selfdrive.car.gm package

Subpackages

• selfdrive.car.gm.tests package
  • Submodules
  • selfdrive.car.gm.tests.test_gm module
    • TestGMFingerprint
      • TestGMFingerprint.test_can_fingerprints
      • TestGMFingerprint.test_can_fingerprints_00_HOLDEN_ASTRA()
      • TestGMFingerprint.test_can_fingerprints_01_CHEVROLET_VOLT()
      • TestGMFingerprint.test_can_fingerprints_02_BUICK_LACROSSE()
      • TestGMFingerprint.test_can_fingerprints_03_BUICK_REGAL()
      • TestGMFingerprint.test_can_fingerprints_04_CADILLAC_ATS()
      • TestGMFingerprint.test_can_fingerprints_05_CHEVROLET_MALIBU()
      • TestGMFingerprint.test_can_fingerprints_06_GMC_ACADIA()
      • TestGMFingerprint.test_can_fingerprints_07_CADILLAC_ESCALADE()
      • TestGMFingerprint.test_can_fingerprints_08_CADILLAC_ESCALADE_ESV()
      • TestGMFingerprint.test_can_fingerprints_09_CADILLAC_ESCALADE_ESV_2019()
      • TestGMFingerprint.test_can_fingerprints_10_CHEVROLET_BOLT_EUV()
      • TestGMFingerprint.test_can_fingerprints_11_CHEVROLET_SILVERADO()
      • TestGMFingerprint.test_can_fingerprints_12_CHEVROLET_EQUINOX()
  • Module contents

Submodules

selfdrive.car.gm.carcontroller module

class selfdrive.car.gm.carcontroller.CarController(dbc_name, CP, VM)

Bases: CarControllerBase

update(CC, CS, now_nanos)

selfdrive.car.gm.carstate module

class selfdrive.car.gm.carstate.CarState(CP)

Bases: CarStateBase

static get_cam_can_parser(CP)

static get_can_parser(CP)

static get_loopback_can_parser(CP)

update(pt_cp, cam_cp, loopback_cp)

selfdrive.car.gm.fingerprints module

selfdrive.car.gm.gmcan module

selfdrive.car.gm.gmcan.create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw)

selfdrive.car.gm.gmcan.create_adas_accelerometer_speed_status(bus, speed_ms, idx)

selfdrive.car.gm.gmcan.create_adas_headlights_status(packer, bus)

selfdrive.car.gm.gmcan.create_adas_keepalive(bus)

selfdrive.car.gm.gmcan.create_adas_steering_status(bus, idx)

selfdrive.car.gm.gmcan.create_adas_time_status(bus, tt, idx)

selfdrive.car.gm.gmcan.create_buttons(packer, bus, idx, button)

selfdrive.car.gm.gmcan.create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP)

selfdrive.car.gm.gmcan.create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop)

selfdrive.car.gm.gmcan.create_lka_icon_command(bus, active, critical, steer)

selfdrive.car.gm.gmcan.create_pscm_status(packer, bus, pscm_status)

selfdrive.car.gm.gmcan.create_steering_control(packer, bus, apply_steer, idx, lkas_active)

selfdrive.car.gm.interface module

class selfdrive.car.gm.interface.CarInterface(CP, CarController, CarState)

Bases: CarInterfaceBase

static get_pid_accel_limits(CP, current_speed, cruise_speed)

get_steer_feedforward_function()

static get_steer_feedforward_volt(desired_angle, v_ego)

torque_from_lateral_accel() → _StructModule object at 0x7f3810d68a90>, float, float, bool, bool], float]

torque_from_lateral_accel_neural(latcontrol_inputs: ~openpilot.selfdrive.car.interfaces.LatControlInputs, torque_params: <capnp.lib.capnp._StructModule object at 0x7f3810d68a90>, lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) → float

torque_from_lateral_accel_siglin(latcontrol_inputs: ~openpilot.selfdrive.car.interfaces.LatControlInputs, torque_params: <capnp.lib.capnp._StructModule object at 0x7f3810d68a90>, lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) → float

selfdrive.car.gm.radar_interface module

class selfdrive.car.gm.radar_interface.RadarInterface(CP)

Bases: RadarInterfaceBase

update(can_strings)

selfdrive.car.gm.radar_interface.create_radar_can_parser(car_fingerprint)

selfdrive.car.gm.values module

class selfdrive.car.gm.values.AccState

Bases: object

ACTIVE = 1

FAULTED = 3

OFF = 0

STANDSTILL = 4

class selfdrive.car.gm.values.CAR(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Platforms

BUICK_LACROSSE = 'BUICK_LACROSSE'

BUICK_REGAL = 'BUICK_REGAL'

CADILLAC_ATS = 'CADILLAC_ATS'

CADILLAC_ESCALADE = 'CADILLAC_ESCALADE'

CADILLAC_ESCALADE_ESV = 'CADILLAC_ESCALADE_ESV'

CADILLAC_ESCALADE_ESV_2019 = 'CADILLAC_ESCALADE_ESV_2019'

CHEVROLET_BOLT_EUV = 'CHEVROLET_BOLT_EUV'

CHEVROLET_EQUINOX = 'CHEVROLET_EQUINOX'

CHEVROLET_MALIBU = 'CHEVROLET_MALIBU'

CHEVROLET_SILVERADO = 'CHEVROLET_SILVERADO'

CHEVROLET_TRAILBLAZER = 'CHEVROLET_TRAILBLAZER'

CHEVROLET_VOLT = 'CHEVROLET_VOLT'

GMC_ACADIA = 'GMC_ACADIA'

HOLDEN_ASTRA = 'HOLDEN_ASTRA'

config: PlatformConfig

class selfdrive.car.gm.values.CanBus

Bases: object

CAMERA = 2

CHASSIS = 2

DROPPED = 192

LOOPBACK = 128

OBSTACLE = 1

POWERTRAIN = 0

class selfdrive.car.gm.values.CarControllerParams(CP)

Bases: object

ACCEL_MAX = 2.0

ACCEL_MIN = -4.0

ADAS_KEEPALIVE_STEP = 100

CAMERA_KEEPALIVE_STEP = 100

INACTIVE_STEER_STEP = 10

NEAR_STOP_BRAKE_PHASE = 0.5

STEER_DELTA_DOWN = 15

STEER_DELTA_UP = 10

STEER_DRIVER_ALLOWANCE = 65

STEER_DRIVER_FACTOR = 100

STEER_DRIVER_MULTIPLIER = 4

STEER_MAX = 300

STEER_STEP = 3

class selfdrive.car.gm.values.CruiseButtons

Bases: object

CANCEL = 6

DECEL_SET = 3

INIT = 0

MAIN = 5

RES_ACCEL = 2

UNPRESS = 1

class selfdrive.car.gm.values.GMASCMPlatformConfig(car_docs: list[openpilot.selfdrive.car.docs_definitions.CarDocs], specs: openpilot.selfdrive.car.CarSpecs, dbc_dict: dict[str, str] = <factory>, flags: int = 0, platform_str: str | None = None)

Bases: GMPlatformConfig

init()

class selfdrive.car.gm.values.GMCarDocs(name: str, package: str = 'Adaptive Cruise Control (ACC)', requirements: str | None = None, video_link: str | None = None, footnotes: list[enum.Enum] = <factory>, min_steer_speed: float | None = None, min_enable_speed: float | None = None, auto_resume: bool | None = None, car_parts: openpilot.selfdrive.car.docs_definitions.CarParts = <factory>)

Bases: CarDocs

init_make(CP: <capnp.lib.capnp._StructModule object at 0x7f3810d53d10>)

CarDocs subclasses can add make-specific logic for harness selection, footnotes, etc.

package: str = 'Adaptive Cruise Control (ACC)'

class selfdrive.car.gm.values.GMCarSpecs(*, mass: float, wheelbase: float, steerRatio: float, centerToFrontRatio: float = 0.5, minSteerSpeed: float = 0.0, minEnableSpeed: float = -1.0, tireStiffnessFactor: float = 0.444)

Bases: CarSpecs

tireStiffnessFactor: float = 0.444

class selfdrive.car.gm.values.GMPlatformConfig(car_docs: list[openpilot.selfdrive.car.docs_definitions.CarDocs], specs: openpilot.selfdrive.car.CarSpecs, dbc_dict: dict[str, str] = <factory>, flags: int = 0, platform_str: str | None = None)

Bases: PlatformConfig

dbc_dict: dict[str, str]

Module contents