sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

GM: prep and cleanup for future ports (#24910)

Browse Source 
* Interface radarOffCan set, comments

* pass pcmCruise value to common events

* add transType and networkLoc to iface

* carstate use transtype to detect EV

* ctrl: limit sends by config

* Add clarifying comments for new vals

* clean up

* comment on new line

* these have the same frequency

* remove 25hz

* add to upper comment

* update refs

* update refs

* move into same block

move into same block

Co-authored-by: Shane Smiskol <shane@smiskol.com>
pull/24760/head
Jason Shuler 3 years ago committed by GitHub
parent 11b5d51da6
commit 9279c02258
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 67 additions and 56 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 94
      selfdrive/car/gm/carcontroller.py
  2. 8
      selfdrive/car/gm/carstate.py
  3. 19
      selfdrive/car/gm/interface.py
  4. 2
      selfdrive/test/process_replay/ref_commit

94
selfdrive/car/gm/carcontroller.py
Unescape View File

@ -8,10 +8,12 @@ from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.start_time = 0.
self.apply_steer_last = 0
self.apply_gas = 0
@ -24,9 +26,9 @@ class CarController:
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'])
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
def update(self, CC, CS):
actuators = CC.actuators
@ -60,48 +62,48 @@ class CarController:
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
# Gas/regen and brakes - all at 25Hz
if (self.frame % 4) == 0:
if not CC.longActive:
# Stock ECU sends max regen when not enabled
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)))
idx = (self.frame // 4) % 4
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
# Send dashboard UI commands (ACC status), 25hz
if (self.frame % 4) == 0:
send_fcw = hud_alert == VisualAlert.fcw
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
time_and_headlights_step = 10
tt = self.frame * DT_CTRL
if self.frame % time_and_headlights_step == 0:
idx = (self.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(self.packer_obj, CanBus.OBSTACLE))
speed_and_accelerometer_step = 2
if self.frame % speed_and_accelerometer_step == 0:
idx = (self.frame // speed_and_accelerometer_step) % 4
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
if self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
if self.CP.openpilotLongitudinalControl:
# Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0:
if not CC.longActive:
# Stock ECU sends max regen when not enabled
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)))
idx = (self.frame // 4) % 4
at_full_stop = CC.longActive and CS.out.standstill
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
# Send dashboard UI commands (ACC status)
send_fcw = hud_alert == VisualAlert.fcw
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
if not self.CP.radarOffCan:
tt = self.frame * DT_CTRL
time_and_headlights_step = 10
if self.frame % time_and_headlights_step == 0:
idx = (self.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(self.packer_obj, CanBus.OBSTACLE))
speed_and_accelerometer_step = 2
if self.frame % speed_and_accelerometer_step == 0:
idx = (self.frame // speed_and_accelerometer_step) % 4
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
# Show green icon when LKA torque is applied, and
# alarming orange icon when approaching torque limit.
@ -110,7 +112,7 @@ class CarController:
lka_active = CS.lkas_status == 1
lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical)
if self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
self.lka_icon_status_last = lka_icon_status

8
selfdrive/car/gm/carstate.py
Unescape View File

@ -3,7 +3,9 @@ from common.numpy_fast import mean
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, STEER_THRESHOLD
from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
TransmissionType = car.CarParams.TransmissionType
class CarState(CarStateBase):
@ -35,7 +37,7 @@ class CarState(CarStateBase):
ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
# Regen braking is braking
if self.car_fingerprint == CAR.VOLT:
if self.CP.transmissionType == TransmissionType.direct:
ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@ -120,7 +122,7 @@ class CarState(CarStateBase):
("EBCMBrakePedalPosition", 100),
]
if CP.carFingerprint == CAR.VOLT:
if CP.transmissionType == TransmissionType.direct:
signals.append(("RegenPaddle", "EBCMRegenPaddle"))
checks.append(("EBCMRegenPaddle", 50))

19
selfdrive/car/gm/interface.py
Unescape View File

@ -9,6 +9,8 @@ from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
@ -45,7 +47,11 @@ class CarInterface(CarInterfaceBase):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.pcmCruise = False # stock cruise control is kept off
ret.pcmCruise = False # For ASCM, stock non-adaptive cruise control is kept off
ret.radarOffCan = False # For ASCM, radar exists
ret.transmissionType = TransmissionType.automatic
# NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
ret.networkLocation = NetworkLocation.gateway
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
@ -77,17 +83,18 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
if candidate == CAR.VOLT:
ret.transmissionType = TransmissionType.direct
ret.mass = 1607. + STD_CARGO_KG
ret.wheelbase = 2.69
ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
ret.lateralTuning.pid.kpBP = [0., 40.]
ret.lateralTuning.pid.kpV = [0., 0.17]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kiV = [0.]
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
ret.steerActuatorDelay = 0.2
elif candidate == CAR.MALIBU:
@ -160,7 +167,7 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = [be]
events = self.create_common_events(ret, pcm_enable=False)
events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise)
if ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
@ -170,7 +177,7 @@ class CarInterface(CarInterfaceBase):
events.add(car.CarEvent.EventName.belowSteerSpeed)
# handle button presses
events.events.extend(create_button_enable_events(ret.buttonEvents))
events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
ret.events = events.to_msg()

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
a98dfc72bb4c5624c2223ca65d52b151f419460c
d7c610172f3ff10b68403abc19b260c91c848ebb
Write Preview
Loading…
Cancel
Save