IQ.Pilot Prebuilt Release @ 7a91404
This commit is contained in:
IQ.Lvbs CI [bot]
0
artifacts/package_runtime/iqdbc/car/gm/__init__.py
Normal file
0
artifacts/package_runtime/iqdbc/car/gm/__init__.py
Normal file
163
artifacts/package_runtime/iqdbc/car/gm/carcontroller.py
Normal file
163
artifacts/package_runtime/iqdbc/car/gm/carcontroller.py
Normal file
@@ -0,0 +1,163 @@
|
||||
import numpy as np
|
||||
from iqdbc.can import CANPacker
|
||||
from iqdbc.car import Bus, DT_CTRL, structs
|
||||
from iqdbc.car.lateral import apply_driver_steer_torque_limits
|
||||
from iqdbc.car.gm import gmcan
|
||||
from iqdbc.car.common.conversions import Conversions as CV
|
||||
from iqdbc.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
|
||||
from iqdbc.car.interfaces import CarControllerBase
|
||||
|
||||
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
||||
NetworkLocation = structs.CarParams.NetworkLocation
|
||||
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
||||
|
||||
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
|
||||
CAMERA_CANCEL_DELAY_FRAMES = 10
|
||||
# Enforce a minimum interval between steering messages to avoid a fault
|
||||
MIN_STEER_MSG_INTERVAL_MS = 15
|
||||
|
||||
|
||||
class CarController(CarControllerBase):
|
||||
def __init__(self, dbc_names, CP, CP_IQ):
|
||||
super().__init__(dbc_names, CP, CP_IQ)
|
||||
self.start_time = 0.
|
||||
self.apply_torque_last = 0
|
||||
self.apply_gas = 0
|
||||
self.apply_brake = 0
|
||||
self.last_steer_frame = 0
|
||||
self.last_button_frame = 0
|
||||
self.cancel_counter = 0
|
||||
|
||||
self.lka_steering_cmd_counter = 0
|
||||
self.lka_icon_status_last = (False, False)
|
||||
|
||||
self.params = CarControllerParams(self.CP)
|
||||
|
||||
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint][Bus.pt])
|
||||
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint][Bus.radar])
|
||||
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint][Bus.chassis])
|
||||
|
||||
def update(self, CC, CC_IQ, CS, now_nanos):
|
||||
actuators = CC.actuators
|
||||
hud_control = CC.hudControl
|
||||
hud_alert = hud_control.visualAlert
|
||||
hud_v_cruise = hud_control.setSpeed
|
||||
if hud_v_cruise > 70:
|
||||
hud_v_cruise = 0
|
||||
|
||||
# Send CAN commands.
|
||||
can_sends = []
|
||||
|
||||
# Steering (Active: 50Hz, inactive: 10Hz)
|
||||
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
# Also send at 50Hz:
|
||||
# - on startup, first few msgs are blocked
|
||||
# - until we're in sync with camera so counters align when relay closes, preventing a fault.
|
||||
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
|
||||
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
|
||||
if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
|
||||
steer_step = self.params.STEER_STEP
|
||||
|
||||
self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
|
||||
|
||||
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
|
||||
# received the ASCMLKASteeringCmd loopback confirmation too recently
|
||||
last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
|
||||
if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
|
||||
# Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
|
||||
if CS.loopback_lka_steering_cmd_ts_nanos == 0:
|
||||
self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
|
||||
|
||||
if CC.latActive:
|
||||
new_torque = int(round(actuators.torque * self.params.STEER_MAX))
|
||||
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
|
||||
else:
|
||||
apply_torque = 0
|
||||
|
||||
self.last_steer_frame = self.frame
|
||||
self.apply_torque_last = apply_torque
|
||||
idx = self.lka_steering_cmd_counter % 4
|
||||
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_torque, idx, CC.latActive))
|
||||
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
# Gas/regen, brakes, and UI commands - all at 25Hz
|
||||
if self.frame % 4 == 0:
|
||||
stopping = actuators.longControlState == LongCtrlState.stopping
|
||||
if not CC.longActive:
|
||||
# ASCM sends max regen when not enabled
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
self.apply_brake = 0
|
||||
else:
|
||||
self.apply_gas = float(np.interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))
|
||||
self.apply_brake = int(round(np.interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
||||
# Don't allow any gas above inactive regen while stopping
|
||||
# FIXME: brakes aren't applied immediately when enabling at a stop
|
||||
if stopping:
|
||||
self.apply_gas = self.params.INACTIVE_REGEN
|
||||
|
||||
idx = (self.frame // 4) % 4
|
||||
|
||||
at_full_stop = CC.longActive and CS.out.standstill
|
||||
near_stop = CC.longActive and (abs(CS.out.vEgo) < self.params.NEAR_STOP_BRAKE_PHASE)
|
||||
friction_brake_bus = CanBus.CHASSIS
|
||||
# GM Camera exceptions
|
||||
# TODO: can we always check the longControlState?
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
at_full_stop = at_full_stop and stopping
|
||||
friction_brake_bus = CanBus.POWERTRAIN
|
||||
|
||||
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
|
||||
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
|
||||
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
|
||||
idx, CC.enabled, near_stop, at_full_stop, self.CP))
|
||||
|
||||
# Send dashboard UI commands (ACC status)
|
||||
send_fcw = hud_alert == VisualAlert.fcw
|
||||
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
|
||||
hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
|
||||
|
||||
# Radar needs to know current speed and yaw rate (50hz),
|
||||
# and that ADAS is alive (10hz)
|
||||
if not self.CP.radarUnavailable:
|
||||
tt = self.frame * DT_CTRL
|
||||
time_and_headlights_step = 10
|
||||
if self.frame % time_and_headlights_step == 0:
|
||||
idx = (self.frame // time_and_headlights_step) % 4
|
||||
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
||||
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
|
||||
|
||||
speed_and_accelerometer_step = 2
|
||||
if self.frame % speed_and_accelerometer_step == 0:
|
||||
idx = (self.frame // speed_and_accelerometer_step) % 4
|
||||
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
||||
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, abs(CS.out.vEgo), idx))
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
|
||||
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
||||
|
||||
else:
|
||||
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
|
||||
# A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
|
||||
self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
|
||||
|
||||
# Stock longitudinal, integrated at camera
|
||||
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
||||
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
|
||||
self.last_button_frame = self.frame
|
||||
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
|
||||
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
|
||||
if self.frame % 10 == 0:
|
||||
can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
|
||||
|
||||
new_actuators = actuators.as_builder()
|
||||
new_actuators.torque = self.apply_torque_last / self.params.STEER_MAX
|
||||
new_actuators.torqueOutputCan = self.apply_torque_last
|
||||
new_actuators.gas = self.apply_gas
|
||||
new_actuators.brake = self.apply_brake
|
||||
|
||||
self.frame += 1
|
||||
return new_actuators, can_sends
|
||||
186
artifacts/package_runtime/iqdbc/car/gm/carstate.py
Normal file
186
artifacts/package_runtime/iqdbc/car/gm/carstate.py
Normal file
@@ -0,0 +1,186 @@
|
||||
import copy
|
||||
from iqdbc.can import CANDefine, CANParser
|
||||
from iqdbc.car import Bus, create_button_events, structs
|
||||
from iqdbc.car.common.conversions import Conversions as CV
|
||||
from iqdbc.car.interfaces import CarStateBase
|
||||
from iqdbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
|
||||
|
||||
from iqdbc.lvbs.car.gm.iq_carstate import IQCarState
|
||||
from iqdbc.lvbs.car.gm.iq_values import GMFlagsIQ
|
||||
|
||||
ButtonType = structs.CarState.ButtonEvent.Type
|
||||
TransmissionType = structs.CarParams.TransmissionType
|
||||
NetworkLocation = structs.CarParams.NetworkLocation
|
||||
|
||||
STANDSTILL_THRESHOLD = 10 * 0.0311
|
||||
|
||||
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
|
||||
CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
|
||||
|
||||
|
||||
class CarState(CarStateBase, IQCarState):
|
||||
def __init__(self, CP, CP_IQ):
|
||||
CarStateBase.__init__(self, CP, CP_IQ)
|
||||
IQCarState.__init__(self, CP, CP_IQ)
|
||||
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
|
||||
self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
|
||||
self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
|
||||
self.cluster_min_speed = CV.KPH_TO_MS / 2.
|
||||
|
||||
self.loopback_lka_steering_cmd_updated = False
|
||||
self.loopback_lka_steering_cmd_ts_nanos = 0
|
||||
self.pt_lka_steering_cmd_counter = 0
|
||||
self.cam_lka_steering_cmd_counter = 0
|
||||
self.buttons_counter = 0
|
||||
|
||||
self.distance_button = 0
|
||||
|
||||
def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
|
||||
if not self.CP.pcmCruise:
|
||||
for b in buttonEvents:
|
||||
# The ECM allows enabling on falling edge of set, but only rising edge of resume
|
||||
if (b.type == ButtonType.accelCruise and b.pressed) or \
|
||||
(b.type == ButtonType.decelCruise and not b.pressed):
|
||||
return True
|
||||
return False
|
||||
|
||||
def update(self, can_parsers) -> tuple[structs.CarState, structs.IQCarState]:
|
||||
pt_cp = can_parsers[Bus.pt]
|
||||
cam_cp = can_parsers[Bus.cam]
|
||||
loopback_cp = can_parsers[Bus.loopback]
|
||||
|
||||
ret = structs.CarState()
|
||||
ret_iq = structs.IQCarState()
|
||||
|
||||
prev_cruise_buttons = self.cruise_buttons
|
||||
prev_distance_button = self.distance_button
|
||||
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
|
||||
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
|
||||
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
|
||||
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
|
||||
|
||||
# Variables used for avoiding LKAS faults
|
||||
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
|
||||
if self.loopback_lka_steering_cmd_updated:
|
||||
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
|
||||
|
||||
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
|
||||
# An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
|
||||
left_whl_sign = -1 if pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2 else 1
|
||||
right_whl_sign = -1 if pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2 else 1
|
||||
self.parse_wheel_speeds(ret,
|
||||
left_whl_sign * pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
|
||||
right_whl_sign * pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
|
||||
left_whl_sign * pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
|
||||
right_whl_sign * pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
|
||||
)
|
||||
# sample rear wheel speeds to match the safety which only uses the rear CAN message
|
||||
# standstill=True if ECM allows engagement with brake
|
||||
ret.standstill = abs(pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"]) <= STANDSTILL_THRESHOLD and \
|
||||
abs(pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"]) <= STANDSTILL_THRESHOLD
|
||||
|
||||
if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
|
||||
ret.gearShifter = self.parse_gear_shifter("T")
|
||||
else:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
|
||||
|
||||
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
|
||||
else:
|
||||
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
|
||||
# that the brake is being intermittently pressed without user interaction.
|
||||
# To avoid a cruise fault we need to use a conservative brake position threshold
|
||||
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
|
||||
ret.brakePressed = ret.brake >= 8
|
||||
|
||||
# Regen braking is braking
|
||||
if self.CP.transmissionType == TransmissionType.direct:
|
||||
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
|
||||
|
||||
ret.gasPressed = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. > 1e-5
|
||||
|
||||
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
|
||||
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
|
||||
ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
|
||||
ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
|
||||
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
|
||||
|
||||
# 0 inactive, 1 active, 2 temporarily limited, 3 failed
|
||||
self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
|
||||
ret.steerFaultTemporary = self.lkas_status == 2
|
||||
ret.steerFaultPermanent = self.lkas_status == 3
|
||||
|
||||
# 1 - open, 0 - closed
|
||||
ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
|
||||
pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
|
||||
|
||||
# 1 - latched
|
||||
ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
|
||||
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
|
||||
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
|
||||
|
||||
ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
|
||||
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
|
||||
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
|
||||
ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
|
||||
pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
|
||||
|
||||
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
|
||||
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
|
||||
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
if self.CP.carFingerprint not in ALT_ACCS and not self.CP_IQ.flags & GMFlagsIQ.NON_ACC:
|
||||
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
|
||||
# This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
|
||||
ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
|
||||
if self.CP.pcmCruise:
|
||||
# openpilot controls nonAdaptive when not pcmCruise
|
||||
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
|
||||
else:
|
||||
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
|
||||
|
||||
if self.CP.carFingerprint not in SDGM_CAR:
|
||||
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
|
||||
|
||||
if self.CP.enableBsm:
|
||||
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
|
||||
ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
|
||||
|
||||
# Don't add event if transitioning from INIT, unless it's to an actual button
|
||||
if self.cruise_buttons != CruiseButtons.UNPRESS or prev_cruise_buttons != CruiseButtons.INIT:
|
||||
ret.buttonEvents = [
|
||||
*create_button_events(self.cruise_buttons, prev_cruise_buttons, BUTTONS_DICT,
|
||||
unpressed_btn=CruiseButtons.UNPRESS),
|
||||
*create_button_events(self.distance_button, prev_distance_button,
|
||||
{1: ButtonType.gapAdjustCruise})
|
||||
]
|
||||
|
||||
if ret.vEgo < self.CP.minSteerSpeed:
|
||||
ret.lowSpeedAlert = True
|
||||
|
||||
IQCarState.update(self, ret, can_parsers)
|
||||
|
||||
return ret, ret_iq
|
||||
|
||||
@staticmethod
|
||||
def get_can_parsers(CP, CP_IQ):
|
||||
pt_messages = []
|
||||
if CP.networkLocation == NetworkLocation.fwdCamera:
|
||||
pt_messages += [
|
||||
("ASCMLKASteeringCmd", float('nan')),
|
||||
]
|
||||
|
||||
loopback_messages = [
|
||||
("ASCMLKASteeringCmd", float('nan')),
|
||||
]
|
||||
|
||||
return {
|
||||
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
|
||||
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
|
||||
Bus.loopback: CANParser(DBC[CP.carFingerprint][Bus.pt], loopback_messages, 128),
|
||||
}
|
||||
84
artifacts/package_runtime/iqdbc/car/gm/fingerprints.py
Normal file
84
artifacts/package_runtime/iqdbc/car/gm/fingerprints.py
Normal file
@@ -0,0 +1,84 @@
|
||||
# ruff: noqa: E501
|
||||
""" AUTO-FORMATTED USING iqdbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
|
||||
from iqdbc.car.gm.values import CAR
|
||||
from iqdbc.lvbs.car.iq_fingerprints import extend_fingerprints
|
||||
from iqdbc.lvbs.car.gm.iq_fingerprints import FINGERPRINTS_EXT
|
||||
|
||||
# Trailblazer also matches as a SILVERADO, TODO: split with fw versions
|
||||
# FIXME: There are Equinox users with different message lengths, specifically 304 and 320
|
||||
|
||||
|
||||
FINGERPRINTS = {
|
||||
CAR.HOLDEN_ASTRA: [{
|
||||
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 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: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT: [{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 289: 8, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 647: 3, 707: 8, 711: 6, 715: 8, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
|
||||
},
|
||||
{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
|
||||
},
|
||||
{
|
||||
170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
|
||||
}],
|
||||
CAR.BUICK_LACROSSE: [{
|
||||
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, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 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, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
CAR.BUICK_REGAL: [{
|
||||
190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.CADILLAC_ATS: [{
|
||||
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, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 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, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 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, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
|
||||
}],
|
||||
CAR.CHEVROLET_MALIBU: [{
|
||||
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.GMC_ACADIA: [{
|
||||
190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 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, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 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, 1003: 5, 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, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
|
||||
},
|
||||
{
|
||||
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
|
||||
}],
|
||||
CAR.CADILLAC_ESCALADE: [{
|
||||
170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 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, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
|
||||
}],
|
||||
CAR.CADILLAC_ESCALADE_ESV: [{
|
||||
309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
|
||||
}],
|
||||
CAR.CADILLAC_ESCALADE_ESV_2019: [{
|
||||
715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
|
||||
}],
|
||||
CAR.CHEVROLET_BOLT_EUV: [{
|
||||
189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
}],
|
||||
CAR.CHEVROLET_SILVERADO: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
},
|
||||
{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 3, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
}],
|
||||
CAR.CHEVROLET_EQUINOX: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
|
||||
},
|
||||
{
|
||||
190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
|
||||
}],
|
||||
CAR.CADILLAC_XT4: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 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, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 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, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.CHEVROLET_VOLT_2019: [{
|
||||
170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
|
||||
}],
|
||||
CAR.CHEVROLET_TRAVERSE: [{
|
||||
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 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, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
|
||||
}],
|
||||
CAR.GMC_YUKON: [{
|
||||
190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 534: 2, 562: 8, 563: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 761: 7, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1355: 8, 1611: 8
|
||||
}],
|
||||
}
|
||||
|
||||
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
|
||||
}
|
||||
|
||||
|
||||
FINGERPRINTS = extend_fingerprints(FINGERPRINTS, FINGERPRINTS_EXT)
|
||||
171
artifacts/package_runtime/iqdbc/car/gm/gmcan.py
Normal file
171
artifacts/package_runtime/iqdbc/car/gm/gmcan.py
Normal file
@@ -0,0 +1,171 @@
|
||||
from iqdbc.car.can_definitions import CanData
|
||||
from iqdbc.car.gm.values import CAR
|
||||
|
||||
|
||||
def create_buttons(packer, bus, idx, button):
|
||||
values = {
|
||||
"ACCButtons": button,
|
||||
"RollingCounter": idx,
|
||||
"ACCAlwaysOne": 1,
|
||||
"DistanceButton": 0,
|
||||
}
|
||||
|
||||
checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
|
||||
checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
|
||||
checksum -= int(values["ACCButtons"] - 1) << 4 # not correct if value is 0
|
||||
checksum -= 2 * values["DistanceButton"]
|
||||
|
||||
values["SteeringButtonChecksum"] = checksum
|
||||
return packer.make_can_msg("ASCMSteeringButton", bus, values)
|
||||
|
||||
|
||||
def create_pscm_status(packer, bus, pscm_status):
|
||||
values = {s: pscm_status[s] for s in [
|
||||
"HandsOffSWDetectionMode",
|
||||
"HandsOffSWlDetectionStatus",
|
||||
"LKATorqueDeliveredStatus",
|
||||
"LKADriverAppldTrq",
|
||||
"LKATorqueDelivered",
|
||||
"LKATotalTorqueDelivered",
|
||||
"RollingCounter",
|
||||
"PSCMStatusChecksum",
|
||||
]}
|
||||
checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5
|
||||
values["HandsOffSWlDetectionStatus"] = 1
|
||||
values["PSCMStatusChecksum"] += checksum_mod
|
||||
return packer.make_can_msg("PSCMStatus", bus, values)
|
||||
|
||||
|
||||
def create_steering_control(packer, bus, apply_torque, idx, lkas_active):
|
||||
values = {
|
||||
"LKASteeringCmdActive": lkas_active,
|
||||
"LKASteeringCmd": apply_torque,
|
||||
"RollingCounter": idx,
|
||||
"LKASteeringCmdChecksum": 0x1000 - (lkas_active << 11) - (apply_torque & 0x7ff) - idx
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
|
||||
|
||||
|
||||
def create_adas_keepalive(bus):
|
||||
dat = b"\x00\x00\x00\x00\x00\x00\x00"
|
||||
return [CanData(0x409, dat, bus), CanData(0x40a, dat, bus)]
|
||||
|
||||
|
||||
def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
|
||||
values = {
|
||||
"GasRegenCmdActive": enabled,
|
||||
"RollingCounter": idx,
|
||||
"GasRegenCmd": throttle,
|
||||
"GasRegenFullStopActive": at_full_stop,
|
||||
"GasRegenAccType": 1,
|
||||
}
|
||||
|
||||
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1]
|
||||
values["GasRegenChecksum"] = ((1 - enabled) << 24) | \
|
||||
(((0xff - dat[1]) & 0xff) << 16) | \
|
||||
(((0xff - dat[2]) & 0xff) << 8) | \
|
||||
((0x100 - dat[3] - idx) & 0xff)
|
||||
|
||||
return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
|
||||
|
||||
|
||||
def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP):
|
||||
mode = 0x1
|
||||
|
||||
# TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
|
||||
if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
|
||||
mode = 0x9
|
||||
|
||||
if apply_brake > 0:
|
||||
mode = 0xa
|
||||
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. Not set by all cars
|
||||
#elif near_stop:
|
||||
# mode = 0xb
|
||||
|
||||
brake = (0x1000 - apply_brake) & 0xfff
|
||||
checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
|
||||
|
||||
values = {
|
||||
"RollingCounter": idx,
|
||||
"FrictionBrakeMode": mode,
|
||||
"FrictionBrakeChecksum": checksum,
|
||||
"FrictionBrakeCmd": -apply_brake
|
||||
}
|
||||
|
||||
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
|
||||
|
||||
|
||||
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw):
|
||||
target_speed = min(target_speed_kph, 255)
|
||||
|
||||
values = {
|
||||
"ACCAlwaysOne": 1,
|
||||
"ACCResumeButton": 0,
|
||||
"ACCSpeedSetpoint": target_speed,
|
||||
"ACCGapLevel": hud_control.leadDistanceBars * enabled, # 3 "far", 0 "inactive"
|
||||
"ACCCmdActive": enabled,
|
||||
"ACCAlwaysOne2": 1,
|
||||
"ACCLeadCar": hud_control.leadVisible,
|
||||
"FCWAlert": 0x3 if fcw else 0
|
||||
}
|
||||
|
||||
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
|
||||
|
||||
|
||||
def create_adas_time_status(bus, tt, idx):
|
||||
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
|
||||
((tt & 0xf) << 4) + (idx << 2)]
|
||||
chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
|
||||
chksum = chksum & 0xfff
|
||||
dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
|
||||
return CanData(0xa1, bytes(dat), bus)
|
||||
|
||||
|
||||
def create_adas_steering_status(bus, idx):
|
||||
dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
|
||||
chksum = 0x60 + sum(dat)
|
||||
dat += [chksum >> 8, chksum & 0xff]
|
||||
return CanData(0x306, bytes(dat), bus)
|
||||
|
||||
|
||||
def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
|
||||
spd = int(speed_ms * 16) & 0xfff
|
||||
accel = 0 & 0xfff
|
||||
# 0 if in park/neutral, 0x10 if in reverse, 0x08 for D/L
|
||||
#stick = 0x08
|
||||
near_range_cutoff = 0x27
|
||||
near_range_mode = 1 if spd <= near_range_cutoff else 0
|
||||
far_range_mode = 1 - near_range_mode
|
||||
dat = [0x08, spd >> 4, ((spd & 0xf) << 4) | (accel >> 8), accel & 0xff, 0]
|
||||
chksum = 0x62 + far_range_mode + (idx << 2) + dat[0] + dat[1] + dat[2] + dat[3] + dat[4]
|
||||
dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
|
||||
return CanData(0x308, bytes(dat), bus)
|
||||
|
||||
|
||||
def create_adas_headlights_status(packer, bus):
|
||||
values = {
|
||||
"Always42": 0x42,
|
||||
"Always4": 0x4,
|
||||
}
|
||||
return packer.make_can_msg("ASCMHeadlight", bus, values)
|
||||
|
||||
|
||||
def create_lka_icon_command(bus, active, critical, steer):
|
||||
if active and steer == 1:
|
||||
if critical:
|
||||
dat = b"\x50\xc0\x14"
|
||||
else:
|
||||
dat = b"\x50\x40\x18"
|
||||
elif active:
|
||||
if critical:
|
||||
dat = b"\x40\xc0\x14"
|
||||
else:
|
||||
dat = b"\x40\x40\x18"
|
||||
else:
|
||||
dat = b"\x00\x00\x00"
|
||||
return CanData(0x104c006c, dat, bus)
|
||||
265
artifacts/package_runtime/iqdbc/car/gm/interface.py
Normal file
265
artifacts/package_runtime/iqdbc/car/gm/interface.py
Normal file
@@ -0,0 +1,265 @@
|
||||
#!/usr/bin/env python3
|
||||
from math import fabs, exp
|
||||
import numpy as np
|
||||
|
||||
from iqdbc.car import get_safety_config, structs
|
||||
from iqdbc.car.common.conversions import Conversions as CV
|
||||
from iqdbc.car.gm.carcontroller import CarController
|
||||
from iqdbc.car.gm.carstate import CarState
|
||||
from iqdbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAMERA_DATA_HEADER_MSG
|
||||
from iqdbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
|
||||
from iqdbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType
|
||||
|
||||
from iqdbc.lvbs.car.gm.iq_interface import IQCarInterface
|
||||
from iqdbc.lvbs.car.gm.iq_values import GMFlagsIQ, GMSafetyFlagsIQ
|
||||
|
||||
TransmissionType = structs.CarParams.TransmissionType
|
||||
NetworkLocation = structs.CarParams.NetworkLocation
|
||||
|
||||
# Bolt Non-ACC uses the 4th (d) tune parameter; stock tunes zero it out.
|
||||
NON_LINEAR_TORQUE_PARAMS_IQ = {
|
||||
CAR.CHEVROLET_BOLT_NON_ACC: [2.24, 1.1, 0.28, -0.07],
|
||||
CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN: [1.8, 1.1, 0.3, -0.045],
|
||||
}
|
||||
|
||||
NON_LINEAR_TORQUE_PARAMS = {
|
||||
CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
|
||||
CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
|
||||
CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122],
|
||||
**NON_LINEAR_TORQUE_PARAMS_IQ,
|
||||
}
|
||||
|
||||
|
||||
class CarInterface(CarInterfaceBase, IQCarInterface):
|
||||
CarState = CarState
|
||||
CarController = CarController
|
||||
RadarInterface = RadarInterface
|
||||
|
||||
DRIVABLE_GEARS = (structs.CarState.GearShifter.sport, structs.CarState.GearShifter.low,
|
||||
structs.CarState.GearShifter.eco, structs.CarState.GearShifter.manumatic)
|
||||
|
||||
def __init__(self, CP, CP_IQ):
|
||||
CarInterfaceBase.__init__(self, CP, CP_IQ)
|
||||
IQCarInterface.__init__(self, CP, CarInterfaceBase)
|
||||
|
||||
@staticmethod
|
||||
def get_pid_accel_limits(CP, CP_IQ, current_speed, cruise_speed):
|
||||
return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
|
||||
|
||||
# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
|
||||
@staticmethod
|
||||
def get_steer_feedforward_volt(desired_angle, v_ego):
|
||||
desired_angle *= 0.02904609
|
||||
sigmoid = desired_angle / (1 + fabs(desired_angle))
|
||||
return 0.10006696 * sigmoid * (v_ego + 3.12485927)
|
||||
|
||||
def get_steer_feedforward_function(self):
|
||||
if self.CP.carFingerprint == CAR.CHEVROLET_VOLT:
|
||||
return self.get_steer_feedforward_volt
|
||||
else:
|
||||
return CarInterfaceBase.get_steer_feedforward_default
|
||||
|
||||
def get_lataccel_torque_siglin(self) -> tuple[list[float], np.ndarray]:
|
||||
|
||||
def torque_from_lateral_accel_siglin_func(lateral_acceleration: float) -> float:
|
||||
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
|
||||
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
|
||||
# This has big effect on the stability about 0 (noise when going straight)
|
||||
non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
|
||||
assert non_linear_torque_params, "The params are not defined"
|
||||
a, b, c, d = non_linear_torque_params
|
||||
d = d if NON_LINEAR_TORQUE_PARAMS_IQ.get(self.CP.carFingerprint) else 0.0
|
||||
sig_input = a * lateral_acceleration
|
||||
sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
|
||||
steer_torque = (sig * b) + (lateral_acceleration * c) + d
|
||||
return float(steer_torque)
|
||||
|
||||
lataccel_values = np.arange(-5.0, 5.0, 0.01)
|
||||
torque_values = [torque_from_lateral_accel_siglin_func(x) for x in lataccel_values]
|
||||
assert min(torque_values) < -1 and max(torque_values) > 1, "The torque values should cover the range [-1, 1]"
|
||||
return torque_values, lataccel_values
|
||||
|
||||
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
|
||||
if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
|
||||
torque_values, lataccel_values = self.get_lataccel_torque_siglin()
|
||||
|
||||
def torque_from_lateral_accel_siglin(lateral_acceleration: float, torque_params: structs.CarParams.LateralTorqueTuning):
|
||||
return np.interp(lateral_acceleration, lataccel_values, torque_values)
|
||||
return torque_from_lateral_accel_siglin
|
||||
else:
|
||||
return self.torque_from_lateral_accel_linear
|
||||
|
||||
def lateral_accel_from_torque(self) -> LateralAccelFromTorqueCallbackType:
|
||||
if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
|
||||
torque_values, lataccel_values = self.get_lataccel_torque_siglin()
|
||||
|
||||
def lateral_accel_from_torque_siglin(torque: float, torque_params: structs.CarParams.LateralTorqueTuning):
|
||||
return np.interp(torque, torque_values, lataccel_values)
|
||||
return lateral_accel_from_torque_siglin
|
||||
else:
|
||||
return self.lateral_accel_from_torque_linear
|
||||
|
||||
@staticmethod
|
||||
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
|
||||
ret.brand = "gm"
|
||||
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
|
||||
ret.autoResumeSng = False
|
||||
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
|
||||
|
||||
if candidate in EV_CAR:
|
||||
ret.transmissionType = TransmissionType.direct
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.EV.value
|
||||
else:
|
||||
ret.transmissionType = TransmissionType.automatic
|
||||
|
||||
ret.longitudinalTuning.kiBP = [5., 35.]
|
||||
|
||||
if candidate in (CAMERA_ACC_CAR | SDGM_CAR):
|
||||
ret.alphaLongitudinalAvailable = candidate not in SDGM_CAR
|
||||
ret.networkLocation = NetworkLocation.fwdCamera
|
||||
ret.radarUnavailable = True # no radar
|
||||
ret.pcmCruise = True
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
|
||||
ret.minEnableSpeed = -1 if candidate in SDGM_CAR else 5 * CV.KPH_TO_MS
|
||||
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
|
||||
|
||||
# Tuning for experimental long
|
||||
ret.longitudinalTuning.kiV = [2.0, 1.5]
|
||||
|
||||
if alpha_long:
|
||||
ret.pcmCruise = False
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value
|
||||
|
||||
if candidate in ALT_ACCS:
|
||||
ret.alphaLongitudinalAvailable = False
|
||||
ret.openpilotLongitudinalControl = False
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by PCM
|
||||
|
||||
else: # ASCM, OBD-II harness
|
||||
ret.openpilotLongitudinalControl = True
|
||||
ret.networkLocation = NetworkLocation.gateway
|
||||
# LRR messages can take up to a few seconds to start sending after ignition, check camera data as well which starts earlier
|
||||
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and CAMERA_DATA_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
|
||||
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
|
||||
# supports stop and go, but initial engage must (conservatively) be above 18mph
|
||||
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
|
||||
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
|
||||
|
||||
# Tuning
|
||||
ret.longitudinalTuning.kiV = [2.4, 1.5]
|
||||
|
||||
# These cars have been put into dashcam only due to both a lack of users and test coverage.
|
||||
# These cars likely still work fine. Once a user confirms each car works and a test route is
|
||||
# added to iqdbc/car/tests/routes.py, we can remove it from this list.
|
||||
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
|
||||
(ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
|
||||
|
||||
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
|
||||
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
|
||||
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
|
||||
|
||||
ret.steerLimitTimer = 0.4
|
||||
ret.longitudinalActuatorDelay = 0.5 # large delay to initially start braking
|
||||
|
||||
if candidate == CAR.CHEVROLET_VOLT:
|
||||
ret.lateralTuning.pid.kpBP = [0., 40.]
|
||||
ret.lateralTuning.pid.kpV = [0., 0.17]
|
||||
ret.lateralTuning.pid.kiBP = [0.]
|
||||
ret.lateralTuning.pid.kiV = [0.]
|
||||
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
|
||||
ret.steerActuatorDelay = 0.2
|
||||
|
||||
elif candidate == CAR.GMC_ACADIA:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.BUICK_LACROSSE:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_ESCALADE:
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
|
||||
ret.minEnableSpeed = -1. # engage speed is decided by pcm
|
||||
|
||||
if candidate == CAR.CADILLAC_ESCALADE_ESV:
|
||||
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
|
||||
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
|
||||
ret.lateralTuning.pid.kf = 0.000045
|
||||
else:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_BOLT_EUV:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_SILVERADO:
|
||||
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
|
||||
# with foot on brake to allow engagement, but this platform only has that check in the camera.
|
||||
# TODO: check if this is split by EV/ICE with more platforms in the future
|
||||
if ret.openpilotLongitudinalControl:
|
||||
ret.minEnableSpeed = -1.
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_EQUINOX:
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAILBLAZER:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CADILLAC_XT4:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
ret.minSteerSpeed = 30 * CV.MPH_TO_MS
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_VOLT_2019:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.CHEVROLET_TRAVERSE:
|
||||
ret.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
|
||||
elif candidate == CAR.GMC_YUKON:
|
||||
ret.steerActuatorDelay = 0.5
|
||||
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
|
||||
ret.dashcamOnly = True # Needs steerRatio, tireStiffness, and lat accel factor tuning
|
||||
|
||||
return ret
|
||||
|
||||
@staticmethod
|
||||
def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
|
||||
car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
|
||||
if candidate in (CAR.CHEVROLET_MALIBU_NON_ACC_9TH_GEN, CAR.CHEVROLET_BOLT_NON_ACC, CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN,
|
||||
CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN):
|
||||
stock_cp.steerActuatorDelay = 0.2
|
||||
CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning)
|
||||
elif candidate in (CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN, ):
|
||||
CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning)
|
||||
|
||||
# Non-ACC cars steer/long via the forward camera and pcmCruise, not the ASCM.
|
||||
if ret.flags & GMFlagsIQ.NON_ACC:
|
||||
stock_cp.dashcamOnly = False
|
||||
stock_cp.alphaLongitudinalAvailable = False
|
||||
stock_cp.networkLocation = NetworkLocation.fwdCamera
|
||||
stock_cp.openpilotLongitudinalControl = False
|
||||
stock_cp.pcmCruise = True
|
||||
stock_cp.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
|
||||
ret.iqSafetyFlags |= GMSafetyFlagsIQ.NON_ACC
|
||||
stock_cp.minEnableSpeed = 24 * CV.MPH_TO_MS
|
||||
stock_cp.minSteerSpeed = 3.0
|
||||
|
||||
# Untested Non-ACC platforms ship dashcam-only pending user validation.
|
||||
if candidate in (CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN,
|
||||
CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN, CAR.CADILLAC_CT6_NON_ACC_1ST_GEN,
|
||||
CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN, CAR.CADILLAC_XT5_NON_ACC_1ST_GEN):
|
||||
stock_cp.dashcamOnly = True
|
||||
|
||||
return ret
|
||||
99
artifacts/package_runtime/iqdbc/car/gm/radar_interface.py
Normal file
99
artifacts/package_runtime/iqdbc/car/gm/radar_interface.py
Normal file
@@ -0,0 +1,99 @@
|
||||
#!/usr/bin/env python3
|
||||
import math
|
||||
from iqdbc.can import CANParser
|
||||
from iqdbc.car import Bus, structs
|
||||
from iqdbc.car.common.conversions import Conversions as CV
|
||||
from iqdbc.car.gm.values import DBC, CanBus
|
||||
from iqdbc.car.interfaces import RadarInterfaceBase
|
||||
|
||||
RADAR_HEADER_MSG = 1120 # F_LRR_Obj_Header
|
||||
CAMERA_DATA_HEADER_MSG = 1056 # F_Vision_Obj_Header
|
||||
SLOT_1_MSG = RADAR_HEADER_MSG + 1
|
||||
NUM_SLOTS = 20
|
||||
|
||||
# Actually it's 0x47f, but can parser only reports
|
||||
# messages that are present in DBC
|
||||
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
|
||||
|
||||
|
||||
def create_radar_can_parser(car_fingerprint):
|
||||
# C1A-ARS3-A by Continental
|
||||
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
|
||||
signals = list(zip(['FLRRNumValidTargets',
|
||||
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
|
||||
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
|
||||
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
|
||||
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
|
||||
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
|
||||
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
|
||||
[RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True))
|
||||
|
||||
messages = list({(s[1], 14) for s in signals})
|
||||
|
||||
return CANParser(DBC[car_fingerprint][Bus.radar], messages, CanBus.OBSTACLE)
|
||||
|
||||
|
||||
class RadarInterface(RadarInterfaceBase):
|
||||
def __init__(self, CP, CP_IQ):
|
||||
super().__init__(CP, CP_IQ)
|
||||
|
||||
self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
|
||||
|
||||
self.trigger_msg = LAST_RADAR_MSG
|
||||
self.updated_messages = set()
|
||||
|
||||
def update(self, can_strings):
|
||||
if self.rcp is None:
|
||||
return super().update(None)
|
||||
|
||||
vls = self.rcp.update(can_strings)
|
||||
self.updated_messages.update(vls)
|
||||
|
||||
if self.trigger_msg not in self.updated_messages:
|
||||
return None
|
||||
|
||||
ret = structs.RadarData()
|
||||
header = self.rcp.vl[RADAR_HEADER_MSG]
|
||||
fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
|
||||
header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
|
||||
header['FLRRAntTngFltPrsnt'] or header['FLRRAlgnFltPrsnt']
|
||||
if not self.rcp.can_valid:
|
||||
ret.errors.canError = True
|
||||
if fault:
|
||||
ret.errors.radarFault = True
|
||||
|
||||
currentTargets = set()
|
||||
num_targets = header['FLRRNumValidTargets']
|
||||
|
||||
# Not all radar messages describe targets,
|
||||
# no need to monitor all of the self.rcp.msgs_upd
|
||||
for ii in self.updated_messages:
|
||||
if ii == RADAR_HEADER_MSG:
|
||||
continue
|
||||
|
||||
if num_targets == 0:
|
||||
break
|
||||
|
||||
cpt = self.rcp.vl[ii]
|
||||
# Zero distance means it's an empty target slot
|
||||
if cpt['TrkRange'] > 0.0:
|
||||
targetId = cpt['TrkObjectID']
|
||||
currentTargets.add(targetId)
|
||||
if targetId not in self.pts:
|
||||
self.pts[targetId] = structs.RadarData.RadarPoint()
|
||||
self.pts[targetId].trackId = targetId
|
||||
distance = cpt['TrkRange']
|
||||
self.pts[targetId].dRel = distance # from front of car
|
||||
# From driver's pov, left is positive
|
||||
self.pts[targetId].yRel = math.sin(cpt['TrkAzimuth'] * CV.DEG_TO_RAD) * distance
|
||||
self.pts[targetId].vRel = cpt['TrkRangeRate']
|
||||
self.pts[targetId].aRel = float('nan')
|
||||
self.pts[targetId].yvRel = float('nan')
|
||||
|
||||
for oldTarget in list(self.pts.keys()):
|
||||
if oldTarget not in currentTargets:
|
||||
del self.pts[oldTarget]
|
||||
|
||||
ret.points = list(self.pts.values())
|
||||
self.updated_messages.clear()
|
||||
return ret
|
||||
20
artifacts/package_runtime/iqdbc/car/gm/tests/test_gm.py
Normal file
20
artifacts/package_runtime/iqdbc/car/gm/tests/test_gm.py
Normal file
@@ -0,0 +1,20 @@
|
||||
from parameterized import parameterized
|
||||
|
||||
from iqdbc.car.gm.fingerprints import FINGERPRINTS
|
||||
from iqdbc.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET
|
||||
|
||||
CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
|
||||
|
||||
|
||||
class TestGMFingerprint:
|
||||
@parameterized.expand(FINGERPRINTS.items())
|
||||
def test_can_fingerprints(self, car_model, fingerprints):
|
||||
assert len(fingerprints) > 0
|
||||
|
||||
assert all(len(finger) for finger in fingerprints)
|
||||
|
||||
# The camera can sometimes be communicating on startup
|
||||
if car_model in CAMERA_ACC_CAR:
|
||||
for finger in fingerprints:
|
||||
for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
|
||||
assert finger.get(required_addr) == 8, required_addr
|
||||
343
artifacts/package_runtime/iqdbc/car/gm/values.py
Normal file
343
artifacts/package_runtime/iqdbc/car/gm/values.py
Normal file
@@ -0,0 +1,343 @@
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum, IntFlag
|
||||
|
||||
from iqdbc.car import Bus, PlatformConfig, DbcDict, Platforms, CarSpecs
|
||||
from iqdbc.car.structs import CarParams
|
||||
from iqdbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType
|
||||
from iqdbc.lvbs.car.gm.iq_values import GMFlagsIQ
|
||||
from iqdbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
|
||||
|
||||
class CarControllerParams:
|
||||
STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output
|
||||
STEER_STEP = 3 # Active control frames per command (~33hz)
|
||||
INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
|
||||
STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness
|
||||
STEER_DELTA_DOWN = 15
|
||||
STEER_DRIVER_ALLOWANCE = 65
|
||||
STEER_DRIVER_MULTIPLIER = 4
|
||||
STEER_DRIVER_FACTOR = 100
|
||||
NEAR_STOP_BRAKE_PHASE = 0.5 # m/s
|
||||
|
||||
# Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
|
||||
ADAS_KEEPALIVE_STEP = 100
|
||||
CAMERA_KEEPALIVE_STEP = 100
|
||||
|
||||
# Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
|
||||
# perform the closed loop control, and might need some
|
||||
# to apply some more braking if we're on a downhill slope.
|
||||
# Our controller should still keep the 2 second average above
|
||||
# -3.5 m/s^2 as per planner limits
|
||||
ACCEL_MAX = 2. # m/s^2
|
||||
ACCEL_MIN = -4. # m/s^2
|
||||
|
||||
def __init__(self, CP):
|
||||
# Gas/brake lookups
|
||||
self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen
|
||||
|
||||
if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR):
|
||||
self.MAX_GAS = 1346.0
|
||||
self.MAX_ACC_REGEN = -540.0
|
||||
self.INACTIVE_REGEN = -500.0
|
||||
# Camera ACC vehicles have no regen while enabled.
|
||||
# Camera transitions to MAX_ACC_REGEN from zero gas and uses friction brakes instantly
|
||||
max_regen_acceleration = 0.
|
||||
|
||||
else:
|
||||
self.MAX_GAS = 1018.0 # Safety limit, not ACC max. Stock ACC >2042 from standstill.
|
||||
self.MAX_ACC_REGEN = -650.0 # Max ACC regen is slightly less than max paddle regen
|
||||
self.INACTIVE_REGEN = -650.0
|
||||
# ICE has much less engine braking force compared to regen in EVs,
|
||||
# lower threshold removes some braking deadzone
|
||||
max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
|
||||
|
||||
self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
|
||||
self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, 0., self.MAX_GAS]
|
||||
|
||||
self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
|
||||
self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
|
||||
|
||||
|
||||
class GMSafetyFlags(IntFlag):
|
||||
HW_CAM = 1
|
||||
HW_CAM_LONG = 2
|
||||
EV = 4
|
||||
|
||||
|
||||
class Footnote(Enum):
|
||||
SETUP = CarFootnote(
|
||||
"See more setup details for <a href=\"https://github.com/commaai/openpilot/wiki/gm\" target=\"_blank\">GM</a>.",
|
||||
Column.MAKE, setup_note=True)
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMCarDocs(CarDocs):
|
||||
package: str = "Adaptive Cruise Control (ACC)"
|
||||
|
||||
def init_make(self, CP: CarParams):
|
||||
if CP.networkLocation == CarParams.NetworkLocation.fwdCamera:
|
||||
if CP.carFingerprint in SDGM_CAR:
|
||||
self.car_parts = CarParts.common([CarHarness.gmsdgm])
|
||||
else:
|
||||
self.car_parts = CarParts.common([CarHarness.gm])
|
||||
else:
|
||||
self.footnotes.insert(0, Footnote.SETUP)
|
||||
self.car_parts = CarParts.common([CarHarness.obd_ii])
|
||||
|
||||
|
||||
@dataclass(frozen=True, kw_only=True)
|
||||
class GMCarSpecs(CarSpecs):
|
||||
tireStiffnessFactor: float = 0.444 # not optimized yet
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMPlatformConfig(PlatformConfig):
|
||||
dbc_dict: DbcDict = field(default_factory=lambda: {
|
||||
Bus.pt: 'gm_global_a_powertrain_generated',
|
||||
Bus.radar: 'gm_global_a_object',
|
||||
Bus.chassis: 'gm_global_a_chassis',
|
||||
})
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMASCMPlatformConfig(GMPlatformConfig):
|
||||
def init(self):
|
||||
# ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
|
||||
self.car_docs = []
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMSDGMPlatformConfig(GMPlatformConfig):
|
||||
def init(self):
|
||||
# Don't show in docs until the harness is sold. See https://github.com/commaai/openpilot/issues/32471
|
||||
self.car_docs = []
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMNonAccCarDocs(GMCarDocs):
|
||||
package: str = "No Adaptive Cruise Control (Non-ACC)"
|
||||
support_type: SupportType = SupportType.COMMUNITY
|
||||
support_link: str = "community"
|
||||
|
||||
|
||||
@dataclass
|
||||
class GMNonSccPlatformConfig(GMPlatformConfig):
|
||||
def init(self):
|
||||
self.iq_flags |= GMFlagsIQ.NON_ACC
|
||||
|
||||
|
||||
class CAR(Platforms):
|
||||
HOLDEN_ASTRA = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Holden Astra 2017")],
|
||||
GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_VOLT = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469),
|
||||
)
|
||||
CADILLAC_ATS = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac ATS Premium Performance 2018")],
|
||||
GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
|
||||
)
|
||||
CHEVROLET_MALIBU = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Malibu Premier 2017")],
|
||||
GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
GMC_ACADIA = GMASCMPlatformConfig(
|
||||
[GMCarDocs("GMC Acadia 2018", video="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
|
||||
GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
BUICK_LACROSSE = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
|
||||
GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
BUICK_REGAL = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Buick Regal Essence 2018")],
|
||||
GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CADILLAC_ESCALADE = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
|
||||
GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
|
||||
)
|
||||
CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
|
||||
)
|
||||
CADILLAC_ESCALADE_ESV_2019 = GMASCMPlatformConfig(
|
||||
[GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
CADILLAC_ESCALADE_ESV.specs,
|
||||
)
|
||||
CHEVROLET_BOLT_EUV = GMPlatformConfig(
|
||||
[
|
||||
GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim, without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
|
||||
GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
|
||||
],
|
||||
GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
CHEVROLET_SILVERADO = GMPlatformConfig(
|
||||
[
|
||||
GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
|
||||
GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video="https://youtu.be/5HbNoBLzRwE"),
|
||||
],
|
||||
GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
|
||||
)
|
||||
CHEVROLET_EQUINOX = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Equinox 2019-22")],
|
||||
GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_TRAILBLAZER = GMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Trailblazer 2021-22")],
|
||||
GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
|
||||
)
|
||||
CADILLAC_XT4 = GMSDGMPlatformConfig(
|
||||
[GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
|
||||
GMCarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_VOLT_2019 = GMSDGMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Volt 2019", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
|
||||
)
|
||||
CHEVROLET_TRAVERSE = GMSDGMPlatformConfig(
|
||||
[GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
|
||||
GMCarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
|
||||
)
|
||||
GMC_YUKON = GMPlatformConfig(
|
||||
[GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
|
||||
GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
|
||||
)
|
||||
|
||||
# IQ.Pilot Non-ACC camera-harness ports (no factory adaptive cruise).
|
||||
CHEVROLET_BOLT_NON_ACC = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Bolt EV Non-ACC 2017")],
|
||||
CHEVROLET_BOLT_EUV.specs,
|
||||
)
|
||||
CHEVROLET_BOLT_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Bolt EV Non-ACC 2018-21")],
|
||||
CHEVROLET_BOLT_EUV.specs,
|
||||
)
|
||||
CHEVROLET_BOLT_NON_ACC_2ND_GEN = GMNonSccPlatformConfig(
|
||||
[
|
||||
GMNonAccCarDocs("Chevrolet Bolt EUV LT Non-ACC 2022-23"),
|
||||
GMNonAccCarDocs("Chevrolet Bolt EV LT Non-ACC 2022-23"),
|
||||
],
|
||||
CHEVROLET_BOLT_EUV.specs,
|
||||
)
|
||||
CHEVROLET_EQUINOX_NON_ACC_3RD_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Equinox Non-ACC 2019-22")],
|
||||
CHEVROLET_EQUINOX.specs,
|
||||
)
|
||||
CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Suburban Non-ACC 2016-20")],
|
||||
CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
|
||||
)
|
||||
CADILLAC_CT6_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Cadillac CT6 Non-ACC 2017-18")],
|
||||
CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
|
||||
)
|
||||
CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Trailblazer Non-ACC 2021-22")],
|
||||
CHEVROLET_TRAILBLAZER.specs,
|
||||
)
|
||||
CHEVROLET_MALIBU_NON_ACC_9TH_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Chevrolet Malibu Non-ACC 2016-23")],
|
||||
CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
|
||||
)
|
||||
CADILLAC_XT5_NON_ACC_1ST_GEN = GMNonSccPlatformConfig(
|
||||
[GMNonAccCarDocs("Cadillac XT5 Non-ACC 2018")],
|
||||
CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
|
||||
)
|
||||
|
||||
|
||||
class CruiseButtons:
|
||||
INIT = 0
|
||||
UNPRESS = 1
|
||||
RES_ACCEL = 2
|
||||
DECEL_SET = 3
|
||||
MAIN = 5
|
||||
CANCEL = 6
|
||||
|
||||
|
||||
class AccState:
|
||||
OFF = 0
|
||||
ACTIVE = 1
|
||||
FAULTED = 3
|
||||
STANDSTILL = 4
|
||||
|
||||
|
||||
class CanBus:
|
||||
POWERTRAIN = 0
|
||||
OBSTACLE = 1
|
||||
CAMERA = 2
|
||||
CHASSIS = 2
|
||||
LOOPBACK = 128
|
||||
DROPPED = 192
|
||||
|
||||
|
||||
# In a Data Module, an identifier is a string used to recognize an object,
|
||||
# either by itself or together with the identifiers of parent objects.
|
||||
# Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951
|
||||
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0' # likely does not contain anything useful
|
||||
GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1'
|
||||
GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2'
|
||||
GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3'
|
||||
|
||||
# Part number of XML data file that is used to configure ECU
|
||||
GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c'
|
||||
GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b' # used to know if XML file is compatible with the ECU software/hardware
|
||||
|
||||
# This DID is for identifying the part number that reflects the mix of hardware,
|
||||
# software, and calibrations in the ECU when it first arrives at the vehicle assembly plant.
|
||||
# If there's an Alpha Code, it's associated with this part number and stored in the DID $DB.
|
||||
GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb'
|
||||
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb'
|
||||
GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc'
|
||||
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc'
|
||||
GM_FW_RESPONSE = b'\x5a'
|
||||
|
||||
GM_FW_REQUESTS = [
|
||||
GM_BOOT_SOFTWARE_PART_NUMER_REQUEST,
|
||||
GM_SOFTWARE_MODULE_1_REQUEST,
|
||||
GM_SOFTWARE_MODULE_2_REQUEST,
|
||||
GM_SOFTWARE_MODULE_3_REQUEST,
|
||||
GM_XML_DATA_FILE_PART_NUMBER,
|
||||
GM_XML_CONFIG_COMPAT_ID,
|
||||
GM_END_MODEL_PART_NUMBER_REQUEST,
|
||||
GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
|
||||
GM_BASE_MODEL_PART_NUMBER_REQUEST,
|
||||
GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST,
|
||||
]
|
||||
|
||||
GM_RX_OFFSET = 0x400
|
||||
|
||||
FW_QUERY_CONFIG = FwQueryConfig(
|
||||
requests=[request for req in GM_FW_REQUESTS for request in [
|
||||
Request(
|
||||
[StdQueries.SHORT_TESTER_PRESENT_REQUEST, req],
|
||||
[StdQueries.SHORT_TESTER_PRESENT_RESPONSE, GM_FW_RESPONSE + bytes([req[-1]])],
|
||||
rx_offset=GM_RX_OFFSET,
|
||||
bus=0,
|
||||
logging=True,
|
||||
),
|
||||
]],
|
||||
extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
|
||||
)
|
||||
|
||||
# TODO: detect most of these sets live
|
||||
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV,
|
||||
# Non-ACC EV ports
|
||||
CAR.CHEVROLET_BOLT_NON_ACC, CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN, CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN}
|
||||
|
||||
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
|
||||
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.GMC_YUKON}
|
||||
|
||||
# Alt ASCMActiveCruiseControlStatus
|
||||
ALT_ACCS = {CAR.GMC_YUKON}
|
||||
|
||||
# We're integrated at the Safety Data Gateway Module on these cars
|
||||
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_TRAVERSE}
|
||||
|
||||
STEER_THRESHOLD = 1.0
|
||||
|
||||
DBC = CAR.create_dbc_map()
|
||||
Reference in New Issue
Block a user