Add Full GM GasRegenCmd

common/params.cc

@@ -215,6 +215,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AccelerationProfile", PERSISTENT},
     {"ApiCache_DriveStats", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
+    {"GasRegenCmd", PERSISTENT},
     {"LateralTune", PERSISTENT},
     {"LongitudinalTune", PERSISTENT},
 };

opendbc/gm_global_a_powertrain_generated.dbc

@@ -207,15 +207,14 @@ BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
  SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
 
 BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
- SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] ""  NEO
- SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] ""  NEO
- SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
  SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO
  SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO
- SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
+ SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO
- SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO
+ SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO
+ SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO
 
 BO_ 717 ASCM_2CD: 5 K124_ASCM
 

panda/board/safety/safety_gm.h

@@ -10,16 +10,16 @@ const SteeringLimits GM_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 3072,
+  .max_gas = 7168,
-  .min_gas = 1404,
+  .min_gas = 5500,
-  .inactive_gas = 1404,
+  .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 3400,
+  .max_gas = 8650,
-  .min_gas = 1514,
+  .min_gas = 5610,
-  .inactive_gas = 1554,
+  .inactive_gas = 5650,
   .max_brake = 400,
 };
 
@@ -163,7 +163,7 @@ 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, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
 
     bool violation = false;
     // Allow apply bit in pre-enabled and overriding states

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_GAS = 7496
-      self.MAX_ACC_REGEN = 1514
+      self.MAX_ACC_REGEN = 5610
-      self.INACTIVE_REGEN = 1554
+      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_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
+      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
-      self.INACTIVE_REGEN = 1404
+      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})

selfdrive/frogpilot/ui/vehicle_settings.cc

@@ -3,6 +3,7 @@
 
 FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
+    {"GasRegenCmd", "Gas Regen Cmd", "", ""},
   };
 
   for (auto &[param, title, desc, icon] : vehicleToggles) {
@@ -17,7 +18,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
     });
   }
 
-  gmKeys = {};
+  gmKeys = {"GasRegenCmd"};
   toyotaKeys = {};
 
   std::set<std::string> rebootKeys = {};