Merge branch 'xt4'

garrettpall · garrettpall · commit 0eb15e807eca · 2023-10-31T15:45:15.000-04:00
diff --git a/.gitmodules b/.gitmodules
@@ -1,6 +1,3 @@
-[submodule "panda"]
-  path = panda
-  url = ../../commaai/panda.git
 [submodule "opendbc"]
   path = opendbc
   url = ../../commaai/opendbc.git
@@ -19,3 +16,6 @@
 [submodule "tinygrad"]
   path = tinygrad_repo
   url = https://github.com/geohot/tinygrad.git
+[submodule "panda"]
+	path = panda
+	url = https://github.com/garrettpall/panda.git
diff --git a/panda b/panda
@@ -1 +1 @@
-Subproject commit f3bdfdd4354ccc3a512dc289dc038d5b30d1fec2
+Subproject commit d29fde1329af7d9d8e9e65348a8db1c57c577115
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
@@ -5,7 +5,7 @@
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, SDGM_CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -147,7 +147,11 @@ def update(self, CC, CS, now_nanos):
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
+          if self.CP.carFingerprint in SDGM_CAR:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
+          else:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
+
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
@@ -5,7 +5,7 @@
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, SDGM_CAR
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -30,8 +30,12 @@ def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
-    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+    if self.CP.carFingerprint not in SDGM_CAR:
+      self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+      self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+    else:
+      self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+      self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
 
@@ -87,18 +91,32 @@ def update(self, pt_cp, cam_cp, loopback_cp):
     ret.steerFaultTemporary = self.lkas_status == 2
     ret.steerFaultPermanent = self.lkas_status == 3
 
-    # 1 - open, 0 - closed
-    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
+    if self.CP.carFingerprint not in SDGM_CAR:
+      # 1 - open, 0 - closed
+      ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                      pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                      pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                      pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
-    # 1 - latched
-    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+      # 1 - latched
+      ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+      ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+      ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+      ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+    else:
+        # 1 - open, 0 - closed
+      ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                      cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                      cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                      cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
+
+      # 1 - latched
+      ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+      ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+      ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+
+      ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -108,7 +126,10 @@ def update(self, pt_cp, cam_cp, loopback_cp):
     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
-      ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      if self.CP.carFingerprint not in SDGM_CAR:
+        ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      else:
+        ret.stockAeb = False
       # openpilot controls nonAdaptive when not pcmCruise
       if self.CP.pcmCruise:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
@@ -120,32 +141,52 @@ def get_cam_can_parser(CP):
     messages = []
     if CP.networkLocation == NetworkLocation.fwdCamera:
       messages += [
-        ("AEBCmd", 10),
-        ("ASCMLKASteeringCmd", 10),
-        ("ASCMActiveCruiseControlStatus", 25),
-      ]
+          ("ASCMLKASteeringCmd", 10),
+          ("ASCMActiveCruiseControlStatus", 25),
+        ]
+      if CP.carFingerprint in SDGM_CAR:
+        messages += [
+          ("BCMTurnSignals", 1),
+          ("BCMDoorBeltStatus", 10),
+          ("BCMGeneralPlatformStatus", 10),
+          ("ASCMSteeringButton", 33),
+        ]
+      else:
+        messages += [
+          ("AEBCmd", 10),
+        ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA)
 
   @staticmethod
   def get_can_parser(CP):
     messages = [
-      ("BCMTurnSignals", 1),
-      ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
-      ("BCMDoorBeltStatus", 10),
-      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),
-      ("AcceleratorPedal2", 33),
-      ("ASCMSteeringButton", 33),
-      ("ECMEngineStatus", 100),
       ("PSCMSteeringAngle", 100),
       ("ECMAcceleratorPos", 80),
     ]
 
+    if CP.carFingerprint in SDGM_CAR:
+      messages += [
+        ("ECMPRDNL2", 40),
+        ("AcceleratorPedal2", 40),
+        ("ECMEngineStatus", 80),
+      ]
+    else:
+      messages += [
+        ("ECMPRDNL2", 10),
+        ("AcceleratorPedal2", 33),
+        ("ECMEngineStatus", 100),
+        ("BCMTurnSignals", 1),
+        ("BCMDoorBeltStatus", 10),
+        ("BCMGeneralPlatformStatus", 10),
+        ("ASCMSteeringButton", 33),
+      ]
+
     # Used to read back last counter sent to PT by camera
     if CP.networkLocation == NetworkLocation.fwdCamera:
       messages += [
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -6,7 +6,7 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -105,6 +105,15 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
+    elif candidate in SDGM_CAR:
+        ret.experimentalLongitudinalAvailable = False
+        ret.networkLocation = NetworkLocation.fwdCamera
+        ret.pcmCruise = True
+        ret.radarUnavailable = True
+        ret.minEnableSpeed = 31 * CV.MPH_TO_MS
+        ret.minSteerSpeed = 29 * CV.MPH_TO_MS
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
+
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
@@ -252,6 +261,12 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.XT4:
+      ret.mass = 3660. * CV.LB_TO_KG
+      ret.wheelbase = 2.78
+      ret.steerRatio = 14.4
+      ret.centerToFront = ret.wheelbase * 0.4
+
     return ret
 
   # returns a car.CarState
@@ -275,7 +290,7 @@ def _update(self, c):
     # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
     below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
     if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
-                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
+                                       (self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill:
       events.add(EventName.resumeRequired)
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
@@ -46,6 +46,12 @@ def __init__(self, CP):
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
       max_regen_acceleration = 0.
 
+    elif CP.carFingerprint in SDGM_CAR:
+      self.MAX_GAS = 3400
+      self.MAX_ACC_REGEN = 1514
+      self.INACTIVE_REGEN = 1554
+      max_regen_acceleration = 0.
+
     else:
       self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
       self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
@@ -76,6 +82,7 @@ class CAR(StrEnum):
   SILVERADO = "CHEVROLET SILVERADO 1500 2020"
   EQUINOX = "CHEVROLET EQUINOX 2019"
   TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
+  XT4 = "CADILLAC XT4 2023"
 
 
 class Footnote(Enum):
@@ -118,6 +125,7 @@ def init_make(self, CP: car.CarParams):
   ],
   CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
   CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
+  CAR.XT4: GMCarInfo("Cadillac XT4 2023", "Driver Assist Package"),
 }
 
 
@@ -222,6 +230,11 @@ class CanBus:
   # {
   #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
   # }],
+  CAR.XT4: [
+  # Cadillac XT4 w/ ACC 2023
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 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, 353: 3, 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, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 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, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 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, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
 }
 
 GM_RX_OFFSET = 0x400
@@ -233,4 +246,7 @@ class CanBus:
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
 
+# We're integrated at the Saftey Data Gateway Module on these cars
+SDGM_CAR = {CAR.XT4}
+
 STEER_THRESHOLD = 1.0
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
@@ -52,6 +52,7 @@ CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
 CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
+CADILLAC XT4 2023: CHEVROLET VOLT PREMIER 2017
 
 SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN
 SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
