GM cleanup + ignition fix (#1729)

* small cleanup

* alertmanager handles that

* improve tuning

* below steer speed

* Revert "improve tuning"

This reverts commit 5d2de147d2.

* bump panda

* update refs

* bump panda
old-commit-hash: 472fe66962

selfdrive/car/gm/carcontroller.py

@@ -44,11 +44,11 @@ class CarController():
     self.apply_steer_last = 0
     self.lka_icon_status_last = (False, False)
     self.steer_rate_limited = False
-    self.fcw_frames = 0
 
     self.params = CarControllerParams()
 
     self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
+    self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
 
   def update(self, enabled, CS, frame, actuators,
@@ -59,10 +59,6 @@ class CarController():
     # Send CAN commands.
     can_sends = []
 
-    # FCW: trigger FCWAlert for 100 frames (4 seconds)
-    if hud_alert == VisualAlert.fcw:
-      self.fcw_frames = 100
-
     # STEER
     if (frame % P.STEER_STEP) == 0:
       lkas_enabled = enabled and not CS.out.steerWarning and CS.out.vEgo > P.MIN_STEER_SPEED
@@ -98,18 +94,11 @@ class CarController():
       at_full_stop = enabled and CS.out.standstill
       near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
       can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, apply_brake, idx, near_stop, at_full_stop))
-
-      at_full_stop = enabled and CS.out.standstill
       can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, apply_gas, idx, enabled, at_full_stop))
 
     # Send dashboard UI commands (ACC status), 25hz
     if (frame % 4) == 0:
-      # Send FCW if applicable
-      send_fcw = 0
-      if self.fcw_frames > 0:
-        send_fcw = 0x3
-        self.fcw_frames -= 1
-
+      send_fcw = hud_alert == VisualAlert.fcw
       can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car, send_fcw))
 
     # Radar needs to know current speed and yaw rate (50hz),
@@ -120,7 +109,7 @@ class CarController():
     if frame % time_and_headlights_step == 0:
       idx = (frame // time_and_headlights_step) % 4
       can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-      can_sends.append(gmcan.create_adas_headlights_status(CanBus.OBSTACLE))
+      can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
 
     speed_and_accelerometer_step = 2
     if frame % speed_and_accelerometer_step == 0:

selfdrive/car/gm/carstate.py

@@ -5,8 +5,7 @@ from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
-                                    CruiseButtons, is_eps_status_ok, \
-                                    STEER_THRESHOLD
+                                    CruiseButtons, STEER_THRESHOLD
 
 
 class CarState(CarStateBase):
@@ -58,18 +57,17 @@ class CarState(CarStateBase):
     ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
     self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
 
-    regen_pressed = False
+    ret.brakePressed = ret.brake > 1e-5
+    # Regen braking is braking
     if self.car_fingerprint == CAR.VOLT:
-      regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
+      ret.brakePressed = ret.brakePressed or bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
 
-    # Regen braking is braking
-    ret.brakePressed = ret.brake > 1e-5 or regen_pressed
     ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
     ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
 
     # 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
     self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
-    ret.steerWarning = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
+    ret.steerWarning = self.lkas_status not in [0, 1]
 
     return ret
 

selfdrive/car/gm/gmcan.py

@@ -72,7 +72,7 @@ def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lea
     "ACCCmdActive" : acc_engaged,
     "ACCAlwaysOne2" : 1,
     "ACCLeadCar" : lead_car_in_sight,
-    "FCWAlert": fcw
+    "FCWAlert": 0x3 if fcw else 0
   }
 
   return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
@@ -104,8 +104,12 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
   dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
   return make_can_msg(0x308, bytes(dat), bus)
 
-def create_adas_headlights_status(bus):
-  return make_can_msg(0x310, b"\x42\x04", bus)
+def create_adas_headlights_status(packer, bus):
+  values = {
+    "Always42": 0x42,
+    "Always4": 0x4,
+  }
+  return packer.make_can_msg("ASCMHeadlight", bus, values)
 
 def create_lka_icon_command(bus, active, critical, steer):
   if active and steer == 1:

selfdrive/car/gm/interface.py

@@ -34,6 +34,7 @@ class CarInterface(CarInterfaceBase):
     tire_stiffness_factor = 0.444  # not optimized yet
 
     # Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
+    ret.minSteerSpeed = 7 * CV.MPH_TO_MS
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
     ret.lateralTuning.pid.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
@@ -156,6 +157,8 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.resumeRequired)
     if self.CS.pcm_acc_status == AccState.FAULTED:
       events.add(EventName.controlsFailed)
+    if ret.vEgo < self.CP.minSteerSpeed:
+      events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     # handle button presses
     for b in ret.buttonEvents:

selfdrive/car/gm/values.py

@@ -32,9 +32,6 @@ class CanBus:
   CHASSIS = 2
   SW_GMLAN = 3
 
-def is_eps_status_ok(eps_status, car_fingerprint):
-  return eps_status in [0, 1]
-
 FINGERPRINTS = {
   # Astra BK MY17, ASCM unplugged
   CAR.HOLDEN_ASTRA: [{

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-d21758939420dba7d9dba842739914432a77e024
+fe829cbe7ff161f098f680f3bfe3b8daeba2f220