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

Add GM BSM

Browse Source 
Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent beb4faf213
commit d1bee2c971
3 changed files with 12 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
opendbc/gm_global_a_powertrain_generated.dbc
View File

@@ -125,6 +125,10 @@ BO_ 320 BCMTurnSignals: 3 K9_BCM
SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX
SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX
BO_ 322 BCMBSM: 7 K9_BCM
SG_ Left_BSM : 6|1@0+ (1,0) [0|1] "" XXX
SG_ Right_BSM : 7|1@0+ (1,0) [0|1] "" XXX
BO_ 328 PSCM_148: 1 K43_PSCM BO_ 328 PSCM_148: 1 K43_PSCM
BO_ 381 ESPStatus: 6 K20_ECM BO_ 381 ESPStatus: 6 K20_ECM

4
selfdrive/car/gm/carstate.py
View File

@@ -35,6 +35,10 @@ class CarState(CarStateBase):
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0 self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
if self.CP.enableBsm:
ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBSM"]["Right_BSM"] == 1
# Variables used for avoiding LKAS faults # Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
if self.loopback_lka_steering_cmd_updated: if self.loopback_lka_steering_cmd_updated:

4
selfdrive/car/gm/interface.py
View File

@@ -21,6 +21,7 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel} CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
ACCELERATOR_POS_MSG = 0xbe ACCELERATOR_POS_MSG = 0xbe
BSM_MSG = 0x142
NON_LINEAR_TORQUE_PARAMS = { NON_LINEAR_TORQUE_PARAMS = {
CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178], CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
@@ -299,6 +300,9 @@ class CarInterface(CarInterfaceBase):
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]: if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
# Detect if BSM message is present
ret.enableBsm = BSM_MSG in fingerprint[CanBus.POWERTRAIN]
return ret return ret
# returns a car.CarState # returns a car.CarState