Add SASCM to vehicle settings detection/stats

cereal/custom.capnp

@@ -105,7 +105,7 @@ struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
   isHDA2 @3 :Bool;
   openpilotLongitudinalControlDisabled @4 :Bool;
   safetyConfigs @5 :List(SafetyConfig);
-
+  canUseSASCM @6 :Bool;
 
   struct SafetyConfig {
     safetyParam @0 :UInt16;

frogpilot/common/frogpilot_variables.py

@@ -569,6 +569,7 @@ class FrogPilotVariables:
     toggle.has_pedal = CP.enableGasInterceptor
     has_radar = not CP.radarUnavailable
     toggle.has_sdsu = toggle.car_make == "toyota" and bool(CP.flags & ToyotaFlags.SMART_DSU.value)
+    toggle.has_sascm = toggle.car_make == "gm" and bool(CP.flags & GMFlags.SASCM.value)
     has_sng = CP.autoResumeSng
     toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.fpFlags & ToyotaFrogPilotFlags.ZSS.value)
     is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle

frogpilot/system/frogpilot_stats.py

@@ -178,6 +178,7 @@ def send_stats():
       .field("has_openpilot_longitudinal", frogpilot_toggles.openpilot_longitudinal)
       .field("has_pedal", frogpilot_toggles.has_pedal)
       .field("has_sdsu", frogpilot_toggles.has_sdsu)
+      .field("has_sascm", frogpilot_toggles.has_sascm)
       .field("has_zss", frogpilot_toggles.has_zss)
       .field("latitude", latitude)
       .field("longitude", longitude)

frogpilot/ui/qt/offroad/frogpilot_settings.cc

@@ -269,6 +269,7 @@ void FrogPilotSettingsWindow::updateVariables() {
     hasPedal = CP.getEnableGasInterceptor();
     hasRadar = !CP.getRadarUnavailable();
     hasSDSU = frogpilot_toggles.value("has_sdsu").toBool();
+    hasSASCM = frogpilot_toggles.value("has_sascm").toBool();
     hasSNG = hasOpenpilotLongitudinal && CP.getAutoResumeSng();
     hasZSS = frogpilot_toggles.value("has_zss").toBool();
     isAngleCar = CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE;
@@ -392,6 +393,7 @@ void FrogPilotSettingsWindow::updateVariables() {
 
     canUsePedal = FPCP.getCanUsePedal();
     canUseSDSU = FPCP.getCanUseSDSU();
+    canUseSASCM = FPCP.getCanUseSASCM();
     openpilotLongitudinalControlDisabled = FPCP.getOpenpilotLongitudinalControlDisabled();
   }
 

frogpilot/ui/qt/offroad/frogpilot_settings.h

@@ -13,6 +13,7 @@ public:
 
   bool canUsePedal = false;
   bool canUseSDSU = false;
+  bool canUseSASCM = false;
   bool forceOpenDescriptions = false;
   bool hasAutoTune = true;
   bool hasBSM = true;
@@ -24,6 +25,7 @@ public:
   bool hasPedal = false;
   bool hasRadar = true;
   bool hasSDSU = false;
+  bool hasSASCM = false;
   bool hasSNG = false;
   bool hasZSS = false;
   bool isAngleCar = false;

frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -189,6 +189,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     {"PedalSupport", tr("comma Pedal Support"), tr("<b>Does your vehicle support the \"comma pedal\"?</b>"), ""},
     {"OpenpilotLongitudinal", tr("openpilot Longitudinal Support"), tr("<b>Can openpilot control the vehicle's acceleration and braking?</b>"), ""},
     {"RadarSupport", tr("Radar Support"), tr("<b>Does openpilot use the vehicle's radar data</b> alongside the device's camera for tracking lead vehicles?"), ""},
+    {"SASCMSupport", tr("SASCM Support"), tr("<b>Does your vehicle support \"SASCMs\"?</b>"), ""},
     {"SDSUSupport", tr("SDSU Support"), tr("<b>Does your vehicle support \"SDSUs\"?</b>"), ""},
     {"SNGSupport", tr("Stop-and-Go Support"), tr("<b>Does your vehicle support stop-and-go driving?</b>"), ""}
   };
@@ -342,6 +343,7 @@ void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) {
 
   QStringList detected;
   if (hasPedal) detected << "comma Pedal";
+  if (parent->hasSASCM) detected << "SASCM";
   if (parent->hasSDSU) detected << "SDSU";
   if (parent->hasZSS) detected << "ZSS";
   static_cast<LabelControl*>(toggles["HardwareDetected"])->setText(detected.isEmpty() ? tr("None") : detected.join(", "));
@@ -350,6 +352,7 @@ void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) {
   static_cast<LabelControl*>(toggles["OpenpilotLongitudinal"])->setText(hasOpenpilotLongitudinal ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["PedalSupport"])->setText(parent->canUsePedal ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["RadarSupport"])->setText(parent->hasRadar ? tr("Yes") : tr("No"));
+  static_cast<LabelControl*>(toggles["SASCMSupport"])->setText(parent->canUseSASCM ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["SDSUSupport"])->setText(parent->canUseSDSU ? tr("Yes") : tr("No"));
   static_cast<LabelControl*>(toggles["SNGSupport"])->setText(hasSNG ? tr("Yes") : tr("No"));
 

frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -40,7 +40,7 @@ private:
   QSet<QString> hkgKeys = {"NewLongAPI", "TacoTuneHacks"};
   QSet<QString> longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "SNGHack", "VoltSNG"};
   QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
-  QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SDSUSupport", "SNGSupport"};
+  QSet<QString> vehicleInfoKeys = {"BlindSpotSupport", "HardwareDetected", "OpenpilotLongitudinal", "PedalSupport", "RadarSupport", "SASCMSupport", "SDSUSupport", "SNGSupport"};
 
   QSet<QString> parentKeys;
 

selfdrive/car/gm/interface.py

@@ -111,6 +111,11 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
     ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
+
+    # Detect Beartech SASCM allows openpilot longitudinal control on SDGM and ASCM_INT vehicles
+    if 0x2FF in fingerprint[0]:
+      ret.flags |= GMFlags.SASCM.value
+
     if PEDAL_MSG in fingerprint[0]:
       ret.enableGasInterceptor = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR

selfdrive/car/gm/values.py

@@ -258,6 +258,8 @@ class GMFlags(IntFlag):
   CC_LONG = 2
   NO_CAMERA = 4
   NO_ACCELERATOR_POS_MSG = 8
+  FORCE_BRAKE_C9 = 16
+  SASCM = 32
 
 
 # In a Data Module, an identifier is a string used to recognize an object,

selfdrive/car/interfaces.py

@@ -187,6 +187,7 @@ class CarInterfaceBase(ABC):
 
       elif platform in GMCAR:
         fp_ret.canUsePedal = True
+        fp_ret.canUseSASCM = True
 
       elif platform in HondaCAR:
         if candidate == HondaCAR.HONDA_CLARITY: