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GM: Car Port for 2019-20 GMC Yukon
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6 files changed

+41
-6
lines changed

6 files changed

+41
-6
lines changed

‎opendbc/car/gm/carstate.py‎

Lines changed: 18 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
from opendbc.car.common.conversions import Conversions as CV
66
from opendbc.car.common.numpy_fast import mean
77
from opendbc.car.interfaces import CarStateBase
8-
from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR
8+
from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
99

1010
ButtonType = structs.CarState.ButtonEvent.Type
1111
TransmissionType = structs.CarParams.TransmissionType
@@ -123,12 +123,18 @@ def update(self, can_parsers) -> structs.CarState:
123123
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
124124
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
125125
if self.CP.networkLocation == NetworkLocation.fwdCamera:
126-
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
126+
if self.CP.carFingerprint not in ALT_ACCS:
127+
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
128+
else:
129+
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
127130
if self.CP.carFingerprint not in SDGM_CAR:
128131
ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
129132
# openpilot controls nonAdaptive when not pcmCruise
130133
if self.CP.pcmCruise:
131-
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
134+
if self.CP.carFingerprint not in ALT_ACCS:
135+
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
136+
else:
137+
ret.cruiseState.nonAdaptive = False # TODO: Find this message
132138

133139
if self.CP.enableBsm:
134140
ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
@@ -164,6 +170,11 @@ def get_can_parsers(CP):
164170
("ECMAcceleratorPos", 80),
165171
]
166172

173+
if CP.carFingerprint in ALT_ACCS:
174+
messages += [
175+
("ECMCruiseControl", 10),
176+
]
177+
167178
if CP.enableBsm:
168179
pt_messages.append(("BCMBlindSpotMonitor", 10))
169180

@@ -180,8 +191,11 @@ def get_can_parsers(CP):
180191
if CP.networkLocation == NetworkLocation.fwdCamera:
181192
cam_messages += [
182193
("ASCMLKASteeringCmd", 10),
183-
("ASCMActiveCruiseControlStatus", 25),
184194
]
195+
if CP.carFingerprint not in ALT_ACCS:
196+
cam_messages += [
197+
("ASCMActiveCruiseControlStatus", 25),
198+
]
185199
if CP.carFingerprint not in SDGM_CAR:
186200
cam_messages += [
187201
("AEBCmd", 10),

‎opendbc/car/gm/fingerprints.py‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -66,6 +66,9 @@
6666
CAR.CHEVROLET_TRAVERSE: [{
6767
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
6868
}],
69+
CAR.GMC_YUKON: [{
70+
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, 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
71+
}],
6972
}
7073

7174
FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

‎opendbc/car/gm/interface.py‎

Lines changed: 10 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
77
from opendbc.car.common.basedir import BASEDIR
88
from opendbc.car.common.conversions import Conversions as CV
99
from opendbc.car.gm.radar_interface import RADAR_HEADER_MSG
10-
from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, CanBus
10+
from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus
1111
from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
1212

1313
TransmissionType = structs.CarParams.TransmissionType
@@ -113,6 +113,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
113113
ret.openpilotLongitudinalControl = True
114114
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
115115

116+
if candidate in ALT_ACCS:
117+
ret.experimentalLongitudinalAvailable = False
118+
ret.openpilotLongitudinalControl = False
119+
ret.minEnableSpeed = -1. # engage speed is decided by PCM
120+
116121
else: # ASCM, OBD-II harness
117122
ret.openpilotLongitudinalControl = True
118123
ret.networkLocation = NetworkLocation.gateway
@@ -203,4 +208,8 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
203208
ret.steerActuatorDelay = 0.2
204209
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
205210

211+
elif candidate == CAR.GMC_YUKON:
212+
ret.steerActuatorDelay = 0.5
213+
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
214+
206215
return ret

‎opendbc/car/gm/values.py‎

Lines changed: 8 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -175,6 +175,10 @@ class CAR(Platforms):
175175
[GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
176176
CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
177177
)
178+
GMC_YUKON = GMPlatformConfig(
179+
[GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
180+
GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
181+
)
178182

179183

180184
class CruiseButtons:
@@ -253,7 +257,10 @@ class CanBus:
253257
EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV}
254258

255259
# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
256-
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
260+
CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.GMC_YUKON}
261+
262+
# Alt ASCMActiveCruiseControlStatus
263+
ALT_ACCS = {CAR.GMC_YUKON}
257264

258265
# We're integrated at the Safety Data Gateway Module on these cars
259266
SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_TRAVERSE}

‎opendbc/car/tests/routes.py‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -22,6 +22,7 @@
2222
GM.CADILLAC_ATS,
2323
GM.HOLDEN_ASTRA,
2424
GM.CHEVROLET_MALIBU,
25+
GM.GMC_YUKON,
2526
HYUNDAI.GENESIS_G90,
2627
HONDA.HONDA_ODYSSEY_CHN,
2728
VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2, # need a route from an ACC-equipped Crafter

‎opendbc/car/torque_data/override.toml‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -54,6 +54,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
5454
"KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
5555
"GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
5656
"GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1]
57+
"GMC_YUKON" = [1.2, 2.5, 0.26]
5758
"KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1]
5859
"KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1]
5960
"KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12]

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