205 lines
7.8 KiB
Python
205 lines
7.8 KiB
Python
from collections import defaultdict
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from dataclasses import dataclass
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from enum import Enum, StrEnum
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from typing import Dict, List, Union
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.selfdrive.car import dbc_dict
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from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
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Ecu = car.CarParams.Ecu
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class CarControllerParams:
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STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
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STEER_STEP = 3 # Active control frames per command (~33hz)
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INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
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STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness
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STEER_DELTA_DOWN = 15
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STEER_DRIVER_ALLOWANCE = 65
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STEER_DRIVER_MULTIPLIER = 4
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STEER_DRIVER_FACTOR = 100
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NEAR_STOP_BRAKE_PHASE = 0.25 # m/s
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SNG_INTERCEPTOR_GAS = 18. / 255.
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SNG_TIME = 30 # frames until the above is reached
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# Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
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ADAS_KEEPALIVE_STEP = 100
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CAMERA_KEEPALIVE_STEP = 100
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# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
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# perform the closed loop control, and might need some
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# to apply some more braking if we're on a downhill slope.
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# Our controller should still keep the 2 second average above
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# -3.5 m/s^2 as per planner limits
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ACCEL_MAX = 2. # m/s^2
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ACCEL_MAX_PLUS = 4. # m/s^2
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ACCEL_MIN = -4. # m/s^2
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def __init__(self, CP):
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# Gas/brake lookups
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self.ZERO_GAS = 6144 # Coasting
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self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
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if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
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self.MAX_GAS = 7496
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self.MAX_ACC_REGEN = 5610
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self.INACTIVE_REGEN = 5650
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# Camera ACC vehicles have no regen while enabled.
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# Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
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max_regen_acceleration = 0.
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if CP.carFingerprint in SLOW_ACC and Params().get_bool("GasRegenCmd"):
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self.MAX_GAS = 8650
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elif CP.carFingerprint in SDGM_CAR:
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self.MAX_GAS = 3400
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self.MAX_ACC_REGEN = 1514
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self.INACTIVE_REGEN = 1554
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max_regen_acceleration = 0.
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else:
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self.MAX_GAS = 7168 # Safety limit, not ACC max. Stock ACC >8192 from standstill.
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self.MAX_ACC_REGEN = 5500 # Max ACC regen is slightly less than max paddle regen
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self.INACTIVE_REGEN = 5500
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# ICE has much less engine braking force compared to regen in EVs,
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# lower threshold removes some braking deadzone
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max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
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self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
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self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
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self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
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self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
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class CAR(StrEnum):
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HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
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VOLT = "CHEVROLET VOLT PREMIER 2017"
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CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
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MALIBU = "CHEVROLET MALIBU PREMIER 2017"
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ACADIA = "GMC ACADIA DENALI 2018"
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BUICK_LACROSSE = "BUICK LACROSSE 2017"
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BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
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ESCALADE = "CADILLAC ESCALADE 2017"
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ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
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ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
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BOLT_EUV = "CHEVROLET BOLT EUV 2022"
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SILVERADO = "CHEVROLET SILVERADO 1500 2020"
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EQUINOX = "CHEVROLET EQUINOX 2019"
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TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
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# Separate car def is required when there is no ASCM
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# (for now) unless there is a way to detect it when it has been unplugged...
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VOLT_CC = "CHEVROLET VOLT NO ACC"
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BOLT_CC = "CHEVROLET BOLT EV NO ACC"
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EQUINOX_CC = "CHEVROLET EQUINOX NO ACC"
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SUBURBAN = "CHEVROLET SUBURBAN PREMIER 2016"
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SUBURBAN_CC = "CHEVROLET SUBURBAN NO ACC"
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YUKON_CC = "GMC YUKON NO ACC"
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CT6_CC = "CADILLAC CT6 NO ACC"
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TRAILBLAZER_CC = "CHEVROLET TRAILBLAZER 2024 NO ACC"
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XT4 = "CADILLAC XT4 2023"
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class Footnote(Enum):
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OBD_II = CarFootnote(
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'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
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'<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
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Column.MODEL)
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@dataclass
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class GMCarInfo(CarInfo):
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package: str = "Adaptive Cruise Control (ACC)"
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def init_make(self, CP: car.CarParams):
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if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
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self.car_parts = CarParts.common([CarHarness.gm])
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else:
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self.car_parts = CarParts.common([CarHarness.obd_ii])
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self.footnotes.append(Footnote.OBD_II)
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CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
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CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
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CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
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CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
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CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
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CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
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CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
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CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
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CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
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CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
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CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
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CAR.BOLT_EUV: [
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GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
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GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
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],
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CAR.SILVERADO: [
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GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
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GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
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],
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CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
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CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
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CAR.VOLT_CC: GMCarInfo("Chevrolet Volt No ACC"),
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CAR.BOLT_CC: GMCarInfo("Chevrolet Bolt No ACC"),
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CAR.EQUINOX_CC: GMCarInfo("Chevrolet Equinox No ACC"),
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CAR.SUBURBAN: GMCarInfo("Chevrolet Suburban Premier 2016-2020"),
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CAR.SUBURBAN_CC: GMCarInfo("Chevrolet Suburban No ACC"),
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CAR.YUKON_CC: GMCarInfo("GMC Yukon No ACC"),
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CAR.CT6_CC: GMCarInfo("Cadillac CT6 No ACC"),
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CAR.TRAILBLAZER_CC: GMCarInfo("Chevrolet Trailblazer 2024 No ACC"),
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CAR.XT4: GMCarInfo("Cadillac XT4 2023", "Driver Assist Package"),
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}
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class CruiseButtons:
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INIT = 0
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UNPRESS = 1
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RES_ACCEL = 2
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DECEL_SET = 3
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MAIN = 5
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CANCEL = 6
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class AccState:
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OFF = 0
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ACTIVE = 1
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FAULTED = 3
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STANDSTILL = 4
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class CanBus:
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POWERTRAIN = 0
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OBSTACLE = 1
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CAMERA = 2
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CHASSIS = 2
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LOOPBACK = 128
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DROPPED = 192
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class GMFlags(IntFlag):
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PEDAL_LONG = 1
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CC_LONG = 2
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NO_ACCELERATOR_POS_MSG = 8
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GM_RX_OFFSET = 0x400
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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'))
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DBC[CAR.VOLT] = dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
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DBC[CAR.VOLT_CC] = DBC[CAR.VOLT]
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EV_CAR = {CAR.VOLT, CAR.BOLT_EUV, CAR.VOLT_CC, CAR.BOLT_CC}
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CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC}
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# Slow acceleration cars
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SLOW_ACC = {CAR.SILVERADO}
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# We're integrated at the Safety Data Gateway Module on these cars
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SDGM_CAR = {CAR.XT4}
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# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
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CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
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CAMERA_ACC_CAR.update({CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC})
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STEER_THRESHOLD = 1.0
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