from dataclasses import dataclass , field
from enum import Enum
from cereal import car
from openpilot . selfdrive . car import dbc_dict , PlatformConfig , DbcDict , Platforms , CarSpecs
from openpilot . selfdrive . car . docs_definitions import CarFootnote , CarHarness , CarInfo , CarParts , Column
from openpilot . selfdrive . car . fw_query_definitions import FwQueryConfig , Request , StdQueries
Ecu = car . CarParams . Ecu
class CarControllerParams :
STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
STEER_STEP = 3 # Active control frames per command (~33hz)
INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 15
STEER_DRIVER_ALLOWANCE = 65
STEER_DRIVER_MULTIPLIER = 4
STEER_DRIVER_FACTOR = 100
NEAR_STOP_BRAKE_PHASE = 0.5 # m/s
# Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
ADAS_KEEPALIVE_STEP = 100
CAMERA_KEEPALIVE_STEP = 100
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
# perform the closed loop control, and might need some
# to apply some more braking if we're on a downhill slope.
# Our controller should still keep the 2 second average above
# -3.5 m/s^2 as per planner limits
ACCEL_MAX = 2. # m/s^2
ACCEL_MIN = - 4. # m/s^2
def __init__ ( self , CP ) :
# Gas/brake lookups
self . ZERO_GAS = 2048 # Coasting
self . MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
if CP . carFingerprint in CAMERA_ACC_CAR :
self . MAX_GAS = 3400
self . MAX_ACC_REGEN = 1514
self . INACTIVE_REGEN = 1554
# 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.
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
# 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
self . GAS_LOOKUP_BP = [ max_regen_acceleration , 0. , self . ACCEL_MAX ]
self . GAS_LOOKUP_V = [ self . MAX_ACC_REGEN , self . ZERO_GAS , self . MAX_GAS ]
self . BRAKE_LOOKUP_BP = [ self . ACCEL_MIN , max_regen_acceleration ]
self . BRAKE_LOOKUP_V = [ self . MAX_BRAKE , 0. ]
class Footnote ( Enum ) :
OBD_II = CarFootnote (
' Requires a <a href= " https://github.com/commaai/openpilot/wiki/GM#hardware " target= " _blank " >community built ASCM harness</a>. ' +
' <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> ' ,
Column . MODEL )
@dataclass
class GMCarInfo ( CarInfo ) :
package : str = " Adaptive Cruise Control (ACC) "
def init_make ( self , CP : car . CarParams ) :
if CP . networkLocation == car . CarParams . NetworkLocation . fwdCamera :
self . car_parts = CarParts . common ( [ CarHarness . gm ] )
else :
self . car_parts = CarParts . common ( [ CarHarness . obd_ii ] )
self . footnotes . append ( Footnote . OBD_II )
@dataclass ( frozen = True )
class GMPlatformConfig ( PlatformConfig ) :
dbc_dict : DbcDict = field ( default_factory = lambda : dbc_dict ( ' gm_global_a_powertrain_generated ' , ' gm_global_a_object ' , chassis_dbc = ' gm_global_a_chassis ' ) )
class CAR ( Platforms ) :
HOLDEN_ASTRA = GMPlatformConfig (
" HOLDEN ASTRA RS-V BK 2017 " ,
GMCarInfo ( " Holden Astra 2017 " ) ,
specs = CarSpecs ( mass = 1363 , wheelbase = 2.662 , steerRatio = 15.7 , centerToFrontRatio = 0.4 ) ,
)
VOLT = GMPlatformConfig (
" CHEVROLET VOLT PREMIER 2017 " ,
GMCarInfo ( " Chevrolet Volt 2017-18 " , min_enable_speed = 0 , video_link = " https://youtu.be/QeMCN_4TFfQ " ) ,
specs = CarSpecs ( mass = 1607 , wheelbase = 2.69 , steerRatio = 17.7 , centerToFrontRatio = 0.45 ) ,
)
CADILLAC_ATS = GMPlatformConfig (
" CADILLAC ATS Premium Performance 2018 " ,
GMCarInfo ( " Cadillac ATS Premium Performance 2018 " ) ,
specs = CarSpecs ( mass = 1601 , wheelbase = 2.78 , steerRatio = 15.3 ) ,
)
MALIBU = GMPlatformConfig (
" CHEVROLET MALIBU PREMIER 2017 " ,
GMCarInfo ( " Chevrolet Malibu Premier 2017 " ) ,
specs = CarSpecs ( mass = 1496 , wheelbase = 2.83 , steerRatio = 15.8 , centerToFrontRatio = 0.4 ) ,
)
ACADIA = GMPlatformConfig (
" GMC ACADIA DENALI 2018 " ,
GMCarInfo ( " GMC Acadia 2018 " , video_link = " https://www.youtube.com/watch?v=0ZN6DdsBUZo " ) ,
specs = CarSpecs ( mass = 1975 , wheelbase = 2.86 , steerRatio = 14.4 , centerToFrontRatio = 0.4 ) ,
)
BUICK_LACROSSE = GMPlatformConfig (
" BUICK LACROSSE 2017 " ,
GMCarInfo ( " Buick LaCrosse 2017-19 " , " Driver Confidence Package 2 " ) ,
specs = CarSpecs ( mass = 1712 , wheelbase = 2.91 , steerRatio = 15.8 , centerToFrontRatio = 0.4 ) ,
)
BUICK_REGAL = GMPlatformConfig (
" BUICK REGAL ESSENCE 2018 " ,
GMCarInfo ( " Buick Regal Essence 2018 " ) ,
specs = CarSpecs ( mass = 1714 , wheelbase = 2.83 , steerRatio = 14.4 , centerToFrontRatio = 0.4 ) ,
)
ESCALADE = GMPlatformConfig (
" CADILLAC ESCALADE 2017 " ,
GMCarInfo ( " Cadillac Escalade 2017 " , " Driver Assist Package " ) ,
specs = CarSpecs ( mass = 2564 , wheelbase = 2.95 , steerRatio = 17.3 ) ,
)
ESCALADE_ESV = GMPlatformConfig (
" CADILLAC ESCALADE ESV 2016 " ,
GMCarInfo ( " Cadillac Escalade ESV 2016 " , " Adaptive Cruise Control (ACC) & LKAS " ) ,
specs = CarSpecs ( mass = 2739 , wheelbase = 3.302 , steerRatio = 17.3 ) ,
)
ESCALADE_ESV_2019 = GMPlatformConfig (
" CADILLAC ESCALADE ESV 2019 " ,
GMCarInfo ( " Cadillac Escalade ESV 2019 " , " Adaptive Cruise Control (ACC) & LKAS " ) ,
specs = ESCALADE_ESV . specs ,
)
BOLT_EUV = GMPlatformConfig (
" CHEVROLET BOLT EUV 2022 " ,
[
GMCarInfo ( " Chevrolet Bolt EUV 2022-23 " , " Premier or Premier Redline Trim without Super Cruise Package " , video_link = " https://youtu.be/xvwzGMUA210 " ) ,
GMCarInfo ( " Chevrolet Bolt EV 2022-23 " , " 2LT Trim with Adaptive Cruise Control Package " ) ,
] ,
specs = CarSpecs ( mass = 1669 , wheelbase = 2.63779 , steerRatio = 16.8 , centerToFrontRatio = 0.4 ) ,
)
SILVERADO = GMPlatformConfig (
" CHEVROLET SILVERADO 1500 2020 " ,
[
GMCarInfo ( " Chevrolet Silverado 1500 2020-21 " , " Safety Package II " ) ,
GMCarInfo ( " GMC Sierra 1500 2020-21 " , " Driver Alert Package II " , video_link = " https://youtu.be/5HbNoBLzRwE " ) ,
] ,
specs = CarSpecs ( mass = 2450 , wheelbase = 3.75 , steerRatio = 16.3 ) ,
)
EQUINOX = GMPlatformConfig (
" CHEVROLET EQUINOX 2019 " ,
GMCarInfo ( " Chevrolet Equinox 2019-22 " ) ,
specs = CarSpecs ( mass = 1588 , wheelbase = 2.72 , steerRatio = 14.4 , centerToFrontRatio = 0.4 ) ,
)
TRAILBLAZER = GMPlatformConfig (
" CHEVROLET TRAILBLAZER 2021 " ,
GMCarInfo ( " Chevrolet Trailblazer 2021-22 " ) ,
specs = CarSpecs ( mass = 1345 , wheelbase = 2.64 , steerRatio = 16.8 , centerToFrontRatio = 0.4 ) ,
)
class CruiseButtons :
INIT = 0
UNPRESS = 1
RES_ACCEL = 2
DECEL_SET = 3
MAIN = 5
CANCEL = 6
class AccState :
OFF = 0
ACTIVE = 1
FAULTED = 3
STANDSTILL = 4
class CanBus :
POWERTRAIN = 0
OBSTACLE = 1
CAMERA = 2
CHASSIS = 2
LOOPBACK = 128
DROPPED = 192
# In a Data Module, an identifier is a string used to recognize an object,
# either by itself or together with the identifiers of parent objects.
# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b ' \x1a \xc0 ' # likely does not contain anything useful
GM_SOFTWARE_MODULE_1_REQUEST = b ' \x1a \xc1 '
GM_SOFTWARE_MODULE_2_REQUEST = b ' \x1a \xc2 '
GM_SOFTWARE_MODULE_3_REQUEST = b ' \x1a \xc3 '
# Part number of XML data file that is used to configure ECU
GM_XML_DATA_FILE_PART_NUMBER = b ' \x1a \x9c '
GM_XML_CONFIG_COMPAT_ID = b ' \x1a \x9b ' # used to know if XML file is compatible with the ECU software/hardware
# This DID is for identifying the part number that reflects the mix of hardware,
# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
GM_END_MODEL_PART_NUMBER_REQUEST = b ' \x1a \xcb '
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b ' \x1a \xdb '
GM_BASE_MODEL_PART_NUMBER_REQUEST = b ' \x1a \xcc '
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b ' \x1a \xdc '
GM_FW_RESPONSE = b ' \x5a '
GM_FW_REQUESTS = [
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST ,
GM_SOFTWARE_MODULE_1_REQUEST ,
GM_SOFTWARE_MODULE_2_REQUEST ,
GM_SOFTWARE_MODULE_3_REQUEST ,
GM_XML_DATA_FILE_PART_NUMBER ,
GM_XML_CONFIG_COMPAT_ID ,
GM_END_MODEL_PART_NUMBER_REQUEST ,
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST ,
GM_BASE_MODEL_PART_NUMBER_REQUEST ,
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST ,
]
GM_RX_OFFSET = 0x400
FW_QUERY_CONFIG = FwQueryConfig (
requests = [ request for req in GM_FW_REQUESTS for request in [
Request (
[ StdQueries . SHORT_TESTER_PRESENT_REQUEST , req ] ,
[ StdQueries . SHORT_TESTER_PRESENT_RESPONSE , GM_FW_RESPONSE + bytes ( [ req [ - 1 ] ] ) ] ,
rx_offset = GM_RX_OFFSET ,
bus = 0 ,
logging = True ,
) ,
] ] ,
extra_ecus = [ ( Ecu . fwdCamera , 0x24b , None ) ] ,
)
EV_CAR = { CAR . VOLT , CAR . BOLT_EUV }
# 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 }
STEER_THRESHOLD = 1.0
CAR_INFO = CAR . create_carinfo_map ( )
DBC = CAR . create_dbc_map ( )
