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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
2024-01-12 22:39:30 -07:00
parent 4325b86248
commit 955950381f
6 changed files with 219 additions and 26 deletions
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29
selfdrive/car/gm/values.py
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@@ -38,7 +38,7 @@ class CarControllerParams:
self.ZERO_GAS = 2048 # Coasting
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP.carFingerprint in CAMERA_ACC_CAR:
if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
self.MAX_GAS = 3400
self.MAX_ACC_REGEN = 1514
self.INACTIVE_REGEN = 1554
@@ -76,6 +76,16 @@ class CAR(StrEnum):
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"
class Footnote(Enum):
@@ -118,6 +128,15 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
],
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
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"),
}
@@ -143,15 +162,21 @@ class CanBus:
LOOPBACK = 128
DROPPED = 192
class GMFlags(IntFlag):
NO_ACCELERATOR_POS_MSG = 8
GM_RX_OFFSET = 0x400
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}
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 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.update({CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC})
STEER_THRESHOLD = 1.0