GM: Bolt EUV port

selfdrive/car/docs_definitions.py

@@ -146,6 +146,14 @@ class Harness(Enum):
   hyundai_o = "Hyundai O"
   custom = "Developer"
   obd_ii = "OBD-II"
+  gm_cam = "GM Camera" 
+  # TODO: Submit PR for gm cam harness schematic(s), diagrams and board layout(s) to https://github.com/commaai/neo/tree/master/car_harness
+  # Note: GM cam harness _without low-speed GMLAN support_ is simple and similar to the others
+  #       JJS - I anticipate comma to be able to take over production easily
+  #       It also doesn't make sense for customers to get the Developer harness - they typically don't need the wires
+  # Note 2: JJS - I anticipate designing a camera harness with a low-speed GMLAN gateway (design borrowed from OBD2 harness),
+  #         unless comma plans to do so
+  # Note 3: JJS - I anticipate an eventual 
   nissan_a = "Nissan A"
   nissan_b = "Nissan B"
   mazda = "Mazda"

selfdrive/car/gm/carcontroller.py

@@ -8,7 +8,9 @@
 from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-
+GearShifter = car.CarState.GearShifter
+TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
@@ -61,7 +63,7 @@ def update(self, CC, CS):
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
     # Gas/regen and brakes - all at 25Hz
-    if (self.frame % 4) == 0:
+    if CS.CP.openpilotLongitudinalControl and (self.frame % 4) == 0:
       if not CC.longActive:
         # Stock ECU sends max regen when not enabled
         self.apply_gas = self.params.MAX_ACC_REGEN
@@ -76,10 +78,11 @@ def update(self, CC, CS):
       near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
       # 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))
+      # Vehicles with factory camera-based ACC expect friction brake on PT
       can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
 
     # Send dashboard UI commands (ACC status), 25hz
-    if (self.frame % 4) == 0:
+    if CS.CP.openpilotLongitudinalControl and (self.frame % 4) == 0:
       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.leadVisible, send_fcw))
@@ -89,18 +92,18 @@ def update(self, CC, CS):
     time_and_headlights_step = 10
     tt = self.frame * DT_CTRL
 
-    if self.frame % time_and_headlights_step == 0:
+    if CS.CP.openpilotLongitudinalControl and (not CS.CP.radarOffCan) and (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:
+    if CS.CP.openpilotLongitudinalControl and (not CS.CP.radarOffCan) and 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, CS.out.vEgo, idx))
 
-    if self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
+    if CS.CP.openpilotLongitudinalControl and CS.CP.networkLocation == NetworkLocation.gateway and (self.frame % self.params.ADAS_KEEPALIVE_STEP) == 0:
       can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
     # Show green icon when LKA torque is applied, and
@@ -110,7 +113,8 @@ def update(self, CC, CS):
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
-    if self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
+    # SW_GMLAN not yet on cam harness
+    if CS.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))
       self.lka_icon_status_last = lka_icon_status

selfdrive/car/gm/carstate.py

@@ -3,9 +3,10 @@
 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, CAR, AccState, CanBus, STEER_THRESHOLD
-
+from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
+TransmissionType = car.CarParams.TransmissionType
+# TODO: Switch from hardcoded car to CarParams trans
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
@@ -35,7 +36,7 @@ def update(self, pt_cp, loopback_cp):
     ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
 
     # Regen braking is braking
-    if self.car_fingerprint == CAR.VOLT:
+    if self.CP.transmissionType == TransmissionType.direct:
       ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
 
     ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -120,7 +121,7 @@ def get_can_parser(CP):
       ("EBCMBrakePedalPosition", 100),
     ]
 
-    if CP.carFingerprint == CAR.VOLT:
+    if CP.transmissionType == TransmissionType.direct:
       signals.append(("RegenPaddle", "EBCMRegenPaddle"))
       checks.append(("EBCMRegenPaddle", 50))
 

selfdrive/car/gm/interface.py

@@ -1,6 +1,7 @@
 #!/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
@@ -9,10 +10,13 @@
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+GearShifter = car.CarState.GearShifter
+TransmissionType = car.CarParams.TransmissionType
+NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
-
+GM_PARAM_HW_CAM = 1
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
@@ -45,7 +49,10 @@ 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  # stock cruise control is kept off
+    ret.pcmCruise = False  # For ASCM, stock cruise control is kept off (but not ACC)
+    ret.radarOffCan = False  # For ASCM, radar is expected
+    ret.transmissionType = TransmissionType.automatic # or direct for EV
+    ret.networkLocation = NetworkLocation.gateway # or fwdCamera
 
     # 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
@@ -55,7 +62,8 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
     # 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
+    ret.openpilotLongitudinalControl = True # For ASCM, OP performs long
+
     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.
@@ -76,8 +84,11 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
 
     # supports stop and go, but initial engage must (conservatively) be above 18mph
     ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+    # TODO: Should this be changed to -1?
+    #       Newer cars (that are still ASCM-based) use -1 for minEnableSpeed with the comment "engage speed is decided by pcm"
 
     if candidate == CAR.VOLT:
+      ret.transmissionType = TransmissionType.direct # EV (or hybrid)
       ret.mass = 1607. + STD_CARGO_KG
       ret.wheelbase = 2.69
       ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
@@ -90,7 +101,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
       ret.lateralTuning.pid.kiV = [0.]
       ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
-
+      
     elif candidate == CAR.MALIBU:
       ret.mass = 1496. + STD_CARGO_KG
       ret.wheelbase = 2.83
@@ -130,11 +141,52 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disa
       ret.wheelbase = 3.302
       ret.steerRatio = 17.3
       ret.centerToFront = ret.wheelbase * 0.49
+
       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
       tire_stiffness_factor = 1.0
 
+    elif candidate == CAR.SILVERADO:
+      ret.minEnableSpeed = -1.
+      ret.mass = 2400. + STD_CARGO_KG
+      ret.wheelbase = 3.745
+      ret.steerRatio = 16.3
+      ret.centerToFront = ret.wheelbase * .49
+      ret.networkLocation = NetworkLocation.fwdCamera # Uses Cam Harness
+      ret.radarOffCan = True # No Radar
+      ret.openpilotLongitudinalControl = False # Stock ACC
+      ret.pcmCruise = True # CC is on
+      # Tune
+      ret.steerRateCost = .4
+      ret.steerActuatorDelay = 0.11
+      ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
+      ret.lateralTuning.pid.kpV = [0.13, 0.23]
+
+    elif candidate == CAR.BOLT_EUV:
+      ret.transmissionType = TransmissionType.direct # EV (or hybrid)
+      ret.minEnableSpeed = -1
+      ret.mass = 1669. + STD_CARGO_KG
+      ret.wheelbase = 2.675
+      ret.steerRatio = 16.8 # Not measured
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.networkLocation = NetworkLocation.fwdCamera # Uses Cam Harness
+      ret.radarOffCan = True # No Radar
+      ret.openpilotLongitudinalControl = False # Stock ACC
+      ret.pcmCruise = True # CC is on
+      # Tune
+      ret.steerRateCost = 0.5
+      ret.steerActuatorDelay = 0.
+      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[10., 41.0], [10., 41.0]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18, 0.275], [0.01, 0.021]]
+      ret.lateralTuning.pid.kf = 0.0002
+      tire_stiffness_factor = 1.0
+
+    # Set Panda to camera forwarding mode
+    if ret.networkLocation == NetworkLocation.fwdCamera:
+      # TODO: Depends on Panda PR #962 (Cam Harness forwarding, stock ACC)
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+
     # 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)
@@ -151,7 +203,7 @@ def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_loopback)
 
     ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
+    # TODO: Depends on OP PR #24764 (Switch to ECMPRDNL2)
     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)
 
@@ -160,8 +212,10 @@ def _update(self, c):
         be.type = ButtonType.unknown
 
       ret.buttonEvents = [be]
-
-    events = self.create_common_events(ret, pcm_enable=False)
+    # TODO: Depends on 
+    events = self.create_common_events(ret, extra_gears = [GearShifter.sport, GearShifter.low,
+                                                           GearShifter.eco, GearShifter.manumatic],
+                                       pcm_enable=self.CP.pcmCruise)
 
     if ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
@@ -171,7 +225,7 @@ def _update(self, c):
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents))
+    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
 
     ret.events = events.to_msg()