GM: move set speed scaling to DBC (#25422)

* Move scaling into DBC for GM cruise setpoint * bump opendbc * no int * Update refs * Update ref_commit
3 years ago · f341df006a
parent ee3d72a1e3
commit f341df006a
4 changed files with 4 additions and 5 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 488568517162194fbb2aa45d3dba4c6af663a883
+Subproject commit c6665ed11b8d8c998e46f8dbee30e70a7d451e5e
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@ -80,7 +80,7 @@ class CarState(CarStateBase):
    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      ret.cruiseState.speed = (cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] / 16) * CV.KPH_TO_MS
+      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS

    return ret

--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@ -63,8 +63,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
  return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)

 def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
-  # Not a bit shift, dash can round up based on low 4 bits.
-  target_speed = int(target_speed_kph * 16) & 0xfff
+  target_speed = min(target_speed_kph, 255)

  values = {
    "ACCAlwaysOne" : 1,
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-60aa8580527e513fe25100a348ee4c5971717960
+118d78e2040103c00b4bfcc875fcdcd6a15e2211