0.2  # may be lower on new/euro cars
+  RATE_DOWN_MAX = 0.2  # may be lower on new/euro cars
+
+  if speedSetPoint == CS.CP.minEnableSpeed and accel < -1:
+    cruiseBtn = CruiseButtons.CANCEL
+    controller.apply_speed = 0
+    rate = 0.04
+  elif accel < 0:
+    cruiseBtn = CruiseButtons.DECEL_SET
+    rate = max(-1 / accel, RATE_DOWN_MAX)
+    controller.apply_speed = speedSetPoint - 1
+  elif accel > 0:
+    cruiseBtn = CruiseButtons.RES_ACCEL
+    rate = max(1 / accel, RATE_UP_MAX)
+    controller.apply_speed = speedSetPoint + 1
+  else:
+    controller.apply_speed = speedSetPoint
+    rate = float('inf')
+
+  # Check rlogs closely - our message shouldn't show up on the pt bus for us
+  # Or bus 2, since we're forwarding... but I think it does
+  # TODO: Cleanup the timing - normal is every 30ms...
+  if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
+    controller.last_button_frame = controller.frame
+    idx = (CS.buttons_counter + 1) % 4  # Need to predict the next idx for '22-23 EUV
+    return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
+  else:
+    return []

selfdrive/car/gm/interface.py

@@ -97,7 +97,7 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kiBP = [0.]
 
     if candidate in CAMERA_ACC_CAR:
-      ret.experimentalLongitudinalAvailable = True
+      ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True  # no radar
       ret.pcmCruise = True
@@ -311,6 +311,26 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.7
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate in CC_ONLY_CAR:
+      ret.flags |= GMFlags.CC_LONG.value
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
+      ret.radarUnavailable = True
+      ret.experimentalLongitudinalAvailable = False
+      ret.minEnableSpeed = 24 * CV.MPH_TO_MS
+      ret.openpilotLongitudinalControl = True
+      ret.pcmCruise = False
+
+      ret.longitudinalTuning.deadzoneBP = [0.]
+      ret.longitudinalTuning.deadzoneV = [0.56]  # == 2 km/h/s, 1.25 mph/s
+      ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
+      ret.longitudinalActuatorDelayLowerBound = 1.  # TODO: measure this
+      ret.longitudinalActuatorDelayUpperBound = 2.
+
+      ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
+      ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
+      ret.longitudinalTuning.kiBP = [0.]
+      ret.longitudinalTuning.kiV = [0.1]
+
     if candidate in CC_ONLY_CAR:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
 
@@ -350,6 +370,9 @@ class CarInterface(CarInterfaceBase):
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(EventName.belowSteerSpeed)
 
+    if (self.CP.flags & GMFlags.CC_LONG.value) and ret.vEgo < self.CP.minEnableSpeed and ret.cruiseState.enabled:
+      events.add(EventName.speedTooLow)
+
     ret.events = events.to_msg()
 
     return ret

selfdrive/car/gm/values.py

@@ -175,6 +175,7 @@ class CanBus:
   DROPPED = 192
 
 class GMFlags(IntFlag):
+  CC_LONG = 2
   NO_ACCELERATOR_POS_MSG = 8
 
 

selfdrive/controls/controlsd.py

@@ -645,6 +645,9 @@ class Controls:
       t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 
+      if len(long_plan.speeds):
+        actuators.speed = long_plan.speeds[-1]
+
       # Steering PID loop and lateral MPC
       self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
                                                                                        lat_plan.psis,