From 305f218be20f71f9cc50bbdd68c09e3539cf32a7 Mon Sep 17 00:00:00 2001 From: Jamezz Date: Mon, 1 Oct 2018 10:13:34 -0700 Subject: [PATCH] Revert the changes to GM in 0.5.4 (#380) * Revert 0.5.4 changes for GM for 18ers * Redo the refactor of stock control msgs * Fixed missing CONTROL_MSGS -> STOCK_CONTROL_MSGS * Remove spacing * Need candidate array idx --- selfdrive/car/gm/carcontroller.py | 21 ++++++++------------- selfdrive/car/gm/gmcan.py | 16 +++++++++------- selfdrive/car/gm/interface.py | 4 +++- selfdrive/car/gm/values.py | 7 ------- 4 files changed, 20 insertions(+), 28 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 199b6a5c3268e6..be0ca64ccb1996 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -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 @@ -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] @@ -83,6 +83,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \ return P = self.params + # Send CAN commands. can_sends = [] canbus = self.canbus @@ -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: diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 6db69bad592768..47b0d8b38dfad4 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -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 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index f7fb42a391f089..27d94b885b4af7 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -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 @@ -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: diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 62529ed6d73578..8e93b677c8ae66 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -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: @@ -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