GM pcmCruise: cancel more reliably (commaai#25454)

* Cancel more reliably * Apply suggestions from code review * Try sending multiple * Apply suggestions from code review * Apply suggestions from code review * Update selfdrive/car/gm/carcontroller.py * lower rate a bit * try this * Update selfdrive/car/gm/carcontroller.py
garrettpall · Aug 19, 2022 · fe509e0 · fe509e0
1 parent 03b0744
commit fe509e0
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Showing 3 changed files with 10 additions and 4 deletions.
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
@@ -109,10 +109,10 @@ def update(self, CC, CS):
 
     else:
       # Stock longitudinal, integrated at camera
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if CC.cruiseControl.cancel:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
@@ -16,12 +16,14 @@ def __init__(self, CP):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.lka_steering_cmd_counter = 0
+    self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
     ret = car.CarState.new_message()
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -109,6 +111,7 @@ def get_can_parser(CP):
       ("AcceleratorPedal2", "AcceleratorPedal2"),
       ("CruiseState", "AcceleratorPedal2"),
       ("ACCButtons", "ASCMSteeringButton"),
+      ("RollingCounter", "ASCMSteeringButton"),
       ("SteeringWheelAngle", "PSCMSteeringAngle"),
       ("SteeringWheelRate", "PSCMSteeringAngle"),
       ("FLWheelSpd", "EBCMWheelSpdFront"),

diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
@@ -1,7 +1,10 @@
 from selfdrive.car import make_can_msg
 
-def create_buttons(packer, bus, button):
-  values = {"ACCButtons": button}
+def create_buttons(packer, bus, idx, button):
+  values = {
+    "ACCButtons": button,
+    "RollingCounter": idx,
+  }
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):