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192 lines
7.8 KiB
192 lines
7.8 KiB
from common.numpy_fast import clip, interp
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from common.realtime import sec_since_boot
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from selfdrive.config import Conversions as CV
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car.gm import gmcan
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from selfdrive.car.gm.values import CAR, DBC
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from selfdrive.can.packer import CANPacker
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class CarControllerParams():
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def __init__(self, car_fingerprint):
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if car_fingerprint == CAR.VOLT:
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self.STEER_MAX = 255
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self.STEER_STEP = 2 # how often we update the steer cmd
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self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
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self.STEER_DELTA_DOWN = 17 # ~0.3s from peak torque to zero
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elif car_fingerprint == CAR.CADILLAC_CT6:
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self.STEER_MAX = 150
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self.STEER_STEP = 1 # how often we update the steer cmd
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self.STEER_DELTA_UP = 2 # 0.75s time to peak torque
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self.STEER_DELTA_DOWN = 5 # 0.3s from peak torque to zero
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self.STEER_DRIVER_ALLOWANCE = 50 # allowed driver torque before start limiting
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self.STEER_DRIVER_MULTIPLIER = 4 # weight driver torque heavily
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self.STEER_DRIVER_FACTOR = 100 # from dbc
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self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop
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self.ADAS_KEEPALIVE_STEP = 10
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# pedal lookups, only for Volt
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MAX_GAS = 3072 # Only a safety limit
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ZERO_GAS = 2048
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MAX_BRAKE = 350 # Should be around 3.5m/s^2, including regen
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self.MAX_ACC_REGEN = 1404 # ACC Regen braking is slightly less powerful than max regen paddle
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self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
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self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
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self.BRAKE_LOOKUP_BP = [-1., -0.25]
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self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
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def actuator_hystereses(final_pedal, pedal_steady):
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# hyst params... TODO: move these to VehicleParams
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pedal_hyst_gap = 0.01 # don't change pedal command for small oscilalitons within this value
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# for small pedal oscillations within pedal_hyst_gap, don't change the pedal command
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if final_pedal == 0.:
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pedal_steady = 0.
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elif final_pedal > pedal_steady + pedal_hyst_gap:
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pedal_steady = final_pedal - pedal_hyst_gap
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elif final_pedal < pedal_steady - pedal_hyst_gap:
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pedal_steady = final_pedal + pedal_hyst_gap
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final_pedal = pedal_steady
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return final_pedal, pedal_steady
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class CarController(object):
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def __init__(self, canbus, car_fingerprint):
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self.pedal_steady = 0.
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self.start_time = sec_since_boot()
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self.chime = 0
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self.lkas_active = False
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self.inhibit_steer_for = 0
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self.steer_idx = 0
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self.apply_steer_last = 0
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self.car_fingerprint = car_fingerprint
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# Setup detection helper. Routes commands to
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# an appropriate CAN bus number.
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self.canbus = canbus
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self.params = CarControllerParams(car_fingerprint)
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self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
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self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
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def update(self, sendcan, enabled, CS, frame, actuators, \
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hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt):
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""" Controls thread """
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P = self.params
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# Send CAN commands.
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can_sends = []
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canbus = self.canbus
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### STEER ###
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if (frame % P.STEER_STEP) == 0:
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final_steer = actuators.steer if enabled else 0.
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apply_steer = final_steer * P.STEER_MAX
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# limits due to driver torque
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driver_max_torque = P.STEER_MAX + (P.STEER_DRIVER_ALLOWANCE + CS.steer_torque_driver * P.STEER_DRIVER_FACTOR) * P.STEER_DRIVER_MULTIPLIER
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driver_min_torque = -P.STEER_MAX + (-P.STEER_DRIVER_ALLOWANCE + CS.steer_torque_driver * P.STEER_DRIVER_FACTOR) * P.STEER_DRIVER_MULTIPLIER
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max_steer_allowed = max(min(P.STEER_MAX, driver_max_torque), 0)
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min_steer_allowed = min(max(-P.STEER_MAX, driver_min_torque), 0)
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apply_steer = clip(apply_steer, min_steer_allowed, max_steer_allowed)
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# slow rate if steer torque increases in magnitude
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if self.apply_steer_last > 0:
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apply_steer = clip(apply_steer, max(self.apply_steer_last - P.STEER_DELTA_DOWN, -P.STEER_DELTA_UP),
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self.apply_steer_last + P.STEER_DELTA_UP)
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else:
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apply_steer = clip(apply_steer, self.apply_steer_last - P.STEER_DELTA_UP,
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min(self.apply_steer_last + P.STEER_DELTA_DOWN, P.STEER_DELTA_UP))
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lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3.
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if not lkas_enabled:
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apply_steer = 0
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apply_steer = int(round(apply_steer))
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self.apply_steer_last = apply_steer
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idx = (frame / P.STEER_STEP) % 4
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if self.car_fingerprint == CAR.VOLT:
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can_sends.append(gmcan.create_steering_control(self.packer_pt,
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canbus.powertrain, apply_steer, idx, lkas_enabled))
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if self.car_fingerprint == CAR.CADILLAC_CT6:
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can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
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canbus, apply_steer, CS.v_ego, idx, lkas_enabled)
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### GAS/BRAKE ###
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if self.car_fingerprint == CAR.VOLT:
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# no output if not enabled, but keep sending keepalive messages
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# threat pedals as one
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final_pedal = actuators.gas - actuators.brake
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# *** apply pedal hysteresis ***
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final_brake, self.brake_steady = actuator_hystereses(
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final_pedal, self.pedal_steady)
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if not enabled:
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apply_gas = P.MAX_ACC_REGEN # TODO: do we really need to send max regen when not enabled?
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apply_brake = 0
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else:
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apply_gas = int(round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
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apply_brake = int(round(interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
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# Gas/regen and brakes - all at 25Hz
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if (frame % 4) == 0:
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idx = (frame / 4) % 4
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at_full_stop = enabled and CS.standstill
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near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
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can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))
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at_full_stop = enabled and CS.standstill
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can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
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# Send dashboard UI commands (ACC status), 25hz
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if (frame % 4) == 0:
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can_sends.append(gmcan.create_acc_dashboard_command(canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car))
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# Radar needs to know current speed and yaw rate (50hz),
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# and that ADAS is alive (10hz)
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time_and_headlights_step = 10
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tt = sec_since_boot()
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if frame % time_and_headlights_step == 0:
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idx = (frame / time_and_headlights_step) % 4
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can_sends.append(gmcan.create_adas_time_status(canbus.obstacle, int((tt - self.start_time) * 60), idx))
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can_sends.append(gmcan.create_adas_headlights_status(canbus.obstacle))
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speed_and_accelerometer_step = 2
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if frame % speed_and_accelerometer_step == 0:
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idx = (frame / speed_and_accelerometer_step) % 4
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can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
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can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))
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# Send ADAS keepalive, 10hz
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if frame % P.ADAS_KEEPALIVE_STEP == 0:
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can_sends += gmcan.create_adas_keepalive(canbus.powertrain)
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# Send chimes
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if self.chime != chime:
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duration = 0x3c
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# There is no 'repeat forever' chime command
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# TODO: Manage periodic re-issuing of chime command
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# and chime cancellation
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if chime_cnt == -1:
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chime_cnt = 10
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if chime != 0:
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can_sends.append(gmcan.create_chime_command(canbus.sw_gmlan, chime, duration, chime_cnt))
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# If canceling a repeated chime, cancel command must be
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# issued for the same chime type and duration
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self.chime = chime
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sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
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