mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-10 20:02:13 +08:00
Code Issues Packages Projects Releases Wiki Activity

3d1 spoof

Browse Source
This commit is contained in:
firestar5683
2026-03-24 20:01:57 -05:00
parent 1a9e5cf364
commit 291f63391b
2 changed files with 36 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo/opendbc/safety/modes/gm.h
+9 -15
View File
@@ -138,11 +138,6 @@ static bool gm_periodic_scheduler_ready(const GmPeriodicSpoofState *state, uint3
return state->phase_locked && !stock_stale && !feed_stale;
}
static bool gm_3d1_scheduler_ready(uint32_t now_us) {
bool stock_stale = (gm_3d1_last_stock_us == 0U) || (safety_get_ts_elapsed(now_us, gm_3d1_last_stock_us) > 300000U);
return gm_3d1_phase_locked && !stock_stale;
}
static void gm_try_send_periodic_spoof(uint32_t now_us, uint32_t addr, uint8_t dlc, GmPeriodicSpoofState *state, uint32_t period_us) {
if (!(gm_panda_paddle_sched && state->spoof_valid && (state->next_tx_us != 0U))) {
return;
@@ -439,8 +434,9 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
if (gm_3d1_next_tx_us == 0U) {
gm_3d1_next_tx_us = now_us + GM_3D1_TX_OFFSET_US;
}
bool scheduler_ready = gm_3d1_scheduler_ready(now_us);
tx = !scheduler_ready;
// In scheduler mode, OP feed frames are timing/data inputs only.
// Actual 0x3D1 transmission is panda-internal.
tx = false;
}
}
}
@@ -471,10 +467,9 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
}
}
bool scheduler_ready = gm_periodic_scheduler_ready(&gm_bd_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
if (scheduler_ready) {
tx = false;
}
// In scheduler mode, OP feed frames are timing/data inputs only.
// Actual 0xBD transmission is panda-internal.
tx = false;
}
}
@@ -496,10 +491,9 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
}
}
bool scheduler_ready = gm_periodic_scheduler_ready(&gm_prndl2_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
if (scheduler_ready) {
tx = false;
}
// In scheduler mode, OP feed frames are timing/data inputs only.
// Actual 0x1F5 transmission is panda-internal.
tx = false;
}
}
opendbc_repo/opendbc/safety/tests/test_gm.py
+27
View File
@@ -392,5 +392,32 @@ class TestGmCcLongitudinalSafety(TestGmCameraSafety):
self.assertEqual(enabled, self._tx(self._button_msg(btn)))
class TestGmCcLongitudinalPandaSchedSafety(TestGmCcLongitudinalSafety):
def setUp(self):
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(
CarParams.SafetyModel.gm,
GMSafetyFlags.HW_CAM |
GMSafetyFlags.FLAG_GM_NO_ACC |
GMSafetyFlags.FLAG_GM_CC_LONG |
GMSafetyFlags.FLAG_GM_PEDAL_LONG |
GMSafetyFlags.FLAG_GM_GAS_INTERCEPTOR |
GMSafetyFlags.FLAG_GM_PANDA_3D1_SCHED |
GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED,
)
self.safety.init_tests()
def test_3d1_feed_frame_blocked(self):
self.assertFalse(self._tx(self._pcm_status_msg(True)))
self.assertFalse(self._tx(self._pcm_status_msg(False)))
def test_paddle_feed_frames_blocked(self):
self.safety.set_controls_allowed(True)
self.assertFalse(self._tx(common.make_msg(0, 0xBD, 7)))
self.assertFalse(self._tx(common.make_msg(0, 0x1F5, 8)))
if __name__ == "__main__":
unittest.main()