Add Full GM GasRegenCmd

selfdrive/car/gm/interface.py

@@ -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
+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.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -78,6 +78,7 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # FrogPilot variables
     params = params()
+    useGasRegenCmd = params.get_bool("GasRegenCmd")
 
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
@@ -110,6 +111,9 @@ class CarInterface(CarInterfaceBase):
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
 
+      if candidate in SLOW_ACC and useGasRegenCmd:
+        ret.longitudinalTuning.kpV = [1.5, 1.125]
+
       if experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
@@ -239,6 +243,8 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.3
       ret.centerToFront = ret.wheelbase * 0.5
       ret.tireStiffnessFactor = 1.0
+      if useGasRegenCmd:
+        ret.stopAccel = -0.25
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future

selfdrive/car/gm/values.py

@@ -4,6 +4,7 @@ from enum import Enum, StrEnum
 from typing import Dict, List, Union
 
 from cereal import car
+from openpilot.common.params import Params
 from openpilot.selfdrive.car import dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 Ecu = car.CarParams.Ecu
@@ -35,21 +36,24 @@ class CarControllerParams:
 
   def __init__(self, CP):
     # Gas/brake lookups
-    self.ZERO_GAS = 2048  # Coasting
+    self.ZERO_GAS = 6144  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
     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
+      self.MAX_GAS = 7496
+      self.MAX_ACC_REGEN = 5610
+      self.INACTIVE_REGEN = 5650
       # Camera ACC vehicles have no regen while enabled.
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
       max_regen_acceleration = 0.
 
+      if CP.carFingerprint in SLOW_ACC and Params().get_bool("GasRegenCmd"):
+        self.MAX_GAS = 8650
+
     else:
-      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 1404
+      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
+      self.INACTIVE_REGEN = 5500
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
       max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
@@ -175,6 +179,9 @@ DBC[CAR.VOLT_CC] = DBC[CAR.VOLT]
 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}
 
+# Slow acceleration cars
+SLOW_ACC = {CAR.SILVERADO}
+
 # 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})