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Adding support for 2018 GMC Acadia Denali (commaai#453)
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* added acadia

* adding acadia

* adding acadia

* Update radar_interface.py

* adding acadia

* refactored

* fixed tuning

* Adding acadia

* Update interface.py

* fixed whitespace

* fixed whitespace
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@CryptoKylan @rbiasini
CryptoKylan authored and rbiasini committed Dec 4, 2018
1 parent 9d76070 commit 68e56c8
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Showing 6 changed files with 26 additions and 8 deletions.
1 change: 1 addition & 0 deletions README.md
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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 |
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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
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4 changes: 2 additions & 2 deletions selfdrive/car/gm/carstate.py
View file
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
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11 changes: 10 additions & 1 deletion selfdrive/car/gm/interface.py
View file
Expand Up @@ -97,6 +97,15 @@ def get_params(candidate, fingerprint):
ret.steerRatio = 15.7
ret.steerRatioRear = 0.

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

elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1
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:
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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
View file
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'),
}

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