Brand Port: GWM Haval h6 2024

opendbc/car/fingerprints.py

@@ -3,6 +3,7 @@
 from opendbc.car.chrysler.values import CAR as CHRYSLER
 from opendbc.car.ford.values import CAR as FORD
 from opendbc.car.gm.values import CAR as GM
+from opendbc.car.gwm.values import CAR as GWM
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.mazda.values import CAR as MAZDA
@@ -340,5 +341,6 @@ def all_legacy_fingerprint_cars():
   "SKODA_SCALA_MK1": VW.SKODA_KAMIQ_MK1,
   "SKODA SUPERB 3RD GEN": VW.SKODA_SUPERB_MK3,
 
+  "GWM HAVAL H6 PHEV 3RD GEN": GWM.GWM_HAVAL_H6_PHEV_3RD_GEN,
   "mock": MOCK.MOCK,
 }

opendbc/car/gwm/carcontroller.py

@@ -0,0 +1,29 @@
+from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.gwm.values import CarControllerParams
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_name, CP):
+    self.CP = CP
+    self.CCP = CarControllerParams(self.CP)
+
+    self.frame = 0
+
+  def update(self, CC, CS, now_nanos):
+    actuators = CC.actuators
+    new_actuators = actuators
+    can_sends = []
+
+    # **** Steering Controls ******************************************* #
+    # TODO
+
+    # **** Acceleration Controls *************************************** #
+    # TODO
+
+    # **** HUD Controls ************************************************ #
+    # TODO
+
+    # **** Stock ACC Button Controls *********************************** #
+    # TODO
+
+    self.frame += 1
+    return new_actuators, can_sends

opendbc/car/gwm/carstate.py

@@ -0,0 +1,108 @@
+import numpy as np
+from opendbc.car import structs
+from opendbc.car.interfaces import CarStateBase
+from opendbc.can.parser import CANParser
+from opendbc.car.gwm.values import DBC, CANBUS, CarControllerParams
+
+
+GearShifter = structs.CarState.GearShifter
+
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    self.frame = 0
+    self.CCP = CarControllerParams(CP)
+    self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
+
+  def create_button_events(self, cp, buttons):
+    button_events = []
+    for button in buttons:
+      state = cp.vl[button.can_addr][button.can_msg] in button.values
+      if self.button_states[button.event_type] != state:
+        event = structs.CarState.ButtonEvent()
+        event.type = button.event_type
+        event.pressed = state
+        button_events.append(event)
+      self.button_states[button.event_type] = state
+    return button_events
+
+  def update(self, cp, cam_cp, _, __, loopback_cp) -> structs.CarState:
+    ret = structs.CarState()
+
+    ret.wheelSpeeds = self.get_wheel_speeds(
+      cp.vl["WHEEL_SPEEDS"]["FRONT_LEFT_WHEEL_SPEED"],
+      cp.vl["WHEEL_SPEEDS"]["FRONT_RIGHT_WHEEL_SPEED"],
+      cp.vl["WHEEL_SPEEDS"]["REAR_LEFT_WHEEL_SPEED"],
+      cp.vl["WHEEL_SPEEDS"]["REAR_RIGHT_WHEEL_SPEED"],
+    )
+    ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = abs(ret.vEgoRaw) < 1e-3
+
+    ret.steeringAngleDeg = cp.vl["STEER_AND_AP_STALK"]["STEERING_ANGLE"] * (-1 if cp.vl["STEER_AND_AP_STALK"]["STEERING_DIRECTION"] else 1)
+    ret.steeringRateDeg = 0 # TODO
+    ret.steeringTorque = cp.vl["STEER_AND_AP_STALK"]["STEERING_TORQUE"] * (-1 if cp.vl["STEER_AND_AP_STALK"]["STEERING_DIRECTION"] else 1) * 73
+    ret.steeringPressed = abs(ret.steeringTorque) > 10
+    # ret.yawRate = NOT ABSOLUTE NECESSARY
+    # ret.steerFaultTemporary, ret.steerFaultPermanent = CRITICAL SAFETY TODO, CRITICAL SAFETY TODO
+
+    ret.gas = cp.vl["CAR_OVERALL_SIGNALS2"]["GAS_POSITION"]
+    ret.gasPressed = ret.gas > 0
+    ret.brake = cp.vl["BRAKE"]["BRAKE_PRESSURE"]
+    ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSURE"] > 0
+    ret.parkingBrake = cp.vl["CAR_OVERALL_SIGNALS"]["DRIVE_MODE"] == 0
+
+    # begin toyota brakePressed TODO clean-after-port
+    # ret.brakePressed = cp.vl["COROLLA_BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
+    # end TODO clean-after-port
+
+    ret.gearShifter = GearShifter.drive if int(cp.vl["CAR_OVERALL_SIGNALS"]["DRIVE_MODE"]) == 1 else \
+                      GearShifter.neutral if int(cp.vl["CAR_OVERALL_SIGNALS"]["DRIVE_MODE"]) == 2 else \
+                      GearShifter.reverse if int(cp.vl["CAR_OVERALL_SIGNALS"]["DRIVE_MODE"]) == 3 else \
+                      GearShifter.park
+
+    ret.doorOpen = any([cp.vl["DOOR_DRIVER"]["DOOR_REAR_RIGHT_OPEN"],
+                        cp.vl["DOOR_DRIVER"]["DOOR_FRONT_RIGHT_OPEN"],
+                        cp.vl["DOOR_DRIVER"]["DOOR_REAR_LEFT_OPEN"],
+                        cp.vl["DOOR_DRIVER"]["DOOR_DRIVER_OPEN"]])
+    ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEAT_BELT_DRIVER_STATE"] != 1
+
+    ret.cruiseState.available = True #CRITICAL SAFETY TODO
+    # ret.cruiseState.enabled = TODO
+    # ret.cruiseState.speed = TODO
+
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["LIGHTS"]["LEFT_TURN_SIGNAL"],
+                                                                      cp.vl["LIGHTS"]["RIGHT_TURN_SIGNAL"])
+    ret.buttonEvents = self.create_button_events(cp, self.CCP.BUTTONS)
+    # ret.espDisabled = TODO
+
+    self.frame += 1
+    return ret
+
+
+  @staticmethod
+  def get_can_parser(CP):
+    messages = [
+      # COROLLA:
+      # ("COROLLA_BRAKE_MODULE", 40),
+
+      # HAVAL:
+      ("BRAKE", 50),
+      ("CAR_OVERALL_SIGNALS", 50),
+      ("CAR_OVERALL_SIGNALS2", 100),
+      ("DOOR_DRIVER", 20),
+      ("LIGHTS", 20),
+      ("SEATBELT", 2),
+      ("STEER_AND_AP_STALK", 100),
+      ("WHEEL_SPEEDS", 50),
+    ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
+
+
+  @staticmethod
+  def get_cam_can_parser(CP):
+    messages = []
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)

opendbc/car/gwm/fingerprints.py

@@ -0,0 +1,12 @@
+from opendbc.car.structs import CarParams
+from opendbc.car.gwm.values import CAR
+
+Ecu = CarParams.Ecu
+
+FW_VERSIONS = {
+  CAR.GWM_HAVAL_H6_PHEV_3RD_GEN: {
+    (Ecu.engine, 0x7e0, None): [
+      b'PLACEHOLDER',
+    ],
+  },
+}

opendbc/car/gwm/gwmcan.py

@@ -0,0 +1 @@
+pass

opendbc/car/gwm/interface.py

@@ -0,0 +1,26 @@
+from opendbc.car import get_safety_config, structs
+from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.gwm.values import CAR
+
+class CarInterface(CarInterfaceBase):
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs) -> structs.CarParams:
+    ret.carName = "gwm"
+    ret.radarUnavailable = True
+
+    # Set global parameters
+
+    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.allOutput,1)]
+
+    # Global lateral tuning defaults, can be overriden per-vehicle
+
+    ret.steerLimitTimer = 0.4
+    ret.steerActuatorDelay = 0.2
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    # Global longitudinal tuning defaults, can be overridden per-vehicle
+
+    # ret.pcmCruise = not ret.openpilotLongitudinalControl
+    ret.pcmCruise = False # TODO clean-after-port MOCK engagement
+
+    return ret

opendbc/car/gwm/radar_interface.py

@@ -0,0 +1,4 @@
+from opendbc.car.interfaces import RadarInterfaceBase
+
+class RadarInterface(RadarInterfaceBase):
+  pass

opendbc/car/gwm/values.py

@@ -0,0 +1,67 @@
+from collections import namedtuple
+from dataclasses import dataclass, field
+
+from opendbc.car import dbc_dict, CarSpecs, DbcDict, PlatformConfig, Platforms, structs
+from opendbc.car.docs_definitions import CarHarness, CarDocs, CarParts
+from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
+
+class CarControllerParams:
+  def __init__(self, CP):
+    self.BUTTONS = [
+      Button(structs.CarState.ButtonEvent.Type.setCruise, "STEER_AND_AP_STALK", "AP_ENABLE_COMMAND", [1]),
+      # Button(structs.CarState.ButtonEvent.Type.resumeCruise, "STEER_AND_AP_STALK", "AP_ENABLE_COMMAND", [1]),
+      Button(structs.CarState.ButtonEvent.Type.accelCruise, "STEER_AND_AP_STALK", "AP_INCREASE_SPEED_COMMAND", [1]),
+      Button(structs.CarState.ButtonEvent.Type.decelCruise, "STEER_AND_AP_STALK", "AP_DECREASE_SPEED_COMMAND", [1]),
+      Button(structs.CarState.ButtonEvent.Type.cancel, "STEER_AND_AP_STALK", "AP_CANCEL_COMMAND", [1]),
+      Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "STEER_AND_AP_STALK", "AP_INCREASE_DISTANCE_COMMAND", [1]),
+    ]
+
+
+class CANBUS:
+  pt = 0
+  cam = 2
+
+
+@dataclass
+class GwmPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gwm_haval_h6_mk3_generated', None))
+
+
+@dataclass(frozen=True, kw_only=True)
+class GwmCarSpecs(CarSpecs):
+  centerToFrontRatio: float = 0.45
+  steerRatio: float = 15.6
+
+
+@dataclass
+class GwmCarDocs(CarDocs):
+  package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.custom]))
+
+
+class CAR(Platforms):
+  config: GwmPlatformConfig
+
+  GWM_HAVAL_H6_PHEV_3RD_GEN = GwmPlatformConfig(
+    [
+      GwmCarDocs("GWM Haval H6 hybrid plug-in 2020-24"),
+    ],
+    GwmCarSpecs(mass=2050, wheelbase=2.74),
+  )
+
+
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[
+    # TODO:
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      bus=0,
+    ),
+  ],
+)
+
+
+DBC = CAR.create_dbc_map()

opendbc/car/tests/routes.py

@@ -1,6 +1,7 @@
 from typing import NamedTuple
 
 from opendbc.car.chrysler.values import CAR as CHRYSLER
+from opendbc.car.gwm.values import CAR as GWM
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.ford.values import CAR as FORD
 from opendbc.car.honda.values import CAR as HONDA
@@ -58,6 +59,8 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("37998aa0fade36ab/00000000--48f927c4f5", FORD.FORD_RANGER_MK2),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
+  CarTestRoute("5046371b6e9f0f3e/0000006f--fed43edbf9", GWM.GWM_HAVAL_H6_PHEV_3RD_GEN),
+
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.GMC_ACADIA),
   CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
   CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),

opendbc/car/torque_data/override.toml

@@ -64,6 +64,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
 "LEXUS_GS_F" = [2.5, 2.5, 0.08]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
+"GWM_HAVAL_H6_PHEV_3RD_GEN" = [1.5, 1.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

opendbc/car/values.py

@@ -3,6 +3,7 @@
 from opendbc.car.chrysler.values import CAR as CHRYSLER
 from opendbc.car.ford.values import CAR as FORD
 from opendbc.car.gm.values import CAR as GM
+from opendbc.car.gwm.values import CAR as GWM
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
 from opendbc.car.mazda.values import CAR as MAZDA
@@ -12,7 +13,7 @@
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
 
-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TOYOTA | VOLKSWAGEN
+Platform = BODY | CHRYSLER | FORD | GM | GWM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TOYOTA | VOLKSWAGEN
 BRANDS = get_args(Platform)
 
 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}