From 5066d2c04c38ac1176573cf0e3a70bf0ab1ef265 Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Mon, 8 Aug 2022 14:55:40 -0600
Subject: [PATCH] GM: separate EV/ICE gas/brake lookup tables (#25354)

* GM: separate EV/ICE gas/brake lookup tables

* removed blank line

* V are the same

* comment

better ordering

comment

comment

* Add some delay for the laggy brakes

Add some delay for the laggy brakes

* move actuator to only acadia

* start braking at 0 m/s/s

* Revert "start braking at 0 m/s/s"

This reverts commit 55c1dee733aab3dc037fb1705c9bd0ace55c849f.

* add delay for escalade

* revert EV changes

* Update selfdrive/car/gm/carcontroller.py

* comment

* only ACADIA

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 2a4020da60b9c383efa75a5ffb54df3bc10756a0
---
 selfdrive/car/gm/carcontroller.py | 10 +++++++---
 selfdrive/car/gm/interface.py     |  1 +
 selfdrive/car/gm/values.py        | 16 ++++++++++++----
 3 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 727c05efdd..0e74065143 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -68,8 +68,12 @@ class CarController:
           self.apply_gas = self.params.MAX_ACC_REGEN
           self.apply_brake = 0
         else:
-          self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-          self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          if self.CP.carFingerprint in EV_CAR:
+            self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          else:
+            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
 
         idx = (self.frame // 4) % 4
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index ab6581201b..10ae670ac8 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -118,6 +118,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.centerToFront = ret.wheelbase * 0.4
       ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
+      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     elif candidate == CAR.BUICK_REGAL:
       ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index e4735524d3..016910a40f 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -39,13 +39,17 @@ class CarControllerParams:
   ACCEL_MAX = 2.  # m/s^2
   ACCEL_MIN = -4.  # m/s^2
 
-  GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
+  EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
+  EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
+
+  # ICE has much less engine braking force compared to regen in EVs,
+  # lower threshold removes some braking deadzone
+  GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX]
+  BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1]
+
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
-  BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
   BRAKE_LOOKUP_V = [MAX_BRAKE, 0.]
 
-STEER_THRESHOLD = 1.0
-
 
 class CAR:
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
@@ -57,6 +61,10 @@ class CAR:
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
 
 
+EV_CAR = {CAR.VOLT}
+STEER_THRESHOLD = 1.0
+
+
 class Footnote(Enum):
   OBD_II = CarFootnote(
     'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +