gas scaling

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -118,11 +118,12 @@ def create_adas_keepalive(bus):
 def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop, include_always_one3=False):
   # Keep GM camera-long GasRegen bytes aligned with StarPilot's legacy layout.
   # The regenerated DBC shape does not pack to the same wire format on Global A.
+  throttle = int(throttle)
   dat = bytearray(8)
   dat[0] = ((idx & 0x3) << 6) | int(enabled)
-  dat[1] = 0x42 | (0x20 if at_full_stop else 0x00)
+  dat[1] = 0x42 | (0x20 if at_full_stop else 0x00) | ((throttle >> 13) & 0x1)
 
-  cmd = int(throttle) << 3
+  cmd = throttle << 3
   dat[2] = (cmd >> 8) & 0xFF
   dat[3] = cmd & 0xFF
   if include_always_one3:

opendbc_repo/opendbc/safety/modes/gm.h

@@ -383,8 +383,7 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
   // GAS/REGEN: safety check
   if (msg->addr == 0x2CBU) {
     bool apply = GET_BIT(msg, 0U);
-    // convert float CAN signal to an int for gas checks: 22534 / 0.125 = 180272
-    int gas_regen = (((msg->data[1] & 0x7U) << 16) | (msg->data[2] << 8) | msg->data[3]) - 180272U;
+    int gas_regen = ((msg->data[1] & 0x1U) << 13) | (msg->data[2] << 5) | ((msg->data[3] & 0xF8U) >> 3);
 
     bool violation = false;
     // Allow apply bit in pre-enabled and overriding states
@@ -545,13 +544,10 @@ static safety_config gm_init(uint16_t param) {
   const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
   const uint16_t GM_PARAM_PANDA_PADDLE_SCHED = 32768;
 
-  // common safety checks assume unscaled integer values
-  static const int GM_GAS_TO_CAN = 8;  // 1 / 0.125
-
   static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-    .max_gas = 1018 * GM_GAS_TO_CAN,
-    .min_gas = -650 * GM_GAS_TO_CAN,
-    .inactive_gas = -650 * GM_GAS_TO_CAN,
+    .max_gas = 8191,
+    .min_gas = 5500,
+    .inactive_gas = 5500,
     .max_brake = 400,
   };
 
@@ -566,9 +562,9 @@ static safety_config gm_init(uint16_t param) {
 
 
   static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-    .max_gas = 1346 * GM_GAS_TO_CAN,
-    .min_gas = -540 * GM_GAS_TO_CAN,
-    .inactive_gas = -500 * GM_GAS_TO_CAN,
+    .max_gas = 8848,
+    .min_gas = 5610,
+    .inactive_gas = 5650,
     .max_brake = 400,
   };