kaofui

panda/board/safety/safety_gm.h

@@ -52,7 +52,7 @@ const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0
                                  {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
 const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0xBD, 0, 7}, {0x1F5, 0, 8},   // pt bus
-                                      {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
+                                      {0x315, 2, 5}, {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
 const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
                                   {0x184, 2, 8}};  // camera bus
@@ -74,17 +74,17 @@ RxCheck gm_rx_checks[] = {
 
 const uint16_t GM_PARAM_HW_CAM = 1;
 const uint16_t GM_PARAM_HW_CAM_LONG = 2;
-const uint16_t GM_PARAM_HW_SDGM = 4;
-const uint16_t GM_PARAM_CC_LONG = 8;
-const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
-const uint16_t GM_PARAM_NO_CAMERA = 32;
-const uint16_t GM_PARAM_NO_ACC = 64;
-const uint16_t GM_PARAM_PEDAL_LONG = 128;  // TODO: this can be inferred
-const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256;
-const uint16_t GM_PARAM_BOLT_2017 = 512;
-const uint16_t GM_PARAM_BOLT_2022_PEDAL = 1024;
-const uint16_t GM_PARAM_ASCM_INT = 2048;
-const uint16_t GM_PARAM_FORCE_BRAKE_C9 = 4096;
+const uint16_t GM_PARAM_CC_LONG = 4;
+const uint16_t GM_PARAM_HW_ASCM_LONG = 8;
+const uint16_t GM_PARAM_NO_CAMERA = 16;
+const uint16_t GM_PARAM_NO_ACC = 32;
+const uint16_t GM_PARAM_PEDAL_LONG = 64;  // TODO: this can be inferred
+const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 128;
+const uint16_t GM_PARAM_ASCM_INT = 256;
+const uint16_t GM_PARAM_FORCE_BRAKE_C9 = 512;
+const uint16_t GM_PARAM_HW_SDGM = 1024;
+const uint16_t GM_PARAM_BOLT_2017 = 2048;
+const uint16_t GM_PARAM_BOLT_2022_PEDAL = 4096;
 const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
 
 enum {
@@ -348,9 +348,9 @@ static int gm_fwd_hook(int bus_num, int addr) {
 
 static safety_config gm_init(uint16_t param) {
   gm_ascm_int = GET_FLAG(param, GM_PARAM_ASCM_INT);
-  if GET_FLAG(param, GM_PARAM_HW_CAM) {
+  if (GET_FLAG(param, GM_PARAM_HW_CAM)) {
     gm_hw = GM_CAM;
-  } else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
+  } else if (GET_FLAG(param, GM_PARAM_HW_SDGM)) {
     gm_hw = GM_SDGM;
   } else {
     gm_hw = GM_ASCM;

panda/python/__init__.py

@@ -231,17 +231,17 @@ class Panda:
 
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
-  FLAG_GM_HW_SDGM = 4
-  FLAG_GM_CC_LONG = 8
-  FLAG_GM_HW_ASCM_LONG = 16
-  FLAG_GM_NO_CAMERA = 32
-  FLAG_GM_NO_ACC = 64
-  FLAG_GM_PEDAL_LONG = 128  # TODO: This can be inferred
-  FLAG_GM_GAS_INTERCEPTOR = 256
-  FLAG_GM_BOLT_2017 = 512
-  FLAG_GM_BOLT_2022_PEDAL = 1024
-  FLAG_GM_ASCM_INT = 2048
-  FLAG_GM_FORCE_BRAKE_C9 = 4096
+  FLAG_GM_CC_LONG = 4
+  FLAG_GM_HW_ASCM_LONG = 8
+  FLAG_GM_NO_CAMERA = 16
+  FLAG_GM_NO_ACC = 32
+  FLAG_GM_PEDAL_LONG = 64  # TODO: This can be inferred
+  FLAG_GM_GAS_INTERCEPTOR = 128
+  FLAG_GM_ASCM_INT = 256
+  FLAG_GM_FORCE_BRAKE_C9 = 512
+  FLAG_GM_HW_SDGM = 1024
+  FLAG_GM_BOLT_2017 = 2048
+  FLAG_GM_BOLT_2022_PEDAL = 4096
   FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
 
   FLAG_FORD_LONG_CONTROL = 1

selfdrive/car/gm/carcontroller.py

@@ -162,6 +162,13 @@ class CarController(CarControllerBase):
       CAR.CHEVROLET_MALIBU_CC,
       CAR.CHEVROLET_MALIBU_HYBRID_CC,
     }
+    volt_like = {
+      CAR.CHEVROLET_VOLT,
+      CAR.CHEVROLET_VOLT_2019,
+      CAR.CHEVROLET_VOLT_ASCM,
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+    }
 
     # Planner-driven regen hold: gate by car support and OP long active, use commanded accel thresholds
     if (self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR
@@ -553,7 +560,7 @@ class CarController(CarControllerBase):
                 CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
               self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
             self.malibu_cancel_frame += 1
-          elif self.CP.carFingerprint in SDGM_CAR:
+          elif self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in volt_like:
             can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
           else:
             cancel_bus = CanBus.POWERTRAIN if (self.CP.enableGasInterceptor and self.CP.carFingerprint == CAR.CHEVROLET_BOLT_CC_2022_2023) else CanBus.CAMERA

selfdrive/car/gm/interface.py

@@ -560,7 +560,8 @@ class CarInterface(CarInterfaceBase):
     # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
     below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
     if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
-                                       (self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
+                                       (self.CP.networkLocation == NetworkLocation.fwdCamera and
+                                        (self.CP.carFingerprint in VOLT_LIKE_CARS or self.CP.carFingerprint not in SDGM_CAR))):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill and not self.CP.autoResumeSng:
       events.add(EventName.resumeRequired)