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Change dashboard command of GM to use packer #347

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merged 2 commits into from
Sep 4, 2018
Merged

Change dashboard command of GM to use packer #347

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87e25a5
Change dashboard command of GM to use packer
vntarasov Sep 4, 2018
489ad96
Fix dashboard setSpeed scaling
vntarasov Sep 4, 2018
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2 changes: 1 addition & 1 deletion selfdrive/car/gm/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -137,7 +137,7 @@ def update(self, sendcan, enabled, CS, frame, actuators, \

# Send dashboard UI commands (ACC status), 25hz
if (frame % 4) == 0:
can_sends.append(gmcan.create_acc_dashboard_command(canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car))
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car))

# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
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20 changes: 13 additions & 7 deletions selfdrive/car/gm/gmcan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -84,14 +84,20 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f

return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)

def create_acc_dashboard_command(bus, acc_engaged, target_speed_ms, lead_car_in_sight):
engaged = 0x90 if acc_engaged else 0
lead_car = 0x10 if lead_car_in_sight else 0
def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_ms, lead_car_in_sight):
target_speed = int(target_speed_ms * 208) & 0xfff
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Not something new, but I'm confused about this unit

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@vntarasov vntarasov Sep 4, 2018 •
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Found a bug, see a second commit. No more magic numbers.

speed_high = target_speed >> 8
speed_low = target_speed & 0xff
dat = [0x01, 0x00, engaged | speed_high, speed_low, 0x01, lead_car]
return [0x370, 0, "".join(map(chr, dat)), bus]

values = {
"ACCAlwaysOne" : 1,
"ACCResumeButton" : 0,
"ACCSpeedSetpoint" : target_speed,
"ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
"ACCCmdActive" : acc_engaged,
"ACCAlwaysOne2" : 1,
"ACCLeadCar" : lead_car_in_sight
}

return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)

def create_adas_time_status(bus, tt, idx):
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
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