From a7dcbc2e332d40cdeb578b5440639d7a2085b511 Mon Sep 17 00:00:00 2001
From: Alex Hill <alex@hill.net.au>
Date: Wed, 21 Nov 2018 12:12:50 +0800
Subject: [PATCH] Add initial support for Holden/Opel Astra BK (#431)
old-commit-hash: c9dd7fe0e6261ebcb431a253cb3839210cd66fc2
---
selfdrive/car/gm/carcontroller.py | 6 +++---
selfdrive/car/gm/carstate.py | 14 ++++++++++----
selfdrive/car/gm/interface.py | 18 ++++++++++++++----
selfdrive/car/gm/radar_interface.py | 2 +-
selfdrive/car/gm/values.py | 9 ++++++++-
5 files changed, 36 insertions(+), 13 deletions(-)
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 14b165dc6a..5d86c0605b 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -10,7 +10,7 @@ from selfdrive.can.packer import CANPacker
class CarControllerParams():
def __init__(self, car_fingerprint):
- if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+ if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
self.STEER_MAX = 300
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
@@ -104,7 +104,7 @@ class CarController(object):
self.apply_steer_last = apply_steer
idx = (frame / P.STEER_STEP) % 4
- if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+ if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
can_sends.append(gmcan.create_steering_control(self.packer_pt,
canbus.powertrain, apply_steer, idx, lkas_enabled))
if self.car_fingerprint == CAR.CADILLAC_CT6:
@@ -113,7 +113,7 @@ class CarController(object):
### GAS/BRAKE ###
- if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+ if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
# no output if not enabled, but keep sending keepalive messages
# treat pedals as one
final_pedal = actuators.gas - actuators.brake
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 6d5b3a9d50..94aa09c957 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -34,12 +34,15 @@ def get_powertrain_can_parser(CP, canbus):
if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU):
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
+ ]
+ if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+ signals += [
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
("CruiseState", "AcceleratorPedal2", 0),
]
- elif CP.carFingerprint == CAR.CADILLAC_CT6:
+ if CP.carFingerprint == CAR.CADILLAC_CT6:
signals += [
("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
]
@@ -117,14 +120,17 @@ class CarState(object):
self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
- if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+ if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
self.acc_active = False
self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
- self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
- else:
+ if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+ self.regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
+ else:
+ self.regen_pressed = False
+ if self.car_fingerprint == CAR.CADILLAC_CT6:
self.park_brake = False
self.main_on = False
self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 9de3873818..f421f73dca 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -68,7 +68,7 @@ class CarInterface(object):
if candidate == CAR.VOLT:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
- # kg of standard extra cargo to count for drive, gas, etc...
+ # kg of standard extra cargo to count for driver, gas, etc...
ret.mass = 1607 + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.69
@@ -86,10 +86,21 @@ class CarInterface(object):
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
+ elif candidate == CAR.HOLDEN_ASTRA:
+ # kg of standard extra cargo to count for driver, gas, etc...
+ ret.mass = 1363 + std_cargo
+ ret.wheelbase = 2.662
+ # Remaining parameters copied from Volt for now
+ ret.centerToFront = ret.wheelbase * 0.4
+ ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+ ret.safetyModel = car.CarParams.SafetyModels.gm
+ ret.steerRatio = 15.7
+ ret.steerRatioRear = 0.
+
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1
- # kg of standard extra cargo to count for drive, gas, etc...
+ # kg of standard extra cargo to count for driver, gas, etc...
ret.mass = 4016. * CV.LB_TO_KG + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.cadillac
ret.wheelbase = 3.11
@@ -255,8 +266,7 @@ class CarInterface(object):
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
- if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU):
-
+ if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if self.CS.brake_error:
events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not self.CS.gear_shifter_valid:
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index 8e564b1b92..56c2c7ca40 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -22,7 +22,7 @@ LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radard_can_parser(canbus, car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
- if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+ if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
# C1A-ARS3-A by Continental
radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
signals = zip(['FLRRNumValidTargets',
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index b4f8d90601..021c02ebef 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -4,6 +4,7 @@ from selfdrive.car import dbc_dict
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
class CAR:
+ HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017"
CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
@@ -36,7 +37,7 @@ AUDIO_HUD = {
def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = []
- if car_fingerprint in (CAR.VOLT, CAR.MALIBU):
+ if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
valid_eps_status += [0, 1]
elif car_fingerprint == CAR.CADILLAC_CT6:
valid_eps_status += [0, 1, 4, 5, 6]
@@ -55,6 +56,10 @@ def parse_gear_shifter(can_gear):
return car.CarState.GearShifter.unknown
FINGERPRINTS = {
+ # Astra BK MY17, ASCM unplugged
+ CAR.HOLDEN_ASTRA: [{
+ 190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
+ }],
CAR.VOLT: [
# Volt Premier w/ ACC 2017
{
@@ -77,12 +82,14 @@ FINGERPRINTS = {
STEER_THRESHOLD = 1.0
STOCK_CONTROL_MSGS = {
+ CAR.HOLDEN_ASTRA: [384, 715],
CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
}
DBC = {
+ CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),