diff --git a/README.md b/README.md index 6393503ed7ed75..394ae9d749cdaa 100644 --- a/README.md +++ b/README.md @@ -64,6 +64,7 @@ Supported Cars | Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph1| 12mph | Nidec | | Chevrolet3| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Chevrolet3| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| +| GMC3| Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Holden3 | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom7| | Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch | | Honda | Civic 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec | diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 5d86c0605b4f92..3518e98c5a663a 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/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 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 94aa09c9578cff..ab0dc79d186b2a 100644 --- a/selfdrive/car/gm/carstate.py +++ b/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 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index f421f73dca5724..8cf4e040bcd246 100755 --- a/selfdrive/car/gm/interface.py +++ b/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: diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index 56c2c7ca405e09..af10aa5ad144ba 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/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', diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 021c02ebef7178..d6dd2cdba78cfb 100644 --- a/selfdrive/car/gm/values.py +++ b/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 @@ -85,6 +91,7 @@ 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 } @@ -92,5 +99,6 @@ def parse_gear_shifter(can_gear): 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'), }