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GM: no speed limit to engage #373

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GM: no speed limit to engage #373

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3fd41ad
GM: disengage on PCM fault
vntarasov Sep 26, 2018
a551df3
GM: Ignore resume button until first engaged with set
vntarasov Sep 26, 2018
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2 changes: 1 addition & 1 deletion selfdrive/car/gm/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
27 changes: 21 additions & 6 deletions selfdrive/car/gm/interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -38,6 +39,10 @@ def __init__(self, CP, sendcan=None):
self.can_invalid_count = 0
self.acc_active_prev = 0

# First engagement must be done with "set/-",
# ignore "res/+" until then.
self.allow_resume = False

# *** init the major players ***
canbus = CanBus()
self.CS = CarState(CP, canbus)
Expand Down Expand Up @@ -75,8 +80,13 @@ 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
Expand Down Expand Up @@ -191,7 +201,8 @@ def update(self, c):

# cruise state
ret.cruiseState.available = bool(self.CS.main_on)
cruiseEnabled = self.CS.pcm_acc_status != 0
self.allow_resume &= ret.cruiseState.available
cruiseEnabled = self.CS.pcm_acc_status in [AccState.ACTIVE, AccState.STANDSTILL]
ret.cruiseState.enabled = cruiseEnabled
ret.cruiseState.standstill = False

Expand Down Expand Up @@ -226,10 +237,12 @@ def update(self, c):
be.pressed = False
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
if not (cruiseEnabled and self.CS.standstill):
be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed.
# Suppress resume button if we're resuming from stop so we don't adjust speed.
if self.allow_resume and not (cruiseEnabled and self.CS.standstill):
be.type = 'accelCruise'
elif but == CruiseButtons.DECEL_SET:
be.type = 'decelCruise'
self.allow_resume = True
elif but == CruiseButtons.CANCEL:
be.type = 'cancel'
elif but == CruiseButtons.MAIN:
Expand Down Expand Up @@ -276,6 +289,8 @@ 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:
Expand Down