Merge remote-tracking branch 'upstream/master' into person-changing

cereal

@@ -1 +1 @@
-Subproject commit cf7bb3e74974879abef94286fab4d39398fe402b
+Subproject commit 93d3df3210a8c4f4c7e6f45950f73dc8a2f09a2c

selfdrive/car/ford/carcontroller.py

@@ -73,7 +73,7 @@ class CarController(CarControllerBase):
       if self.CP.flags & FordFlags.CANFD:
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
-        counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
+        counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
         can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
         can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))

selfdrive/car/gm/carstate.py

@@ -26,11 +26,16 @@ class CarState(CarStateBase):
     self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
+    self.prev_distance_button = 0
+    self.distance_button = 0
+
   def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
+    self.prev_distance_button = self.distance_button
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.

selfdrive/car/gm/interface.py

@@ -208,8 +208,12 @@ class CarInterface(CarInterfaceBase):
 
     # Don't add event if transitioning from INIT, unless it's to an actual button
     if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
-      ret.buttonEvents = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
-                                              unpressed_btn=CruiseButtons.UNPRESS)
+      ret.buttonEvents = [
+        *create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
+                              unpressed_btn=CruiseButtons.UNPRESS),
+        *create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
+                              {1: ButtonType.gapAdjustCruise})
+      ]
 
     # The ECM allows enabling on falling edge of set, but only rising edge of resume
     events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,

selfdrive/ui/ui.py

@@ -52,7 +52,7 @@ if __name__ == "__main__":
     onroad = sm.all_checks(['deviceState']) and sm['deviceState'].started
     if onroad:
       cs = sm['controlsState']
-      color = ("grey" if str(cs.status) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue"
+      color = ("grey" if str(cs.state) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue"
       bg.setText("\U0001F44D" if cs.engageable else "\U0001F6D1")
       bg.setStyleSheet(f"font-size: 100px; background-color: {color};")
       bg.show()

system/qcomgpsd/cgpsd.py

@@ -57,6 +57,10 @@ def main():
       # TODO: read from streaming AT port instead of polling
       out = at_cmd("AT+CGPS?")
 
+      if '+CGPS: 1' not in out:
+        for c in cmds:
+          at_cmd(c)
+
       sentences = out.split("'")[1].splitlines()
       new = {l.split(',')[0]: l.split(',') for l in sentences if l.startswith('$G')}
       nmea.update(new)
@@ -85,8 +89,7 @@ def main():
 
       gps.hasFix = gnrmc[1] == 'A'
 
-      # TODO: make our own source
-      gps.source = log.GpsLocationData.SensorSource.qcomdiag
+      gps.source = log.GpsLocationData.SensorSource.unicore
 
       gps.speed = sfloat(gnrmc[7])
       gps.bearingDeg = sfloat(gnrmc[8])