suburban cam

opendbc_repo/opendbc/car/gm/fingerprints.py

@@ -213,6 +213,9 @@ FINGERPRINTS.update({
   CAR.CADILLAC_ESCALADE_ESV_2019_ASCM: [{**fp, SASCM_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CADILLAC_ESCALADE_ESV_2019]],
   CAR.CHEVROLET_SUBURBAN: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
   CAR.CHEVROLET_SUBURBAN_ASCM: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
+  CAR.CHEVROLET_SUBURBAN_CAMERA: [
+    {**fp, CAMERA_DIAGNOSTIC_ADDRESS: 8, CAMERA_DIAGNOSTIC_RX_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC]
+  ],
   CAR.GMC_YUKON_CC: FINGERPRINTS[CAR.GMC_YUKON],
   CAR.CADILLAC_XT6: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
   CAR.CADILLAC_XT5: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],

opendbc_repo/opendbc/car/gm/interface.py

@@ -306,7 +306,7 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value
 
     elif is_camera_acc:
-      ret.alphaLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptorDEPRECATED
+      ret.alphaLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ALT_ACCS) and not ret.enableGasInterceptorDEPRECATED
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True
       ret.pcmCruise = not ret.enableGasInterceptorDEPRECATED
@@ -522,7 +522,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_ASCM, CAR.CHEVROLET_SUBURBAN_CC):
+    elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_ASCM, CAR.CHEVROLET_SUBURBAN_CAMERA, CAR.CHEVROLET_SUBURBAN_CC):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 

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

@@ -28,7 +28,7 @@ import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gps import CHEVROLET_BOLT_GPS_CARS, CHEVROLET_BOLT_GPS_MESSAGES, get_car_gps_config, parse_chevrolet_bolt_can_gps
 from opendbc.car.gm.fingerprints import FINGERPRINTS
-from opendbc.car.gm.values import ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
+from opendbc.car.gm.values import ALT_ACCS, ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 
@@ -308,6 +308,54 @@ class TestGMInterface:
     assert ascm_params.lateralTuning.torque.latAccelFactor == pytest.approx(obd_params.lateralTuning.torque.latAccelFactor)
     assert ascm_params.lateralTuning.torque.friction == pytest.approx(obd_params.lateralTuning.torque.friction)
 
+  def test_suburban_camera_harness_preserves_stock_acc(self):
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN][0].copy()
+    fingerprint[2] = fingerprint[0].copy()
+
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA in CAMERA_ACC_CAR
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA in ALT_ACCS
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA not in CC_ONLY_CAR
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA not in ASCM_INT
+    assert all(fp[CAMERA_DIAGNOSTIC_ADDRESS] == 8 for fp in FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CAMERA])
+    assert all(fp[CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET] == 8 for fp in FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CAMERA])
+
+    camera_params = interfaces[CAR.CHEVROLET_SUBURBAN_CAMERA].get_params(
+      CAR.CHEVROLET_SUBURBAN_CAMERA,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert camera_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert camera_params.pcmCruise
+    assert not camera_params.alphaLongitudinalAvailable
+    assert not camera_params.openpilotLongitudinalControl
+    assert camera_params.safetyConfigs[0].safetyParam == GMSafetyFlags.HW_CAM.value
+
+  def test_suburban_cc_remains_no_acc_gateway_profile(self):
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC][0].copy()
+
+    cc_params = interfaces[CAR.CHEVROLET_SUBURBAN_CC].get_params(
+      CAR.CHEVROLET_SUBURBAN_CC,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert cc_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert cc_params.openpilotLongitudinalControl
+    assert not cc_params.pcmCruise
+    assert cc_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_CC_LONG.value
+    assert cc_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_ACC.value
+
   def test_lacrosse_obd_and_ascm_integrations_remain_separate(self):
     obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
       CAR.BUICK_LACROSSE,

opendbc_repo/opendbc/car/gm/values.py

@@ -361,6 +361,10 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Suburban Premier ASCM Harness 2016-20", "Adaptive Cruise Control (ACC) & LKAS")],
     CHEVROLET_SUBURBAN.specs,
   )
+  CHEVROLET_SUBURBAN_CAMERA = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Suburban Premier Camera Harness 2016-20", "Adaptive Cruise Control (ACC) & LKAS")],
+    CHEVROLET_SUBURBAN.specs,
+  )
   GMC_YUKON_CC = GMPlatformConfig(
     [GMCarDocs("GMC Yukon No-ACC 2019-20")],
     CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
@@ -551,6 +555,7 @@ CAMERA_ACC_CAR = {
   CAR.CHEVROLET_SILVERADO,
   CAR.CHEVROLET_EQUINOX,
   CAR.CHEVROLET_TRAILBLAZER,
+  CAR.CHEVROLET_SUBURBAN_CAMERA,
   CAR.CHEVROLET_VOLT_CAMERA,
   CAR.CHEVROLET_BLAZER,
   CAR.CHEVROLET_TRAX,
@@ -558,7 +563,7 @@ CAMERA_ACC_CAR = {
 }
 
 # Alt ASCMActiveCruiseControlStatus
-ALT_ACCS = {CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
+ALT_ACCS = {CAR.CHEVROLET_SUBURBAN_CAMERA, CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
 
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {

opendbc_repo/opendbc/car/tests/routes.py

@@ -36,6 +36,7 @@ non_tested_cars = [
   GM.CHEVROLET_MALIBU_SDGM,
   GM.CHEVROLET_SUBURBAN,
   GM.CHEVROLET_SUBURBAN_ASCM,
+  GM.CHEVROLET_SUBURBAN_CAMERA,
   GM.CHEVROLET_TRAX,
   GM.CHEVROLET_VOLT_ASCM,
   GM.CHEVROLET_VOLT_CAMERA,

opendbc_repo/opendbc/car/torque_data/substitute.toml

@@ -91,6 +91,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_MALIBU_ASCM" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU_SDGM" = "CHEVROLET_VOLT"
 "CHEVROLET_SUBURBAN_ASCM" = "CHEVROLET_SUBURBAN"
+"CHEVROLET_SUBURBAN_CAMERA" = "CHEVROLET_SUBURBAN"
 "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CAMERA" = "CHEVROLET_VOLT"