opendbc: add Escalade ASCM support and drop GM dashcam gating

opendbc_repo/opendbc/car/gm/fingerprints.py

@@ -206,6 +206,7 @@ FINGERPRINTS.update({
   CAR.CHEVROLET_VOLT_CC: FINGERPRINTS[CAR.CHEVROLET_VOLT],
   CAR.GMC_ACADIA_ASCM: FINGERPRINTS[CAR.GMC_ACADIA],
   CAR.CHEVROLET_MALIBU_ASCM: FINGERPRINTS[CAR.CHEVROLET_MALIBU],
+  CAR.CADILLAC_ESCALADE_ASCM: FINGERPRINTS[CAR.CADILLAC_ESCALADE],
   CAR.CHEVROLET_SUBURBAN: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
   CAR.GMC_YUKON_CC: FINGERPRINTS[CAR.GMC_YUKON],
   CAR.CADILLAC_XT6: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],

opendbc_repo/opendbc/car/gm/interface.py

@@ -339,12 +339,6 @@ class CarInterface(CarInterfaceBase):
       ret.openpilotLongitudinalControl = False
       ret.minEnableSpeed = -1.
 
-    # These cars have been put into dashcam only due to both a lack of users and test coverage.
-    # These cars likely still work fine. Once a user confirms each car works and a test route is
-    # added to opendbc/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.CHEVROLET_MALIBU, CAR.BUICK_REGAL} or \
-                      (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
-
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
     ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
@@ -378,6 +372,9 @@ class CarInterface(CarInterfaceBase):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.CADILLAC_ESCALADE_ASCM:
+      CarInterfaceBase.configure_torque_tune(CAR.CADILLAC_ESCALADE, ret.lateralTuning)
+
     elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
 

opendbc_repo/opendbc/car/gm/values.py

@@ -287,6 +287,10 @@ class CAR(Platforms):
     [GMCarDocs("Cadillac Escalade 2017", "Driver Assist Package")],
     GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
   )
+  CADILLAC_ESCALADE_ASCM = GMPlatformConfig(
+    [GMCarDocs("Cadillac Escalade 2018 ASCM Harness", "Driver Assist Package")],
+    CADILLAC_ESCALADE.specs,
+  )
   CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
     [GMCarDocs("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS")],
     GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0),
@@ -557,7 +561,7 @@ CC_REGEN_PADDLE_CAR = {
 CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 
 # ASCM-INT paths are only enabled when SASCM (0x2FF) is detected at runtime
-ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM}
+ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM, CAR.CADILLAC_ESCALADE_ASCM}
 
 STEER_THRESHOLD = 1.0
 

opendbc_repo/opendbc/car/tests/routes.py

@@ -21,6 +21,7 @@ from opendbc.car.psa.values import CAR as PSA
 non_tested_cars = [
   MOCK.MOCK,
   GM.CADILLAC_ATS,
+  GM.CADILLAC_ESCALADE_ASCM,
   GM.HOLDEN_ASTRA,
   GM.CHEVROLET_MALIBU,
   HYUNDAI.GENESIS_G90,

opendbc_repo/opendbc/car/torque_data/substitute.toml

@@ -54,6 +54,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 
 "BUICK_LACROSSE" = "CHEVROLET_VOLT"
 "BUICK_REGAL" = "CHEVROLET_VOLT"
+"CADILLAC_ESCALADE_ASCM" = "CADILLAC_ESCALADE"
 "CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
 "CADILLAC_ATS" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"