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Revert the changes to GM in 0.5.4 (#380) #386

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Oct 3, 2018
Merged

Revert the changes to GM in 0.5.4 (#380) #386

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21 changes: 8 additions & 13 deletions selfdrive/car/gm/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import CAR, DBC, AccState
from selfdrive.car.gm.values import CAR, DBC
from selfdrive.can.packer import CANPacker


Expand All @@ -29,11 +29,11 @@ def __init__(self, car_fingerprint):
self.ADAS_KEEPALIVE_STEP = 10
# pedal lookups, only for Volt
MAX_GAS = 3072 # Only a safety limit
self.ZERO_GAS = 2048
ZERO_GAS = 2048
MAX_BRAKE = 350 # Should be around 3.5m/s^2, including regen
self.MAX_ACC_REGEN = 1404 # ACC Regen braking is slightly less powerful than max regen paddle
self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, MAX_GAS]
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
self.BRAKE_LOOKUP_BP = [-1., -0.25]
self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]

Expand Down Expand Up @@ -83,6 +83,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
return

P = self.params

# Send CAN commands.
can_sends = []
canbus = self.canbus
Expand Down Expand Up @@ -130,18 +131,12 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
if (frame % 4) == 0:
idx = (frame / 4) % 4

car_stopping = apply_gas < P.ZERO_GAS
standstill = CS.pcm_acc_status == AccState.STANDSTILL
at_full_stop = enabled and standstill and car_stopping
near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) and car_stopping
at_full_stop = enabled and CS.standstill
near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))

# Auto-resume from full stop by resetting ACC control
acc_enabled = enabled
if standstill and not car_stopping:
acc_enabled = False

can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, acc_enabled, at_full_stop))
at_full_stop = enabled and CS.standstill
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))

# Send dashboard UI commands (ACC status), 25hz
if (frame % 4) == 0:
Expand Down
16 changes: 9 additions & 7 deletions selfdrive/car/gm/gmcan.py
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Expand Up @@ -60,15 +60,17 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st

def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):

mode = 0x1
if apply_brake > 0:
if apply_brake == 0:
mode = 0x1
else:
mode = 0xa

if near_stop:
mode = 0xb

if at_full_stop:
mode = 0xd
if at_full_stop:
mode = 0xd
# TODO: this is to have GM bringing the car to complete stop,
# but currently it conflicts with OP controls, so turned off.
#elif near_stop:
# mode = 0xb

brake = (0x1000 - apply_brake) & 0xfff
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
Expand Down
4 changes: 3 additions & 1 deletion selfdrive/car/gm/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -193,7 +193,7 @@ def update(self, c):
ret.cruiseState.available = bool(self.CS.main_on)
cruiseEnabled = self.CS.pcm_acc_status != 0
ret.cruiseState.enabled = cruiseEnabled
ret.cruiseState.standstill = False
ret.cruiseState.standstill = self.CS.pcm_acc_status == 4

ret.leftBlinker = self.CS.left_blinker_on
ret.rightBlinker = self.CS.right_blinker_on
Expand Down Expand Up @@ -276,6 +276,8 @@ def update(self, c):
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
if ret.cruiseState.standstill:
events.append(create_event('resumeRequired', [ET.WARNING]))

# handle button presses
for b in ret.buttonEvents:
Expand Down
7 changes: 0 additions & 7 deletions selfdrive/car/gm/values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,12 +12,6 @@ class CruiseButtons:
MAIN = 5
CANCEL = 6

class AccState:
OFF = 0
ACTIVE = 1
FAULTED = 3
STANDSTILL = 4

def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = []
if car_fingerprint == CAR.VOLT:
Expand Down Expand Up @@ -55,7 +49,6 @@ def parse_gear_shifter(can_gear):

STEER_THRESHOLD = 1.0


STOCK_CONTROL_MSGS = {
CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
Expand Down