Merge branch 'master' into secoc-long

Author: chrispypatt

opendbc/car/gm/carstate.py

@@ -5,7 +5,7 @@
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.numpy_fast import mean
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR
+from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
 
 ButtonType = structs.CarState.ButtonEvent.Type
 TransmissionType = structs.CarParams.TransmissionType
@@ -123,14 +123,18 @@ def update(self, can_parsers) -> structs.CarState:
     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"] * CV.KPH_TO_MS
-      # This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
-      ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
+      if self.CP.carFingerprint not in ALT_ACCS:
+        ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
+        # This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
+        ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
+        if self.CP.pcmCruise:
+          # openpilot controls nonAdaptive when not pcmCruise
+          ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
+      else:
+        ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
+
       if self.CP.carFingerprint not in SDGM_CAR:
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
-      # openpilot controls nonAdaptive when not pcmCruise
-      if self.CP.pcmCruise:
-        ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
 
     if self.CP.enableBsm:
       ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
@@ -166,24 +170,26 @@ def get_can_parsers(CP):
       ("ECMAcceleratorPos", 80),
     ]
 
+    if CP.transmissionType == TransmissionType.direct:
+      pt_messages.append(("EBCMRegenPaddle", 50))
+
     if CP.enableBsm:
       pt_messages.append(("BCMBlindSpotMonitor", 10))
 
-    # Used to read back last counter sent to PT by camera
+    cam_messages = []
     if CP.networkLocation == NetworkLocation.fwdCamera:
       pt_messages += [
         ("ASCMLKASteeringCmd", 0),
       ]
-
-    if CP.transmissionType == TransmissionType.direct:
-      pt_messages.append(("EBCMRegenPaddle", 50))
-
-    cam_messages = []
-    if CP.networkLocation == NetworkLocation.fwdCamera:
       cam_messages += [
         ("ASCMLKASteeringCmd", 10),
-        ("ASCMActiveCruiseControlStatus", 25),
       ]
+
+      if CP.carFingerprint in ALT_ACCS:
+        pt_messages.append(("ECMCruiseControl", 10))
+      else:
+        cam_messages.append(("ASCMActiveCruiseControlStatus", 25))
+
       if CP.carFingerprint not in SDGM_CAR:
         cam_messages += [
           ("AEBCmd", 10),

opendbc/car/gm/fingerprints.py

@@ -66,6 +66,9 @@
   CAR.CHEVROLET_TRAVERSE: [{
     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
   }],
+  CAR.GMC_YUKON: [{
+    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, 587: 8, 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, 1355: 8, 1611: 8
+  }],
 }
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

opendbc/car/gm/interface.py

@@ -7,7 +7,7 @@
 from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.radar_interface import RADAR_HEADER_MSG
-from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, CanBus
+from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus
 from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 
 TransmissionType = structs.CarParams.TransmissionType
@@ -113,6 +113,11 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
+      if candidate in ALT_ACCS:
+        ret.experimentalLongitudinalAvailable = False
+        ret.openpilotLongitudinalControl = False
+        ret.minEnableSpeed = -1.  # engage speed is decided by PCM
+
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
@@ -203,4 +208,9 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.GMC_YUKON:
+      ret.steerActuatorDelay = 0.5
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      ret.dashcamOnly = True  # Needs steerRatio, tireStiffness, and lat accel factor tuning
+
     return ret

opendbc/car/gm/values.py

@@ -175,6 +175,10 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Traverse 2022-23", "RS, Premier, or High Country Trim")],
     GMCarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
   )
+  GMC_YUKON = GMPlatformConfig(
+    [GMCarDocs("GMC Yukon 2019-20", "Adaptive Cruise Control (ACC) & LKAS")],
+    GMCarSpecs(mass=2490, wheelbase=2.94, steerRatio=17.3, centerToFrontRatio=0.5, tireStiffnessFactor=1.0),
+  )
 
 
 class CruiseButtons:
@@ -253,7 +257,10 @@ class CanBus:
 EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER}
+CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.GMC_YUKON}
+
+# Alt ASCMActiveCruiseControlStatus
+ALT_ACCS = {CAR.GMC_YUKON}
 
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_TRAVERSE}

opendbc/car/hyundai/carcontroller.py

@@ -90,7 +90,7 @@ def update(self, CC, CS, now_nanos):
     # *** common hyundai stuff ***
 
     # tester present - w/ no response (keeps relevant ECU disabled)
-    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
+    if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) and self.CP.openpilotLongitudinalControl:
       # for longitudinal control, either radar or ADAS driving ECU
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
@@ -147,15 +147,15 @@ def update(self, CC, CS, now_nanos):
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
-                                                        CC.cruiseControl.override, use_fca))
+                                                        CC.cruiseControl.override, use_fca, self.CP))
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
 
       # 5 Hz ACC options
       if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
-        can_sends.extend(hyundaican.create_acc_opt(self.packer))
+        can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))
 
       # 2 Hz front radar options
       if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:

opendbc/car/hyundai/carstate.py

@@ -34,11 +34,13 @@ def __init__(self, CP):
                           "GEAR_SHIFTER"
     if CP.flags & HyundaiFlags.CANFD:
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
+    elif CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
+      self.shifter_values = can_define.dv["ELECT_GEAR"]["Elect_Gear_Shifter"]
     elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
     elif self.CP.flags & HyundaiFlags.TCU_GEARS:
       self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
-    else:  # preferred and elect gear methods use same definition
+    else:
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
 
     self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
@@ -153,7 +155,7 @@ def update(self, can_parsers) -> structs.CarState:
 
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
-    if not self.CP.openpilotLongitudinalControl:
+    if not self.CP.openpilotLongitudinalControl or self.CP.flags & HyundaiFlags.CAMERA_SCC:
       aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
       aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -372,7 +374,7 @@ def get_can_parsers(self, CP):
       ("LKAS11", 100)
     ]
 
-    if not CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CAMERA_SCC:
+    if CP.flags & HyundaiFlags.CAMERA_SCC:
       cam_messages += [
         ("SCC11", 50),
         ("SCC12", 50),

opendbc/car/hyundai/hyundaican.py

@@ -123,7 +123,7 @@ def create_lfahda_mfc(packer, enabled):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
   commands = []
 
   scc11_values = {
@@ -169,7 +169,8 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
   # Only send FCA11 on cars where it exists on the bus
-  if use_fca:
+  # On Camera SCC cars, FCA11 is not disabled, so we forward stock FCA11 back to the car forward hooks
+  if use_fca and not (CP.flags & HyundaiFlags.CAMERA_SCC):
     # note that some vehicles most likely have an alternate checksum/counter definition
     # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
     fca11_values = {
@@ -184,7 +185,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
 
   return commands
 
-def create_acc_opt(packer):
+def create_acc_opt(packer, CP):
   commands = []
 
   scc13_values = {
@@ -195,11 +196,13 @@ def create_acc_opt(packer):
   commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
 
   # TODO: this needs to be detected and conditionally sent on unsupported long cars
-  fca12_values = {
-    "FCA_DrvSetState": 2,
-    "FCA_USM": 1, # AEB disabled
-  }
-  commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
+  # On Camera SCC cars, FCA12 is not disabled, so we forward stock FCA12 back to the car forward hooks
+  if not (CP.flags & HyundaiFlags.CAMERA_SCC):
+    fca12_values = {
+      "FCA_DrvSetState": 2,
+      "FCA_USM": 1, # AEB disabled
+    }
+    commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
 
   return commands
 

opendbc/car/hyundai/interface.py

@@ -1,7 +1,7 @@
 from panda import Panda
 from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
+from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_RADAR_SCC_CAR, \
                                                    CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR
 from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
@@ -68,7 +68,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
     else:
       # Shared configuration for non CAN-FD cars
-      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR
       ret.enableBsm = 0x58b in fingerprint[0]
 
       # Send LFA message on cars with HDA
@@ -128,7 +128,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
 
   @staticmethod
   def init(CP, can_recv, can_send):
-    if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
+    if CP.openpilotLongitudinalControl and not (CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
         addr, bus = 0x730, CanBus(CP).ECAN

opendbc/car/tests/routes.py

@@ -76,6 +76,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("162796f1469f2f1b/00000005--6f334eda14", GM.CADILLAC_XT4),
   CarTestRoute("477dd485611d1e6e/00000009--85fc06e10a", GM.CHEVROLET_VOLT_2019),
   CarTestRoute("a40976dc9f28ba62/0000001f--160e210119", GM.CHEVROLET_TRAVERSE),
+  CarTestRoute("36c62b5da6f08154/00000052--983c17c5b2", GM.GMC_YUKON),
 
   CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
   CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.HONDA_CIVIC),

opendbc/car/torque_data/override.toml

@@ -54,6 +54,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
 "GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
 "GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1]
+"GMC_YUKON" = [1.2, 2.5, 0.26]
 "KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1]
 "KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1]
 "KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12]