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gm: route SDGM cam-long friction brake to the correct bus

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Send EBCMFrictionBrakeCmd (0x315) where the EBCM receives it: SDGM+SASCM cars
off the SASCM's camera-bus (bus2) leg, bare SDGM on the powertrain bus. Whitelist
0x315 on the camera bus in GM_CAM_LONG_TX_MSGS. Requires a panda rebuild.
This commit is contained in:
Beartech
2026-07-09 11:15:09 -07:00
committed by firestar5683
parent 4f47f8cb0a
commit 637c3c820c
2 changed files with 9 additions and 1 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+8
View File
@@ -333,6 +333,14 @@ def get_friction_brake_bus(CP):
if CP.networkLocation == NetworkLocation.fwdCamera:
if CP.carFingerprint in SDGM_CAR:
# cam-long: 0x315 goes where the panda whitelist allows it and the EBCM hears it
safety_cfg = getattr(CP, "safetyConfigs", ())
safety_param = safety_cfg[0].safetyParam if safety_cfg else 0
if safety_param & GMSafetyFlags.HW_CAM_LONG.value:
# SASCM relays 0x315 to the EBCM off its camera-bus (bus2) leg; bare SDGM uses the pt bus
if CP.flags & GMFlags.SASCM.value:
return CanBus.CAMERA
return CanBus.POWERTRAIN
return CanBus.CAMERA
return CanBus.POWERTRAIN
opendbc_repo/opendbc/safety/modes/gm.h
+1 -1
View File
@@ -581,7 +581,7 @@ static safety_config gm_init(uint16_t param) {
// block PSCMStatus (0x184); forwarded through openpilot to hide an alert from the camera
static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x2CD, 0, 5, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, {0x3D1, 0, 8, .check_relay = false}, // pt bus
{0x184, 2, 8, .check_relay = true}, // camera bus
{0x184, 2, 8, .check_relay = true}, {0x315, 2, 5, .check_relay = false}, // camera bus (SASCM brake relay)
{0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus