GM: Bolt EUV 2022-23 port (#24875)

* Switch to ECMPRDNL2 for GM gear

* Removing manumatic gear #

* values.py almost complete

* Silverado and Bolt EUV val and CP

* GM controller updated

* Cam hrns supp done (in theory)

* cleanup for new cars

* Remove extra constant

* WS, etc cleanup

* removing the unused

* Fix kpBP typo

* Updated docs

* Skip's PIF tune

* Dropped LKA CAN error patch

* Add silverado sigmoid ff

* CAN Err & LKA latch patch

* Remove EPS fault fix (another PR)

* Remove Silverado (another PR)

* clean up some common params

* Remove Escalade FP

Remove Escalade FP

* comment

* Premier is just a trim

Premier is just a trim

Premier is just a trim

* no footnote: new Bolt is like most other cars, older GM were outliers not at the camera

* clean up

clean up

* bump panda

* bump panda

* bump panda

* bump panda

* bump panda

* remove comments

* try spamming buttons on bus 2

* bump panda

* bumping opendbc w btn rc

* not needed for this port

This reverts commit 6af1f0b.

* add button safety

* Send next rc when spamming btns

* forward other signals in message

* missing DriveModeButton

* fill cruiseState.speed

* see if resume works without counter

* try the whole message

* send immediately and at 10Hz

* no resume, back to just button signal

* even holding random buttons it cancels

* Use torque controller with base tune

* stock long GM don't auto-resume yet

* Testing GM zero min steer speed

* Revert latcontrol

* revert opendbc

* latActive is basically lkas_enabled

* Update Bolt torque params

* comment

* clean up

* Add to releases

* Add test route

* Don't specify segment

* bump panda

* bump panda

* no harness for Bolt just yet

* Apply suggestions from code review

Co-authored-by: Adeeb Shihadeh <[email protected]>

* We support all and 2023

* move safetyParam up to first cam check

* Bump panda and update docs

* Update RELEASES.md

Co-authored-by: Adeeb Shihadeh <[email protected]>

Co-authored-by: Shane Smiskol <[email protected]>
Co-authored-by: Adeeb Shihadeh <[email protected]>

Author: 3 people

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.8.16 (2022-XX-XX)
 ========================
+* Chevrolet Bolt EUV 2022-23 support thanks to JasonJShuler!
 * Hyundai Ioniq 5 2022 support thanks to sunnyhaibin!
 * Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
 * Subaru Outback 2020-22 support

docs/CARS.md

@@ -19,7 +19,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 - [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
-# 200 Supported Cars
+# 201 Supported Cars
 
 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
 |---|---|---|:---:|:---:|:---:|:---:|
@@ -33,6 +33,7 @@ A supported vehicle is one that just works when you install a comma device. Ever
 |Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Bolt EUV 2022-23|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|

panda

@@ -10,6 +10,10 @@
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
 
+# Makes that lack auto-resume with stock long, and auto resume in any configuration
+NO_AUTO_RESUME_STOCK_LONG = {"toyota", "gm"}
+NO_AUTO_RESUME = NO_AUTO_RESUME_STOCK_LONG | {"nissan", "subaru"}
+
 
 class Tier(Enum):
   GOLD = 0
@@ -147,11 +151,11 @@ def get_detail_sentence(self, CP):
       else:
         alc = ""
 
-      # Exception for Nissan, Subaru, and stock long Toyota which do not auto-resume yet
+      # Exception for cars which do not auto-resume yet
       acc = ""
       if self.min_enable_speed > 0:
         acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
-      elif CP.carName not in ("nissan", "subaru", "toyota") or (CP.carName == "toyota" and CP.openpilotLongitudinalControl):
+      elif CP.carName not in NO_AUTO_RESUME or (CP.carName in NO_AUTO_RESUME_STOCK_LONG and CP.openpilotLongitudinalControl):
         acc = " <strong>that automatically resumes from a stop</strong>"
 
       if self.row[Column.STEERING_TORQUE] != Star.FULL:
@@ -210,6 +214,7 @@ class Harness(Enum):
   hyundai_p = "Hyundai P"
   custom = "Developer"
   obd_ii = "OBD-II"
+  gm = "GM"
   nissan_a = "Nissan A"
   nissan_b = "Nissan B"
   mazda = "Mazda"

selfdrive/car/docs_definitions.py

@@ -5,7 +5,7 @@
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, EV_CAR
+from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -19,6 +19,7 @@ def __init__(self, dbc_name, CP, VM):
     self.apply_gas = 0
     self.apply_brake = 0
     self.frame = 0
+    self.last_button_frame = 0
 
     self.lka_steering_cmd_counter_last = -1
     self.lka_icon_status_last = (False, False)
@@ -46,8 +47,7 @@ def update(self, CC, CS):
     if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
       self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
     elif (self.frame % self.params.STEER_STEP) == 0:
-      lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED
-      if lkas_enabled:
+      if CC.latActive:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
       else:
@@ -58,7 +58,7 @@ def update(self, CC, CS):
       # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
       idx = (CS.lka_steering_cmd_counter + 1) % 4
 
-      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
+      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
 
     if self.CP.openpilotLongitudinalControl:
       # Gas/regen, brakes, and UI commands - all at 25Hz
@@ -107,13 +107,22 @@ def update(self, CC, CS):
       if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
+    else:
+      # Stock longitudinal, integrated at camera
+      if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+        if CC.cruiseControl.cancel:
+          self.last_button_frame = self.frame
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
+
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.
     # If not sent again, LKA icon disappears in about 5 seconds.
     # Conveniently, sending camera message periodically also works as a keepalive.
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
+
+    # SW_GMLAN not yet on cam harness, no HUD alerts
     if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))

selfdrive/car/gm/carcontroller.py

@@ -1,11 +1,13 @@
 from cereal import car
+from common.conversions import Conversions as CV
 from common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
 TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
 
 
 class CarState(CarStateBase):
@@ -15,7 +17,7 @@ def __init__(self, CP):
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
 
-  def update(self, pt_cp, loopback_cp):
+  def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
@@ -77,9 +79,21 @@ def update(self, pt_cp, loopback_cp):
 
     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:
+      ret.cruiseState.speed = (cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] / 16) * CV.KPH_TO_MS
 
     return ret
 
+  @staticmethod
+  def get_cam_can_parser(CP):
+    signals = []
+    checks = []
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"))
+      checks.append(("ASCMActiveCruiseControlStatus", 25))
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
+
   @staticmethod
   def get_can_parser(CP):
     signals = [

selfdrive/car/gm/carstate.py

@@ -1,5 +1,9 @@
 from selfdrive.car import make_can_msg
 
+def create_buttons(packer, bus, button):
+  values = {"ACCButtons": button}
+  return packer.make_can_msg("ASCMSteeringButton", bus, values)
+
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
   values = {

selfdrive/car/gm/gmcan.py

@@ -1,10 +1,11 @@
 #!/usr/bin/env python3
 from cereal import car
 from math import fabs
+from panda import Panda
 
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
+from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -48,29 +49,36 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
-    ret.pcmCruise = False  # For ASCM, stock non-adaptive cruise control is kept off
-    ret.radarOffCan = False  # For ASCM, radar exists
-    ret.transmissionType = TransmissionType.automatic
-    # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
-    ret.networkLocation = NetworkLocation.gateway
+
+    if candidate in EV_CAR:
+      ret.transmissionType = TransmissionType.direct
+    else:
+      ret.transmissionType = TransmissionType.automatic
+
+    if candidate in CAMERA_ACC_CAR:
+      ret.openpilotLongitudinalControl = False
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarOffCan = True  # no radar
+      ret.pcmCruise = True
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+    else:  # ASCM, OBD-II harness
+      ret.openpilotLongitudinalControl = True
+      ret.networkLocation = NetworkLocation.gateway
+      ret.radarOffCan = False
+      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
 
     # 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 selfdrive/car/tests/routes.py, we can remove it from this list.
     ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
 
-    # Presence of a camera on the object bus is ok.
-    # Have to go to read_only if ASCM is online (ACC-enabled cars),
-    # or camera is on powertrain bus (LKA cars without ACC).
-    ret.openpilotLongitudinalControl = True
-    tire_stiffness_factor = 0.444  # not optimized yet
-
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.minSteerSpeed = 7 * CV.MPH_TO_MS
     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
+    tire_stiffness_factor = 0.444  # not optimized yet
 
     ret.longitudinalTuning.kpBP = [5., 35.]
     ret.longitudinalTuning.kpV = [2.4, 1.5]
@@ -84,7 +92,6 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     ret.minEnableSpeed = 18 * CV.MPH_TO_MS
 
     if candidate == CAR.VOLT:
-      ret.transmissionType = TransmissionType.direct
       ret.mass = 1607. + STD_CARGO_KG
       ret.wheelbase = 2.69
       ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
@@ -143,6 +150,16 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
       ret.lateralTuning.pid.kf = 0.000045
       tire_stiffness_factor = 1.0
 
+    elif candidate == CAR.BOLT_EUV:
+      ret.minEnableSpeed = -1
+      ret.mass = 1669. + STD_CARGO_KG
+      ret.wheelbase = 2.675
+      ret.steerRatio = 16.8
+      ret.centerToFront = ret.wheelbase * 0.4
+      tire_stiffness_factor = 1.0
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -156,7 +173,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
 
   # returns a car.CarState
   def _update(self, c):
-    ret = self.CS.update(self.cp, self.cp_loopback)
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
 
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)

selfdrive/car/gm/interface.py

@@ -14,7 +14,6 @@ class CarControllerParams:
   STEER_STEP = 2  # Control frames per command (50hz)
   STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
   STEER_DELTA_DOWN = 17
-  MIN_STEER_SPEED = 3.  # m/s
   STEER_DRIVER_ALLOWANCE = 50
   STEER_DRIVER_MULTIPLIER = 4
   STEER_DRIVER_FACTOR = 100
@@ -59,10 +58,7 @@ class CAR:
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
-
-
-EV_CAR = {CAR.VOLT}
-STEER_THRESHOLD = 1.0
+  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
 
 
 class Footnote(Enum):
@@ -87,6 +83,7 @@ class GMCarInfo(CarInfo):
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
+  CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "All", footnotes=[], harness=Harness.gm),
 }
 
 
@@ -107,6 +104,7 @@ class AccState:
 class CanBus:
   POWERTRAIN = 0
   OBSTACLE = 1
+  CAMERA = 2
   CHASSIS = 2
   SW_GMLAN = 3
   LOOPBACK = 128
@@ -155,6 +153,17 @@ class CanBus:
   {
     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.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, 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, 1930: 7
+  }],
 }
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
+
+EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
+
+# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
+CAMERA_ACC_CAR = {CAR.BOLT_EUV}
+
+STEER_THRESHOLD = 1.0

selfdrive/car/gm/values.py

@@ -47,6 +47,7 @@
   TestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
   TestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
   TestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
+  TestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV),
 
   TestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
   TestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),