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firestar5683
2026-02-11 08:21:13 -06:00
parent 25d904d146
commit 17f38ea13e
3 changed files with 59 additions and 13 deletions
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panda/board/safety/safety_gm.h
+1 -4
View File
@@ -336,8 +336,7 @@ static int gm_fwd_hook(int bus_num, int addr) {
} else {
// block lkas message and acc messages if gm_cam_long, forward all others
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
const bool block_pscm = (gm_hw == GM_SDGM) || gm_ascm_int;
block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long) || (block_pscm && (addr == 0x184));
block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
}
if (!block_msg) {
bus_fwd = 0;
@@ -391,8 +390,6 @@ static safety_config gm_init(uint16_t param) {
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
}
} else if (gm_hw == GM_SDGM) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
}
return ret;
}
selfdrive/car/gm/carstate.py
+29 -6
View File
@@ -39,7 +39,14 @@ class CarState(CarStateBase):
ret = car.CarState.new_message()
fp_ret = custom.FrogPilotCarState.new_message()
volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in volt_like
kaofui_state_cars = volt_like | {
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and \
self.CP.carFingerprint not in kaofui_state_cars
self.prev_cruise_buttons = self.cruise_buttons
self.prev_distance_button = self.distance_button
@@ -210,7 +217,14 @@ class CarState(CarStateBase):
messages = []
if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
sdgm_non_volt = CP.carFingerprint in SDGM_CAR and CP.carFingerprint not in volt_like
kaofui_state_cars = volt_like | {
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
CP.carFingerprint not in kaofui_state_cars
messages += [
("ASCMLKASteeringCmd", 10),
]
@@ -248,16 +262,24 @@ class CarState(CarStateBase):
]
volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
sdgm_non_volt = CP.carFingerprint in SDGM_CAR and CP.carFingerprint not in volt_like
kaofui_state_cars = volt_like | {
CAR.CHEVROLET_BLAZER,
CAR.CHEVROLET_MALIBU_SDGM,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
prndl2_rate = 10 if CP.carFingerprint in kaofui_state_cars else 40
sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
CP.carFingerprint not in kaofui_state_cars
if sdgm_non_volt:
messages += [
("ECMPRDNL2", 40),
("ECMPRDNL2", prndl2_rate),
("AcceleratorPedal2", 40),
("ECMEngineStatus", 80),
]
else:
messages += [
("ECMPRDNL2", 40),
("ECMPRDNL2", prndl2_rate),
("AcceleratorPedal2", 33),
("ECMEngineStatus", 100),
("BCMTurnSignals", 1),
@@ -278,8 +300,9 @@ class CarState(CarStateBase):
messages.append(("EBCMBrakePedalPosition", 100))
if CP.transmissionType == TransmissionType.direct:
regen_paddle_rate = 50 if CP.carFingerprint in kaofui_state_cars else 40
messages += [
("EBCMRegenPaddle", 40),
("EBCMRegenPaddle", regen_paddle_rate),
("EVDriveMode", 0),
]
selfdrive/car/gm/interface.py
+29 -3
View File
@@ -179,9 +179,35 @@ class CarInterface(CarInterfaceBase):
is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_CC_2022_2023 and ret.enableGasInterceptor
is_camera_acc = (candidate in CAMERA_ACC_CAR and candidate not in CC_ONLY_CAR and candidate not in kaofui_cars) or \
(candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC)
if is_camera_acc:
kaofui_camera_cars = {
CAR.CHEVROLET_VOLT_CAMERA,
CAR.CHEVROLET_VOLT_CC,
CAR.CHEVROLET_MALIBU_CC,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
is_camera_acc = candidate in CAMERA_ACC_CAR and candidate not in CC_ONLY_CAR and candidate not in kaofui_cars
if candidate in kaofui_camera_cars:
# Keep Volt/Malibu camera path functionally aligned with kaofui.
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
ret.pcmCruise = True
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
# Tuning for experimental long
ret.longitudinalTuning.kiV = [0.5, 0.5]
ret.stoppingDecelRate = 1.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.stopAccel = -0.25
if ret.experimentalLongitudinalAvailable and experimental_long:
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
elif is_camera_acc:
# TorqueTune camera-ACC behavior
ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
ret.networkLocation = NetworkLocation.fwdCamera