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Kao Panda

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firestar5683
2025-10-01 23:22:48 -05:00
parent 34fb03993a
commit 52cfb685ef
2 changed files with 74 additions and 112 deletions
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panda/board/safety/safety_gm.h
+65 -104
View File
@@ -10,17 +10,17 @@ const SteeringLimits GM_STEERING_LIMITS = {
};
const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 3072,
.min_gas = 1404,
.inactive_gas = 1404,
.max_brake = 400,
.max_gas = 8191,
.min_gas = 5500,
.inactive_gas = 5500,
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 3400,
.min_gas = 1514,
.inactive_gas = 1554,
.max_brake = 400,
.max_gas = 8848,
.min_gas = 5610,
.inactive_gas = 5650,
.max_brake = 400,
};
const LongitudinalLimits *gm_long_limits;
@@ -40,35 +40,32 @@ const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
{0x315, 2, 5}, {0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
{0x184, 2, 8}}; // camera bus
const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
{0x184, 2, 8}, {0x1E1, 2, 7}}; // camera bus
// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
RxCheck gm_rx_checks[] = {
{.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, .frequency = 10U}, // Non-SDGM Car
{0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car
{.msg = {{0xF1, 0, 6, .frequency = 10U}, // Non-SDGM Car
{0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
{.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0xF1, 0, 6, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
};
const uint16_t GM_PARAM_HW_CAM = 1;
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
const uint16_t GM_PARAM_HW_SDGM = 4;
const uint16_t GM_PARAM_CC_LONG = 8;
const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
const uint16_t GM_PARAM_NO_CAMERA = 32;
const uint16_t GM_PARAM_NO_ACC = 64;
const uint16_t GM_PARAM_PEDAL_LONG = 128; // TODO: this can be inferred
const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256;
const uint16_t GM_PARAM_CC_LONG = 4;
const uint16_t GM_PARAM_HW_ASCM_LONG = 8;
const uint16_t GM_PARAM_NO_CAMERA = 16;
const uint16_t GM_PARAM_NO_ACC = 32;
const uint16_t GM_PARAM_PEDAL_LONG = 64; // TODO: this can be inferred
const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 128;
const uint16_t GM_PARAM_ASCM_INT = 256;
const uint16_t GM_PARAM_FORCE_BRAKE_C9 = 512;
const uint16_t GM_PARAM_HW_SDGM = 1024;
enum {
GM_BTN_UNPRESS = 1,
@@ -90,30 +87,9 @@ bool gm_pedal_long = false;
bool gm_cc_long = false;
bool gm_skip_relay_check = false;
bool gm_force_ascm = false;
static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
// enter controls on falling edge of set or rising edge of resume (avoids fault)
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
if (set || res) {
controls_allowed = true;
}
// exit controls on cancel press
if (button == GM_BTN_CANCEL) {
controls_allowed = false;
}
cruise_button_prev = button;
}
bool gm_force_brake_c9 = false;
static void gm_rx_hook(const CANPacket_t *to_push) {
if ((GET_BUS(to_push) == 2U) && (GET_ADDR(to_push) == 0x1E1) && (gm_hw == GM_SDGM)) {
// SDGM buttons are on bus 2
handle_gm_wheel_buttons(to_push);
}
if (GET_BUS(to_push) == 0U) {
int addr = GET_ADDR(to_push);
@@ -131,19 +107,35 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
}
// ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM)
if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long) && (gm_hw != GM_SDGM)) {
handle_gm_wheel_buttons(to_push);
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long)) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
// enter controls on falling edge of set or rising edge of resume (avoids fault)
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
if (set || res) {
controls_allowed = true;
}
// exit controls on cancel press
if (button == GM_BTN_CANCEL) {
controls_allowed = false;
}
cruise_button_prev = button;
}
// Reference for brake pressed signals:
// https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
// Prefer 0xC9 (ECMEngineStatus) when gm_force_brake_c9 is set, otherwise keep legacy behavior.
// This allows SDGM/Traverse variants without 0xBE (ECMAcceleratorPos) to report brake correctly.
if ((addr == 0xC9) && gm_force_brake_c9) {
brake_pressed = GET_BIT(to_push, 40U) != 0U;
} else if ((addr == 0xBE) && ((gm_hw == GM_ASCM) || (gm_hw == GM_SDGM))) {
brake_pressed = GET_BYTE(to_push, 1) >= 8U;
}
if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
brake_pressed = GET_BIT(to_push, 40U);
} else if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
brake_pressed = GET_BIT(to_push, 40U) != 0U;
}
if (addr == 0xC9) {
@@ -172,13 +164,6 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
}
// Cruise check for ACC models with pedal interceptor - block stock ACC
if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor) {
// When pedal interceptor is active on ACC models, ignore stock cruise state
// to prevent conflicts between pedal interceptor and stock ACC
cruise_engaged_prev = false;
}
if (addr == 0xBD) {
regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
}
@@ -203,7 +188,13 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
int addr = GET_ADDR(to_push);
if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U; // ACCCmdActive
cruise_engaged_prev = cruise_engaged;
// Align SDGM/camera PCM cruise behavior with ASCM path: when using stock PCM cruise,
// drive controls_allowed via pcm_cruise_check on ACC engaged edges.
if (gm_pcm_cruise && gm_has_acc) {
pcm_cruise_check(cruise_engaged);
} else {
cruise_engaged_prev = cruise_engaged;
}
}
}
@@ -242,10 +233,10 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
// GAS/REGEN: safety check
if (addr == 0x2CB) {
bool apply = GET_BIT(to_send, 0U);
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
bool violation = false;
// Allow apply bit in pre-enabled and overriding states, except for inactive gas // Allow apply bit in pre-enabled and overriding states
// Allow apply bit in pre-enabled and overriding states
violation |= !controls_allowed && apply;
violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
@@ -259,13 +250,8 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
// For ACC cars with pedal interceptor, allow cancel even if cruise_engaged_prev is false
// (since we set it to false to prevent conflicts, but still need to cancel cruise)
if (gm_hw == GM_CAM && enable_gas_interceptor && button == GM_BTN_CANCEL) {
allowed_btn = true;
}
// For standard CC, allow spamming of SET / RESUME
if (gm_cc_long) {
// For CC_LONG or PCM cruise vehicles, allow SET/RESUME when cruise is engaged
if (gm_cc_long || gm_pcm_cruise) {
allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
}
@@ -273,23 +259,6 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
tx = false;
}
}
// REGEN PADDLE
if (addr == 0xBD) {
bool regen_apply = GET_BIT(to_send, 7) || GET_BIT(to_send, 6) || GET_BIT(to_send, 5) || GET_BIT(to_send, 4);
if (!controls_allowed && regen_apply) {
tx = false;
}
}
// PRNDL2 regen check (7 for Gen0, Gen1. 5 For Gen2)
if (addr == 0x1F5) {
uint8_t prndl2 = GET_BYTE(to_send, 3) & 0xF;
bool prndl_apply = (prndl2 == 7) || (prndl2 == 5);
if (!controls_allowed && prndl_apply) {
tx = false;
}
}
return tx;
}
@@ -306,13 +275,9 @@ static int gm_fwd_hook(int bus_num, int addr) {
}
if (bus_num == 2) {
// block lkas message and acc messages
// Block 0x370 only for experimental long without pedal interceptor
// block lkas message and acc messages if gm_cam_long, forward all others
bool is_lkas_msg = (addr == 0x180);
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
if (gm_cam_long && !enable_gas_interceptor) {
is_acc_msg = is_acc_msg || (addr == 0x370);
}
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
if (!block_msg) {
bus_fwd = 0;
@@ -324,9 +289,10 @@ static int gm_fwd_hook(int bus_num, int addr) {
}
static safety_config gm_init(uint16_t param) {
if GET_FLAG(param, GM_PARAM_HW_CAM) {
const bool gm_ascm_int = GET_FLAG(param, GM_PARAM_ASCM_INT);
if (GET_FLAG(param, GM_PARAM_HW_CAM)) {
gm_hw = GM_CAM;
} else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
} else if (GET_FLAG(param, GM_PARAM_HW_SDGM)) {
gm_hw = GM_SDGM;
} else {
gm_hw = GM_ASCM;
@@ -334,7 +300,7 @@ static safety_config gm_init(uint16_t param) {
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
if (gm_hw == GM_ASCM || gm_force_ascm) {
if (gm_hw == GM_ASCM || gm_force_ascm || gm_ascm_int) {
gm_long_limits = &GM_ASCM_LONG_LIMITS;
} else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
gm_long_limits = &GM_CAM_LONG_LIMITS;
@@ -344,14 +310,11 @@ static safety_config gm_init(uint16_t param) {
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
// Block ACC messages when pedal interceptor is active on ACC models
if (gm_hw == GM_CAM && enable_gas_interceptor) {
gm_cam_long = true;
}
gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
gm_pcm_cruise = (((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
if (gm_hw == GM_CAM) {
@@ -362,8 +325,6 @@ static safety_config gm_init(uint16_t param) {
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
}
} else if (gm_hw == GM_SDGM) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
}
return ret;
}
panda/python/__init__.py
+9 -8
View File
@@ -211,7 +211,6 @@ class Panda:
FLAG_HYUNDAI_ALT_LIMITS = 64
FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
FLAG_HYUNDAI_LFA_BTN = 256
FLAG_HYUNDAI_TACO_TUNE_HACK = 512
FLAG_TESLA_POWERTRAIN = 1
FLAG_TESLA_LONG_CONTROL = 2
@@ -231,13 +230,15 @@ class Panda:
FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
FLAG_GM_HW_SDGM = 4
FLAG_GM_CC_LONG = 8
FLAG_GM_HW_ASCM_LONG = 16
FLAG_GM_NO_CAMERA = 32
FLAG_GM_NO_ACC = 64
FLAG_GM_PEDAL_LONG = 128 # TODO: This can be inferred
FLAG_GM_GAS_INTERCEPTOR = 256
FLAG_GM_CC_LONG = 4
FLAG_GM_HW_ASCM_LONG = 8
FLAG_GM_NO_CAMERA = 16
FLAG_GM_NO_ACC = 32
FLAG_GM_PEDAL_LONG = 64 # TODO: This can be inferred
FLAG_GM_GAS_INTERCEPTOR = 128
FLAG_GM_ASCM_INT = 256
FLAG_GM_FORCE_BRAKE_C9 = 512
FLAG_GM_HW_SDGM = 1024
FLAG_FORD_LONG_CONTROL = 1
FLAG_FORD_CANFD = 2