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Keep GM safety checks explicit and remove unreachable forwarding

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firestar5683
2026-10-22 22:12:36 -05:00
parent 107e99a5fc
commit 4e956b46ec
2 changed files with 26 additions and 7 deletions
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opendbc_repo/opendbc/safety/modes/gm.h
+11 -7
View File
@@ -409,7 +409,11 @@ static void gm_rx_hook(const CANPacket_t *msg) {
if (gm_malibu_cc_f1 || gm_volt_cc_f1) {
if (msg_matches(msg, 0xF1U, 0U) && (GET_LEN(msg) == 6U)) {
gm_malibu_f1_brake = gm_volt_cc_f1 ? (msg->data[1] >= 6U) : ((msg->data[1] >= 21U) || GET_BIT(msg, 1U));
if (gm_volt_cc_f1) {
gm_malibu_f1_brake = msg->data[1] >= 6U;
} else {
gm_malibu_f1_brake = (msg->data[1] >= 21U) || GET_BIT(msg, 1U);
}
}
if (msg_matches(msg, 0xC9U, 0U) && (GET_LEN(msg) == 8U)) {
gm_malibu_c9_brake = GET_BIT(msg, 40U);
@@ -551,9 +555,7 @@ static bool gm_ascm_adas_valid(const CANPacket_t *msg) {
return valid;
}
static bool gm_tx_hook(const CANPacket_t *msg) {
// This topology has no camera-side receiver after harness interception.
if (gm_volt_camera_removed && (msg->bus == 2U)) { return false; }
static bool gm_vehicle_tx_hook(const CANPacket_t *msg) {
const TorqueSteeringLimits GM_STEERING_LIMITS = {
.max_torque = 300,
.max_rate_up = 10,
@@ -862,6 +864,11 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
return tx;
}
static bool gm_tx_hook(const CANPacket_t *msg) {
// This topology has no camera-side receiver after harness interception.
return !(gm_volt_camera_removed && (msg->bus == 2U)) && gm_vehicle_tx_hook(msg);
}
static bool gm_fwd_hook(int bus_num, int addr) {
const bool dashboard_owned = gm_acc_pedal_dashboard_current() && gm_acc_pedal_dashboard_seen &&
(safety_get_ts_elapsed(microsecond_timer_get(), gm_acc_pedal_dashboard_us) <= 100000U);
@@ -878,9 +885,6 @@ static bool gm_fwd_hook(int bus_num, int addr) {
(gm_ordinary_camera_removed && (bus_num == 0) && (addr == 0x184)) ||
(gm_ordinary_camera_removed && (bus_num == 2) && ((addr == 0x180) ||
(gm_ordinary_camera_removed_long && ((addr == 0x315) || (addr == 0x2CB) || (addr == 0x370) || (addr == 0x2CD))))) ||
(gm_volt_camera_removed && (bus_num == 0) && (addr == 0x184)) ||
(gm_volt_camera_removed && (bus_num == 2) && ((addr == 0x180) ||
(gm_volt_removed_long && ((addr == 0x315) || (addr == 0x2CB) || (addr == 0x370) || (addr == 0x2CD))))) ||
(gm_sdgm && (bus_num == 0) && (addr == 0x184)) ||
((gm_volt_sdgm_long || gm_ordinary_sdgm_long) && (bus_num == 2) && ((addr == 0x315) || (addr == 0x2CD))) ||
(gm_pedal_acc && (bus_num == 2) && (addr == 0x315) && gm_pedal_owns_longitudinal() && gm_pedal_main_ready() &&
opendbc_repo/opendbc/safety/tests/test_gm_volt_camera_removed.py
+15
View File
@@ -117,6 +117,21 @@ class TestGmVoltCameraRemoved(unittest.TestCase):
self.mode(0xC150)
self.assertFalse(self.safety.safety_tx_hook(self.packet(gmcan.create_buttons(self.packer, 0, 0, 6))))
def test_removed_camera_blocks_all_forwarding_and_stock_mode_recovers(self):
for word in (0xC150, 0xC151):
if word == 0xC151 and self.release:
continue
self.mode(word)
# The harness has no bus-2 camera receiver. All traffic is withdrawn by
# the global forwarding gate, including identifiers unknown to GM's list.
for bus in (0, 1, 2):
for address in (*range(0x800), 0x18DA10F1, 0x1FFFFFFF):
self.assertEqual(self.safety.safety_fwd_hook(bus, address), -1, (word, bus, address))
# A later connected-camera owner must restore its ordinary forwarding.
self.mode(5)
self.assertEqual(self.safety.safety_fwd_hook(0, 0x123), 2)
self.assertEqual(self.safety.safety_fwd_hook(2, 0x123), 0)
def test_neutral_checksum_cadence_and_timer_wrap(self):
self.mode(0xC150)
self.rx('ECMEngineStatus', {'CruiseMainOn': 1})