GM: disengage on PCM fault

commaai · Sep 26, 2018 · 3fd41ad · 3fd41ad
1 parent a422246
commit 3fd41ad
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Showing 2 changed files with 13 additions and 5 deletions.
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
@@ -5,7 +5,7 @@
 from selfdrive.can.parser import CANParser
 from selfdrive.car.gm.values import DBC, CAR, parse_gear_shifter, \
                                     CruiseButtons, is_eps_status_ok, \
-                                    STEER_THRESHOLD
+                                    STEER_THRESHOLD, AccState
 
 def get_powertrain_can_parser(CP, canbus):
   # this function generates lists for signal, messages and initial values

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
@@ -5,7 +5,8 @@
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS
-from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
+from selfdrive.car.gm.carstate import CarState, CruiseButtons, \
+                                      AccState, get_powertrain_can_parser
 
 try:
   from selfdrive.car.gm.carcontroller import CarController
@@ -75,8 +76,13 @@ def get_params(candidate, fingerprint):
     std_cargo = 136
 
     if candidate == CAR.VOLT:
-      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      # 2017 Volt: initial engage must be done with "set/-", above ~18mph.
+      # Then, both "set/-" and "res/+" work at any speed.
+      # Unless brake pedal was pressed, in which case resume works above ~7mph
+      # and set works above ~18mph.
+      # TODO: track PCM state to know exactly when set/res are allowed,
+      # instead of disengaging on a PCM fault.
+      ret.minEnableSpeed = -1
       # kg of standard extra cargo to count for drive, gas, etc...
       ret.mass = 1607 + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.gm
@@ -191,7 +197,7 @@ def update(self, c):
 
     # cruise state
     ret.cruiseState.available = bool(self.CS.main_on)
-    cruiseEnabled = self.CS.pcm_acc_status != 0
+    cruiseEnabled = self.CS.pcm_acc_status in [AccState.ACTIVE, AccState.STANDSTILL]
     ret.cruiseState.enabled = cruiseEnabled
     ret.cruiseState.standstill = False
 
@@ -276,6 +282,8 @@ def update(self, c):
         events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
       if ret.gasPressed:
         events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      if self.CS.pcm_acc_status == AccState.FAULTED:
+        events.append(create_event('speedTooLow', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
 
       # handle button presses
       for b in ret.buttonEvents: