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Silverado and Bolt EUV val and CP

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pull/24875/head
Jason Shuler 3 years ago
parent ad388082aa
commit ddc36f95ac
3 changed files with 75 additions and 16 deletions
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  1. 7
      selfdrive/car/docs_definitions.py
  2. 62
      selfdrive/car/gm/interface.py
  3. 18
      selfdrive/car/gm/values.py

7
selfdrive/car/docs_definitions.py
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@ -147,6 +147,13 @@ class Harness(Enum):
custom = "Developer"
obd_ii = "OBD-II"
gm_cam = "GM Camera"
# TODO: Submit PR for gm cam harness schematic(s), diagrams and board layout(s) to https://github.com/commaai/neo/tree/master/car_harness
# Note: GM cam harness _without low-speed GMLAN support_ is simple and similar to the others
# JJS - I anticipate comma to be able to take over production easily
# It also doesn't make sense for customers to get the Developer harness - they typically don't need the wires
# Note 2: JJS - I anticipate designing a camera harness with a low-speed GMLAN gateway (design borrowed from OBD2 harness),
# unless comma plans to do so
# Note 3: JJS - I anticipate an eventual
nissan_a = "Nissan A"
nissan_b = "Nissan B"
mazda = "Mazda"

62
selfdrive/car/gm/interface.py
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@ -1,6 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from math import fabs
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@ -10,10 +11,12 @@ from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
GearShifter = car.CarState.GearShifter
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}
GM_PARAM_HW_CAM = 1
class CarInterface(CarInterfaceBase):
@staticmethod
def get_pid_accel_limits(CP, current_speed, cruise_speed):
@ -48,6 +51,8 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
ret.pcmCruise = False # For ASCM, stock cruise control is kept off (but not ACC)
ret.radarOffCan = False # For ASCM, radar is expected
ret.transmissionType = TransmissionType.automatic # or direct for EV
ret.networkLocation = NetworkLocation.gateway # or fwdCamera
# 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
@ -81,6 +86,7 @@ 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
@ -133,11 +139,55 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 3.302
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.49
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
ret.lateralTuning.pid.kf = 0.000045
tire_stiffness_factor = 1.0
elif candidate == CAR.SILVERADO:
ret.minEnableSpeed = -1.
ret.minSteerSpeed = -1 * CV.MPH_TO_MS
ret.mass = 2400. + STD_CARGO_KG
ret.wheelbase = 3.745
ret.steerRatio = 16.3
ret.centerToFront = ret.wheelbase * .49
ret.steerRateCost = .4
ret.steerActuatorDelay = 0.11
ret.networkLocation = NetworkLocation.fwdCamera # Uses Cam Harness
ret.radarOffCan = True # No Radar
ret.openpilotLongitudinalControl = False # Stock ACC
ret.pcmCruise = True # CC is on
###################### Get tune
elif candidate == CAR.BOLT_EUV:
ret.transmissionType = TransmissionType.direct
ret.minEnableSpeed = -1
ret.minSteerSpeed = 5 * CV.MPH_TO_MS
ret.mass = 1616. + STD_CARGO_KG
ret.wheelbase = 2.60096
ret.steerRatio = 16.8
ret.steerRatioRear = 0.
ret.centerToFront = 2.0828 #ret.wheelbase * 0.4 # wild guess
tire_stiffness_factor = 1.0
ret.networkLocation = NetworkLocation.fwdCamera # Uses Cam Harness
ret.radarOffCan = True # No Radar
ret.openpilotLongitudinalControl = False # Stock ACC
ret.pcmCruise = True # CC is on
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.
ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[10., 41.0], [10., 41.0]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18, 0.275], [0.01, 0.021]]
ret.lateralTuning.pid.kf = 0.0002
# Set Panda to camera forwarding mode
if ret.networkLocation == NetworkLocation.fwdCamera:
# TODO: Depends on Panda PR #962 (Cam Harness forwarding, stock ACC)
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@ -154,7 +204,7 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_loopback)
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# TODO: Depends on OP PR #24764 (Switch to ECMPRDNL2)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
@ -163,8 +213,10 @@ class CarInterface(CarInterfaceBase):
be.type = ButtonType.unknown
ret.buttonEvents = [be]
events = self.create_common_events(ret, pcm_enable=False)
# TODO: Depends on
events = self.create_common_events(ret, extra_gears = [GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise)
if ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
@ -174,7 +226,7 @@ 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()

18
selfdrive/car/gm/values.py
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@ -9,8 +9,13 @@ Ecu = car.CarParams.Ecu
class CarControllerParams:
STEER_MAX = 300 # Safety limit, not LKA max. Trucks use 600.
STEER_STEP = 2 # control frames per command
# TODO: Different cars have different min steer speed, usually around 3-5 mph
# TODO: Delta up and down limits may require adjustment based on excessive rate limiting
# TODO: Min steer speed seems to be about 3 MPH; may differ per car
# TODO: Unsure of driver values
# TODO: MAX_GAS, ZERO_GAS and MAX_BRAKE, MAX_ACC_REGEN are based on a specific volt year...
STEER_MAX = 300 # GM LKAS max (input) torque is 3 Nm
STEER_STEP = 2 # control frames per command (50 Hz or every 20ms)
STEER_DELTA_UP = 7
STEER_DELTA_DOWN = 17
MIN_STEER_SPEED = 3. # m/s
@ -67,9 +72,8 @@ class Footnote(Enum):
"Currently Requires a [harness box](https://comma.ai/shop/products/harness-box) and [community built GM camera harness]" +
"(https://github.com/commaai/openpilot/wiki/GMCamHarness)",
Column.MODEL)
# STOCK_ACC = CarFootnote(
# "Supported configuration uses stock ACC",
# Column.MODEL)
# TODO: Submit PR for gm cam harness schematic(s), diagrams and board layout(s) to https://github.com/commaai/neo/tree/master/car_harness
@dataclass
@ -90,10 +94,6 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV Premier 2022", "Chevy Safety Assist", footnotes=[Footnote.CAM_HARNESS], harness=Harness.gm_cam),
}
# Use CarParams Transmission Type Direct
#EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
# Use CarParams connect location
#CAM_CAR = {CAR.SILVERADO, CAR.BOLT_EUV}
class CruiseButtons:
INIT = 0

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