brianhansonxyz/oscarpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

CC longitudinal control

Browse Source 
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 763ee059d4
commit 062c1a3094
7 changed files with 116 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
panda/board/safety/safety_gm.h
View File

@@ -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
{0x184, 2, 8}}; // camera bus
const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt 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
{.msg = {{0xBE, 0, 6, .frequency = 10U}, // Volt, Silverado, Acadia Denali
{0xBE, 0, 7, .frequency = 10U}, // Bolt EUV
{0xBE, 0, 8, .frequency = 10U}}}, // Escalade
{0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
{.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;
if (!allowed_cancel) {
bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
// 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_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
#endif
gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long || (gm_hw == GM_SDGM);
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_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;
}

1
panda/python/__init__.py
View File

@@ -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

9
selfdrive/car/gm/carcontroller.py
View File

@@ -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

48
selfdrive/car/gm/gmcan.py
View File

@@ -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 []

25
selfdrive/car/gm/interface.py
View File

@@ -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

1
selfdrive/car/gm/values.py
View File

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

3
selfdrive/controls/controlsd.py
View File

@@ -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,