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Adding support for 2018 GMC Acadia Denali #453

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merged 14 commits into from
Dec 4, 2018
Merged

Adding support for 2018 GMC Acadia Denali #453

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157ced6
Merge pull request #3 from commaai/devel
CryptoKylan Nov 18, 2018
d7e1071
Merge pull request #13 from commaai/devel
CryptoKylan Dec 2, 2018
146709a
added acadia
CryptoKylan Dec 4, 2018
747ea63
adding acadia
CryptoKylan Dec 4, 2018
3e277ad
adding acadia
CryptoKylan Dec 4, 2018
fbd3add
Update radar_interface.py
CryptoKylan Dec 4, 2018
e3c835b
adding acadia
CryptoKylan Dec 4, 2018
57852e8
Merge pull request #21 from CryptoKylan/devel-acadia-pr-pull
CryptoKylan Dec 4, 2018
e565d84
refactored
CryptoKylan Dec 4, 2018
e7fdc53
fixed tuning
CryptoKylan Dec 4, 2018
4a9b783
Adding acadia
CryptoKylan Dec 4, 2018
29d21b0
Update interface.py
CryptoKylan Dec 4, 2018
1d17c6b
fixed whitespace
CryptoKylan Dec 4, 2018
e6b0558
fixed whitespace
CryptoKylan Dec 4, 2018
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1 change: 1 addition & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ Supported Cars
| Acura | RDX 2018 | AcuraWatch Plus | Yes | Yes | 25mph<sup>1</sup>| 12mph | Nidec |
| Chevrolet<sup>3</sup>| Malibu 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Chevrolet<sup>3</sup>| Volt 2017-18 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| GMC<sup>3</sup>| Acadia Denali 2018 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Holden<sup>3</sup> | Astra 2017 | Adaptive Cruise | Yes | Yes | 0mph | 7mph | Custom<sup>7</sup>|
| Honda | Accord 2018 | All | Yes | Stock | 0mph | 3mph | Bosch |
| Honda | Civic 2016-18 | Honda Sensing | Yes | Yes | 0mph | 12mph | Nidec |
Expand Down
6 changes: 3 additions & 3 deletions selfdrive/car/gm/carcontroller.py
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Expand Up @@ -10,7 +10,7 @@

class CarControllerParams():
def __init__(self, car_fingerprint):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
self.STEER_MAX = 300
self.STEER_STEP = 2 # how often we update the steer cmd
self.STEER_DELTA_UP = 7 # ~0.75s time to peak torque (255/50hz/0.75s)
Expand Down Expand Up @@ -104,7 +104,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
self.apply_steer_last = apply_steer
idx = (frame / P.STEER_STEP) % 4

if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
can_sends.append(gmcan.create_steering_control(self.packer_pt,
canbus.powertrain, apply_steer, idx, lkas_enabled))
if self.car_fingerprint == CAR.CADILLAC_CT6:
Expand All @@ -113,7 +113,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \

### GAS/BRAKE ###

if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
# no output if not enabled, but keep sending keepalive messages
# treat pedals as one
final_pedal = actuators.gas - actuators.brake
Expand Down
4 changes: 2 additions & 2 deletions selfdrive/car/gm/carstate.py
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Expand Up @@ -35,7 +35,7 @@ def get_powertrain_can_parser(CP, canbus):
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
]
if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if CP.carFingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
signals += [
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
Expand Down Expand Up @@ -120,7 +120,7 @@ def update(self, pt_cp):
self.left_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
self.right_blinker_on = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2

if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if self.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
self.main_on = pt_cp.vl["ECMEngineStatus"]['CruiseMainOn']
self.acc_active = False
Expand Down
11 changes: 10 additions & 1 deletion selfdrive/car/gm/interface.py
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Expand Up @@ -96,6 +96,15 @@ def get_params(candidate, fingerprint):
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.steerRatio = 15.7
ret.steerRatioRear = 0.

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elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1 # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.86
ret.steerRatio = 14.4 #end to end is 13.46
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.4

elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
Expand Down Expand Up @@ -266,7 +275,7 @@ def update(self, c):
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if self.CS.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
if self.CS.brake_error:
events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not self.CS.gear_shifter_valid:
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/car/gm/radar_interface.py
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Expand Up @@ -22,7 +22,7 @@
def create_radard_can_parser(canbus, car_fingerprint):

dbc_f = DBC[car_fingerprint]['radar']
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
# C1A-ARS3-A by Continental
radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
signals = zip(['FLRRNumValidTargets',
Expand Down
10 changes: 9 additions & 1 deletion selfdrive/car/gm/values.py
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Expand Up @@ -8,6 +8,7 @@ class CAR:
VOLT = "CHEVROLET VOLT PREMIER 2017"
CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018"

class CruiseButtons:
UNPRESS = 1
Expand Down Expand Up @@ -37,7 +38,7 @@ class CM:

def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = []
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA):
valid_eps_status += [0, 1]
elif car_fingerprint == CAR.CADILLAC_CT6:
valid_eps_status += [0, 1, 4, 5, 6]
Expand Down Expand Up @@ -77,6 +78,11 @@ def parse_gear_shifter(can_gear):
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8,
}],
CAR.ACADIA: [
# Acadia Denali w/ /ACC 2018
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
}],
}

STEER_THRESHOLD = 1.0
Expand All @@ -85,12 +91,14 @@ def parse_gear_shifter(can_gear):
CAR.HOLDEN_ASTRA: [384, 715],
CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.MALIBU: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.ACADIA: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected
}

DBC = {
CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.MALIBU: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
}