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Add SDGM support

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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 0174873f46
commit 9af2cadf3b
9 changed files with 165 additions and 51 deletions
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21
selfdrive/car/gm/interface.py
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@@ -7,7 +7,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.params import Params
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SLOW_ACC
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, SLOW_ACC
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
@@ -120,6 +120,15 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
elif candidate in SDGM_CAR:
ret.experimentalLongitudinalAvailable = False
ret.networkLocation = NetworkLocation.fwdCamera
ret.pcmCruise = True
ret.radarUnavailable = True
ret.minEnableSpeed = -1. # engage speed is decided by ASCM
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = True
ret.networkLocation = NetworkLocation.gateway
@@ -287,6 +296,14 @@ class CarInterface(CarInterfaceBase):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.XT4:
ret.mass = 3660. * CV.LB_TO_KG
ret.wheelbase = 2.78
ret.steerRatio = 14.4
ret.centerToFront = ret.wheelbase * 0.4
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.CT6_CC:
ret.wheelbase = 3.11
ret.mass = 5198. * CV.LB_TO_KG
@@ -326,7 +343,7 @@ class CarInterface(CarInterfaceBase):
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
self.CP.networkLocation == NetworkLocation.fwdCamera):
(self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)