volt bsm

opendbc_repo/opendbc/car/gm/carstate.py

@@ -438,7 +438,7 @@ class CarState(CarStateBase):
         ("ASCMSteeringButton", 33),
       ]
       if CP.enableBsm:
-        pt_messages.append(("BCMBlindSpotMonitor", 10))
+        pt_messages.append(("BCMBlindSpotMonitor", 0))
 
     if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
       if ("ECMAcceleratorPos", 80) in pt_messages:
@@ -480,7 +480,7 @@ class CarState(CarStateBase):
           ("ASCMSteeringButton", 33),
         ]
         if CP.enableBsm:
-          cam_messages.append(("BCMBlindSpotMonitor", 10))
+          cam_messages.append(("BCMBlindSpotMonitor", 0))
       elif CP.carFingerprint in ASCM_INT:
         # Volt/ASCM-int variants don't reliably have AEBCmd present at startup,
         # but when it appears we still want to surface OEM AEB state.

opendbc_repo/opendbc/car/gm/interface.py

@@ -93,6 +93,14 @@ VOLT_LONG_TEST_TUNE_CARS = {
   CAR.CHEVROLET_VOLT_CC,
 }
 
+VOLT_BSM_CARS = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.CHEVROLET_VOLT_CC,
+}
+
 BOLT_PEDAL_LONG_CARS = {
   CAR.CHEVROLET_BOLT_CC_2017,
   CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -209,7 +217,8 @@ class CarInterface(CarInterfaceBase):
     ret.brand = "gm"
     ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
-    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
+    # Some Volt installs don't expose the BSM frame during startup fingerprinting.
+    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN] or candidate in VOLT_BSM_CARS
     has_sascm = 0x2FF in fingerprint[CanBus.POWERTRAIN]
     if has_sascm:
       ret.flags |= GMFlags.SASCM.value

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -132,6 +132,30 @@ class TestGMInterface:
     assert "ECMAcceleratorPos" not in pt_parser.vl
     assert "EBCMBrakePedalPosition" in pt_parser.vl
 
+  @parameterized.expand(VOLT_CARS)
+  def test_volt_bsm_is_enabled_without_fingerprint_match(self, car_model):
+    CarInterface = interfaces[car_model]
+    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
+                                         starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.enableBsm
+
+  def test_volt_bsm_parser_is_optional(self):
+    cp = SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
+      networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
+      flags=0,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+      enableGasInterceptorDEPRECATED=False,
+      enableBsm=True,
+    )
+
+    pt_parser = GMCarState.get_can_parsers(cp)[Bus.pt]
+    bsm_addr = pt_parser.dbc.name_to_msg["BCMBlindSpotMonitor"].address
+
+    assert "BCMBlindSpotMonitor" in pt_parser.vl
+    assert pt_parser.message_states[bsm_addr].ignore_alive
+
   def test_volt_ascm_cam_parser_includes_optional_aeb_cmd(self):
     cam_parser = GMCarState.get_can_parsers(SimpleNamespace(
       carFingerprint=CAR.CHEVROLET_VOLT_ASCM,