Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

GM: LKA dashboard icon support #389

Merged
merged 3 commits into from
Oct 13, 2018
Merged

GM: LKA dashboard icon support #389

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
5e5b636
GM: LKA dashboard icon support
vntarasov Oct 7, 2018
30ad85b
Decrease camera keepalive interval
vntarasov Oct 9, 2018
4521464
Use tuple for LKA icon status
vntarasov Oct 9, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 18 additions & 4 deletions selfdrive/car/gm/carcontroller.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,11 @@ def __init__(self, car_fingerprint):
self.STEER_DRIVER_FACTOR = 100 # from dbc
self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop

self.ADAS_KEEPALIVE_STEP = 10
# Takes case of "Service Adaptive Cruise" and "Service Front Camera"
# dashboard messages.
self.ADAS_KEEPALIVE_STEP = 100
self.CAMERA_KEEPALIVE_STEP = 100

# pedal lookups, only for Volt
MAX_GAS = 3072 # Only a safety limit
self.ZERO_GAS = 2048
Expand Down Expand Up @@ -59,12 +63,11 @@ def __init__(self, canbus, car_fingerprint, allow_controls):
self.pedal_steady = 0.
self.start_time = sec_since_boot()
self.chime = 0
self.lkas_active = False
self.inhibit_steer_for = 0
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.allow_controls = allow_controls
self.lka_icon_status_last = (False, False)

# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
Expand Down Expand Up @@ -163,10 +166,21 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))

# Send ADAS keepalive, 10hz
if frame % P.ADAS_KEEPALIVE_STEP == 0:
can_sends += gmcan.create_adas_keepalive(canbus.powertrain)

# Show green icon when LKA torque is applied, and
# alarming orange icon when approaching torque limit.
# If not sent again, LKA icon disappears in about 5 seconds.
# Conveniently, sending camera message periodically also works as a keepalive.
lka_active = CS.lkas_status == 1
lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical)
if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
or lka_icon_status != self.lka_icon_status_last:
can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical))
self.lka_icon_status_last = lka_icon_status

# Send chimes
if self.chime != chime:
duration = 0x3c
Expand Down
10 changes: 10 additions & 0 deletions selfdrive/car/gm/gmcan.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -132,6 +132,16 @@ def create_chime_command(bus, chime_type, duration, repeat_cnt):
dat = [chime_type, duration, repeat_cnt, 0xff, 0]
return [0x10400060, 0, "".join(map(chr, dat)), bus]

def create_lka_icon_command(bus, active, critical):
if active:
if critical:
dat = "\x40\xc0\x14"
else:
dat = "\x40\x40\x18"
else:
dat = "\x00\x00\x00"
return [0x104c006c, 0, dat, bus]

# TODO: WIP
'''
def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):
Expand Down