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one pedal update

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This commit is contained in:
firestar5683
2026-06-20 01:23:43 -05:00
parent a7b7148c25
commit 63490fe5e6
4 changed files with 63 additions and 5 deletions
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opendbc_repo/opendbc/car/gm/interface.py
+15
View File
@@ -691,6 +691,21 @@ class CarInterface(CarInterfaceBase):
# be present regardless of the current long-control mode.
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
volt_stock_one_pedal_safety = (
volt_one_pedal_mode and
candidate in {
CAR.CHEVROLET_VOLT,
CAR.CHEVROLET_VOLT_2019,
CAR.CHEVROLET_VOLT_ASCM,
CAR.CHEVROLET_VOLT_CAMERA,
}
)
if volt_stock_one_pedal_safety:
# Reuse the 3D1 scheduler bit as a Volt one-pedal marker on non-pedal
# ACC paths. The bit is ignored by the actual 3D1 scheduler unless the
# car is on a pedal-long CC-only path, so this stays isolated from Bolt.
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_PANDA_3D1_SCHED.value
use_panda_3d1_sched = (
ret.openpilotLongitudinalControl and
ret.enableGasInterceptorDEPRECATED and
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+1
View File
@@ -203,6 +203,7 @@ class TestGMInterface:
assert car_params.openpilotLongitudinalControl
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_3D1_SCHED.value
@parameterized.expand(VOLT_CARS)
def test_volt_bsm_is_enabled_without_fingerprint_match(self, car_model):
opendbc_repo/opendbc/safety/modes/gm.h
+12 -5
View File
@@ -61,6 +61,7 @@ static bool gm_panda_paddle_sched = false;
static bool gm_bolt_2022_pedal = false;
static bool gm_alt_brake = false;
static bool gm_volt_auto_hold = false;
static bool gm_volt_one_pedal = false;
static bool gm_cc_long = false;
static bool gm_has_acc = true;
@@ -366,8 +367,9 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
int brake = ((msg->data[0] & 0xFU) << 8) + msg->data[1];
brake = (0x1000 - brake) & 0xFFF;
bool stock_auto_hold_brake_allowed = gm_volt_auto_hold && !vehicle_moving && !gas_pressed_prev;
bool stock_one_pedal_brake_allowed = gm_volt_one_pedal && acc_main_on && !gas_pressed_prev && !brake_pressed;
bool violation = false;
violation |= !(get_longitudinal_allowed() || stock_auto_hold_brake_allowed) && (brake != 0);
violation |= !(get_longitudinal_allowed() || stock_auto_hold_brake_allowed || stock_one_pedal_brake_allowed) && (brake != 0);
if (stock_auto_hold_brake_allowed && !get_longitudinal_allowed()) {
violation |= brake > GM_VOLT_AUTO_HOLD_MAX_BRAKE;
} else {
@@ -699,6 +701,10 @@ static safety_config gm_init(uint16_t param) {
gm_panda_paddle_sched = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && gm_pedal_long && enable_gas_interceptor;
// Reuse the paddle-scheduler bit as a stock-Volt auto-hold marker on non-pedal ACC paths.
gm_volt_auto_hold = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && !gm_pedal_long && !gm_cc_long && gm_has_acc;
// Reuse the 3D1 scheduler bit as a stock-Volt one-pedal marker on non-pedal
// ACC paths. The actual 3D1 scheduler still requires pedal-long and no-ACC,
// so this stays isolated from the Bolt pedal path.
gm_volt_one_pedal = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && !gm_pedal_long && !gm_cc_long && gm_has_acc;
gm_alt_brake = GET_FLAG(param, GM_PARAM_NO_CAMERA) && (gm_hw == GM_ASCM) && !gm_sdgm && !gm_ascm_int;
gm_3d1_spoof_valid = false;
@@ -740,9 +746,10 @@ static safety_config gm_init(uint16_t param) {
safety_config ret;
const bool gm_sdgm_stock = gm_sdgm && !gm_cc_long && !gm_cam_long && !gm_no_camera;
const bool gm_volt_stock_brake = gm_volt_auto_hold || gm_volt_one_pedal;
// SDGM behaves like a forwarding camera path for whitelist/forwarding purposes.
if (gm_sdgm_stock) {
if (gm_volt_auto_hold) {
if (gm_volt_stock_brake) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_VOLT_AUTO_HOLD_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
@@ -764,16 +771,16 @@ static safety_config gm_init(uint16_t param) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
}
} else {
if (gm_volt_auto_hold && gm_sdgm) {
if (gm_volt_stock_brake && gm_sdgm) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_VOLT_AUTO_HOLD_TX_MSGS);
} else if (gm_no_camera) {
if (gm_volt_auto_hold) {
if (gm_volt_stock_brake) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_VOLT_AUTO_HOLD_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_TX_MSGS);
}
} else {
if (gm_volt_auto_hold) {
if (gm_volt_stock_brake) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_VOLT_AUTO_HOLD_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
opendbc_repo/opendbc/safety/tests/test_gm.py
+35
View File
@@ -585,6 +585,41 @@ class TestGmVoltAutoHoldCameraSafety(TestGmCameraSafetyBase):
self.assertFalse(self._tx(self._send_brake_msg(100)))
class TestGmVoltOnePedalCameraSafety(TestGmCameraSafetyBase):
TX_MSGS = TestGmCameraSafety.TX_MSGS + [[0x315, 0]]
EXTRA_SAFETY_PARAM = GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED | GMSafetyFlags.FLAG_GM_PANDA_3D1_SCHED
def setUp(self):
self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | self.EXTRA_SAFETY_PARAM)
self.safety.init_tests()
def _send_brake_msg(self, brake):
values = {"FrictionBrakeCmd": -brake}
return self.packer_chassis.make_can_msg_safety("EBCMFrictionBrakeCmd", 0, values)
def test_moving_brake_allowed_without_controls_when_main_on(self):
self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
self._rx(self._toggle_aol(True))
self.safety.set_controls_allowed(False)
self.assertTrue(self._tx(self._send_brake_msg(100)))
def test_moving_brake_blocked_without_main_on(self):
self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
self._rx(self._toggle_aol(False))
self.safety.set_controls_allowed(False)
self.assertFalse(self._tx(self._send_brake_msg(100)))
def test_gas_blocks_moving_brake_without_controls(self):
self._rx(self._speed_msg(self.STANDSTILL_THRESHOLD + 1))
self._rx(self._toggle_aol(True))
self._rx(self._user_gas_msg(True))
self.safety.set_controls_allowed(False)
self.assertFalse(self._tx(self._send_brake_msg(100)))
class TestGmVoltAutoHoldSdgmSafety(TestGmSafetyBase):
TX_MSGS = TestGmSdgmSafety.TX_MSGS + [[0x315, 2]]
EXTRA_SAFETY_PARAM = GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED