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Remove Cadillac CT6 port (#1359)

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* remove CT6 port

* dont need this route

* extra char

* fix carcontroller params
pull/1360/head
Adeeb 5 years ago committed by GitHub
parent 1ecef2c6be
commit e22482eb31
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6 changed files with 105 additions and 243 deletions
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  1. 33
      selfdrive/car/gm/carcontroller.py
  2. 28
      selfdrive/car/gm/carstate.py
  3. 70
      selfdrive/car/gm/gmcan.py
  4. 21
      selfdrive/car/gm/interface.py
  5. 14
      selfdrive/car/gm/values.py
  6. 4
      selfdrive/test/test_car_models.py

33
selfdrive/car/gm/carcontroller.py
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@ -4,27 +4,19 @@ from common.numpy_fast import interp
from selfdrive.config import Conversions as CV
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS, CanBus
from selfdrive.car.gm.values import DBC, CanBus
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarControllerParams():
def __init__(self, car_fingerprint):
if car_fingerprint in SUPERCRUISE_CARS:
self.STEER_MAX = 150
self.STEER_STEP = 1 # how often we update the steer cmd
self.STEER_DELTA_UP = 2 # 0.75s time to peak torque
self.STEER_DELTA_DOWN = 5 # 0.3s from peak torque to zero
self.MIN_STEER_SPEED = -1. # can steer down to zero
else:
def __init__(self):
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)
self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
self.MIN_STEER_SPEED = 3.
self.STEER_DRIVER_ALLOWANCE = 50 # allowed driver torque before start limiting
self.STEER_DRIVER_MULTIPLIER = 4 # weight driver torque heavily
self.STEER_DRIVER_FACTOR = 100 # from dbc
@ -61,23 +53,15 @@ def actuator_hystereses(final_pedal, pedal_steady):
return final_pedal, pedal_steady
def process_hud_alert(hud_alert):
# initialize to no alert
steer = 0
if hud_alert == VisualAlert.steerRequired:
steer = 1
return steer
class CarController():
def __init__(self, dbc_name, CP, VM):
self.pedal_steady = 0.
self.start_time = 0.
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.lka_icon_status_last = (False, False)
self.steer_rate_limited = False
self.params = CarControllerParams(CP.carFingerprint)
self.params = CarControllerParams()
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
@ -90,9 +74,6 @@ class CarController():
# Send CAN commands.
can_sends = []
alert_out = process_hud_alert(hud_alert)
steer = alert_out
### STEER ###
if (frame % P.STEER_STEP) == 0:
@ -107,16 +88,11 @@ class CarController():
self.apply_steer_last = apply_steer
idx = (frame // P.STEER_STEP) % 4
if self.car_fingerprint in SUPERCRUISE_CARS:
can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
CanBus, apply_steer, CS.out.vEgo, idx, lkas_enabled)
else:
can_sends.append(gmcan.create_steering_control(self.packer_pt,
CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
### GAS/BRAKE ###
if self.car_fingerprint not in SUPERCRUISE_CARS:
# no output if not enabled, but keep sending keepalive messages
# treat pedals as one
final_pedal = actuators.gas - actuators.brake
@ -176,7 +152,8 @@ class CarController():
lka_icon_status = (lka_active, lka_critical)
if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
or lka_icon_status != self.lka_icon_status_last:
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer))
steer_alert = hud_alert == VisualAlert.steerRequired
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
return can_sends

28
selfdrive/car/gm/carstate.py
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@ -6,7 +6,7 @@ from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
CruiseButtons, is_eps_status_ok, \
STEER_THRESHOLD, SUPERCRUISE_CARS
STEER_THRESHOLD
class CarState(CarStateBase):
@ -53,21 +53,14 @@ class CarState(CarStateBase):
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
if self.car_fingerprint in SUPERCRUISE_CARS:
self.park_brake = False
ret.cruiseState.available = False
ret.espDisabled = False
regen_pressed = False
self.pcm_acc_status = int(pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive'])
else:
self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]['CruiseMainOn'])
ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
regen_pressed = False
if self.car_fingerprint == CAR.VOLT:
regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
else:
regen_pressed = False
# Regen braking is braking
ret.brakePressed = ret.brake > 1e-5 or regen_pressed
@ -94,6 +87,7 @@ class CarState(CarStateBase):
("RightSeatBelt", "BCMDoorBeltStatus", 0),
("TurnSignals", "BCMTurnSignals", 0),
("AcceleratorPedal", "AcceleratorPedal", 0),
("CruiseState", "AcceleratorPedal2", 0),
("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
("SteeringWheelAngle", "PSCMSteeringAngle", 0),
("FLWheelSpd", "EBCMWheelSpdFront", 0),
@ -103,22 +97,14 @@ class CarState(CarStateBase):
("PRNDL", "ECMPRDNL", 0),
("LKADriverAppldTrq", "PSCMStatus", 0),
("LKATorqueDeliveredStatus", "PSCMStatus", 0),
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
]
if CP.carFingerprint == CAR.VOLT:
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
]
if CP.carFingerprint in SUPERCRUISE_CARS:
signals += [
("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
]
else:
signals += [
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
("CruiseState", "AcceleratorPedal2", 0),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)

70
selfdrive/car/gm/gmcan.py
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@ -11,32 +11,6 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
def create_steering_control_ct6(packer, CanBus, apply_steer, v_ego, idx, enabled):
values = {
"LKASteeringCmdActive": 1 if enabled else 0,
"LKASteeringCmd": apply_steer,
"RollingCounter": idx,
"SetMe1": 1,
"LKASVehicleSpeed": abs(v_ego * 3.6),
"LKASMode": 2 if enabled else 0,
"LKASteeringCmdChecksum": 0 # assume zero and then manually compute it
}
dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
# the checksum logic is weird
values['LKASteeringCmdChecksum'] = (0x2a +
sum(dat[:4]) +
values['LKASMode']) & 0x3ff
# pack again with checksum
dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
return [0x152, 0, dat, CanBus.POWERTRAIN], \
[0x154, 0, dat, CanBus.POWERTRAIN], \
[0x151, 0, dat, CanBus.CHASSIS], \
[0x153, 0, dat, CanBus.CHASSIS]
def create_adas_keepalive(bus):
dat = b"\x00\x00\x00\x00\x00\x00\x00"
return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
@ -147,47 +121,3 @@ def create_lka_icon_command(bus, active, critical, steer):
dat = b"\x00\x00\x00"
return make_can_msg(0x104c006c, dat, bus)
# TODO: WIP
'''
def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):
# counters loops across [0, 29, 42, 55] but checksum only considers 0, 1, 2, 3
cntrs = [0, 29, 42, 55]
if apply_brake == 0:
mode = 0x1
else:
mode = 0xa
if at_full_stop:
mode = 0xd
elif near_stop:
mode = 0xb
brake = (0x1000 - apply_brake) & 0xfff
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
values = {
"RollingCounter" : cntrs[idx],
"FrictionBrakeMode" : mode,
"FrictionBrakeChecksum": checksum,
"FrictionBrakeCmd" : -apply_brake
}
dat = packer.make_can_msg("EBCMFrictionBrakeCmd", 0, values)[2]
# msg is 0x315 but we are doing the panda forwarding
return make_can_msg(0x314, dat, 2)
def create_gas_regen_command_ct6(bus, throttle, idx, acc_engaged, at_full_stop):
cntrs = [0, 7, 10, 13]
eng_bit = 1 if acc_engaged else 0
gas_high = (throttle >> 8) | 0x80
gas_low = (throttle) & 0xff
full_stop = 0x20 if at_full_stop else 0
chk1 = (0x100 - gas_high - 1) & 0xff
chk2 = (0x100 - gas_low - idx) & 0xff
dat = [(idx << 6) | eng_bit, 0xc2 | full_stop, gas_high, gas_low,
(1 - eng_bit) | (cntrs[idx] << 1), 0x5d - full_stop, chk1, chk2]
return make_can_msg(0x2cb, "".join(map(chr, dat)), bus)
'''

21
selfdrive/car/gm/interface.py
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@ -3,7 +3,7 @@ from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
SUPERCRUISE_CARS, AccState, FINGERPRINTS
AccState, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -29,9 +29,7 @@ class CarInterface(CarInterfaceBase):
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or \
has_relay or \
candidate == CAR.CADILLAC_CT6
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = ret.enableCamera
tire_stiffness_factor = 0.444 # not optimized yet
@ -93,16 +91,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1.
ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# 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)
@ -159,11 +147,8 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = buttonEvents
supercruise = self.CS.car_fingerprint in SUPERCRUISE_CARS
events = self.create_common_events(ret, pcm_enable=supercruise)
events = self.create_common_events(ret, pcm_enable=False)
if not supercruise:
# TODO: why is this only not supercruise? ignore supercruise?
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if self.CS.park_brake:

14
selfdrive/car/gm/values.py
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@ -6,13 +6,10 @@ class CAR:
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017"
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
SUPERCRUISE_CARS = [CAR.CADILLAC_CT6]
class CruiseButtons:
INIT = 0
UNPRESS = 1
@ -34,12 +31,7 @@ class CanBus:
SW_GMLAN = 3
def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = []
if car_fingerprint in SUPERCRUISE_CARS:
valid_eps_status += [0, 1, 4, 5, 6]
else:
valid_eps_status += [0, 1]
return eps_status in valid_eps_status
return eps_status in [0, 1]
FINGERPRINTS = {
# Astra BK MY17, ASCM unplugged
@ -65,9 +57,6 @@ FINGERPRINTS = {
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
CAR.CADILLAC_CT6: [{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
}],
CAR.MALIBU: [
# Malibu Premier w/ ACC 2017
{
@ -93,5 +82,4 @@ DBC = {
CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.BUICK_REGAL: 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'),
}

4
selfdrive/test/test_car_models.py
Unescape View File

@ -76,10 +76,6 @@ routes = {
'carFingerprint': FORD.FUSION,
'enableCamera': True,
},
"7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
'carFingerprint': GM.CADILLAC_CT6,
'enableCamera': True,
},
"c950e28c26b5b168|2018-05-30--22-03-41": {
'carFingerprint': GM.VOLT,
'enableCamera': True,

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