Adding support for 2018 GMC Acadia Denali (commaai#453)

* added acadia

* adding acadia

* adding acadia

* Update radar_interface.py

* adding acadia

* refactored

* fixed tuning

* Adding acadia

* Update interface.py

* fixed whitespace

* fixed whitespace

README.md

@@ -64,6 +64,7 @@ Supported Cars
 | Acura                | RDX 2018                | AcuraWatch Plus      | Yes     | Yes            | 25mph<sup>1</sup>| 12mph          | Nidec             |
 | Chevrolet<sup>3</sup>| Malibu 2017             | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Chevrolet<sup>3</sup>| Volt 2017-18            | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
+| GMC<sup>3</sup>| Acadia Denali 2018            | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Holden<sup>3</sup>   | Astra 2017              | Adaptive Cruise      | Yes     | Yes            | 0mph             | 7mph           | Custom<sup>7</sup>|
 | Honda                | Accord 2018             | All                  | Yes     | Stock          | 0mph             | 3mph           | Bosch             |
 | Honda                | Civic 2016-18           | Honda Sensing        | Yes     | Yes            | 0mph             | 12mph          | Nidec             |

selfdrive/car/gm/carcontroller.py

@@ -10,7 +10,7 @@
 
 class CarControllerParams():
   def __init__(self, car_fingerprint):
-    if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+    if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
       self.STEER_MAX = 300
       self.STEER_STEP = 2              # how often we update the steer cmd
       self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
@@ -104,7 +104,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       self.apply_steer_last = apply_steer
       idx = (frame / P.STEER_STEP) % 4
 
-      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+      if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
         can_sends.append(gmcan.create_steering_control(self.packer_pt,
           canbus.powertrain, apply_steer, idx, lkas_enabled))
       if self.car_fingerprint == CAR.CADILLAC_CT6:
@@ -113,7 +113,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
 
     ### GAS/BRAKE ###
 
-    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
       # no output if not enabled, but keep sending keepalive messages
       # treat pedals as one
       final_pedal = actuators.gas - actuators.brake

selfdrive/car/gm/carstate.py

@@ -35,7 +35,7 @@ def get_powertrain_can_parser(CP, canbus):
     signals += [
       ("RegenPaddle", "EBCMRegenPaddle", 0),
     ]
-  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+  if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
     signals += [
       ("TractionControlOn", "ESPStatus", 0),
       ("EPBClosed", "EPBStatus", 0),
@@ -120,7 +120,7 @@ def update(self, pt_cp):
     self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
     self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
 
-    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+    if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
       self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
       self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
       self.acc_active = False

selfdrive/car/gm/interface.py

@@ -97,6 +97,15 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 15.7
       ret.steerRatioRear = 0.
 
+    elif candidate == CAR.ACADIA:
+      ret.minEnableSpeed = -1 # engage speed is decided by pcm
+      ret.mass = 4353. * CV.LB_TO_KG + std_cargo
+      ret.safetyModel = car.CarParams.SafetyModels.gm
+      ret.wheelbase = 2.86
+      ret.steerRatio = 14.4  #end to end is 13.46
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.4
+
     elif candidate == CAR.CADILLAC_CT6:
       # engage speed is decided by pcm
       ret.minEnableSpeed = -1
@@ -266,7 +275,7 @@ def update(self, c):
     if ret.seatbeltUnlatched:
       events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
-    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+    if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
       if self.CS.brake_error:
         events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
       if not self.CS.gear_shifter_valid:

selfdrive/car/gm/radar_interface.py

@@ -22,7 +22,7 @@
 def create_radard_can_parser(canbus, car_fingerprint):
 
   dbc_f = DBC[car_fingerprint]['radar']
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
     # C1A-ARS3-A by Continental
     radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
     signals = zip(['FLRRNumValidTargets',

selfdrive/car/gm/values.py

@@ -8,6 +8,7 @@ class CAR:
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
   MALIBU = "CHEVROLET MALIBU PREMIER 2017"
+  ACADIA = "GMC ACADIA DENALI 2018"
 
 class CruiseButtons:
   UNPRESS     = 1
@@ -37,7 +38,7 @@ class CM:
 
 def is_eps_status_ok(eps_status, car_fingerprint):
   valid_eps_status = []
-  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
+  if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
     valid_eps_status += [0, 1]
   elif car_fingerprint == CAR.CADILLAC_CT6:
     valid_eps_status += [0, 1, 4, 5, 6]
@@ -77,6 +78,11 @@ def parse_gear_shifter(can_gear):
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
   }],
+  CAR.ACADIA: [
+  # Acadia Denali w/ /ACC 2018
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
 }
 
 STEER_THRESHOLD = 1.0
@@ -85,12 +91,14 @@ def parse_gear_shifter(can_gear):
   CAR.HOLDEN_ASTRA: [384, 715],
   CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
   CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+  CAR.ACADIA: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
   CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
 }
 
 DBC = {
   CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
+  CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
 }