cyanara

opendbc_repo/opendbc/car/car_helpers.py

@@ -56,6 +56,20 @@ GM_CANDIDATE_PREFIXES = ("CHEVROLET_", "GMC_", "CADILLAC_", "BUICK_", "HOLDEN_")
 GM_CORE_FINGERPRINT_MSGS = frozenset((190, 201, 209, 211, 241))
 GM_CAMERA_BUS = 2
 GM_VOLT_CAMERA_MSG = 0x320
+GM_SUBURBAN_CAMERA_VIN_PREFIX = "1GNSKJKJ"
+GM_SUBURBAN_CAMERA_PT_SIGNATURE = {
+  190: 6,
+  201: 8,
+  209: 7,
+  211: 2,
+  241: 6,
+  304: 1,
+  320: 3,
+}
+GM_CAMERA_DIAGNOSTIC_MESSAGES = {
+  0x24b: 8,
+  0x64b: 8,
+}
 
 
 def _normalize_forced_candidate(candidate: str | None) -> str | None:
@@ -152,6 +166,24 @@ def _normalize_gm_volt_candidate(candidate: str | None, fingerprints: dict[int,
   return candidate
 
 
+def _normalize_gm_suburban_camera_candidate(candidate: str | None, fingerprints: dict[int, dict], vin: str | None) -> str | None:
+  """Resolve the 2019 Suburban camera-harness variant when CAN is shared with Yukon."""
+  if candidate not in (None, "GMC_YUKON", "GMC_YUKON_CC"):
+    return candidate
+
+  if not isinstance(vin, str) or not vin.startswith(GM_SUBURBAN_CAMERA_VIN_PREFIX):
+    return candidate
+
+  powertrain = fingerprints.get(0, {})
+  camera = fingerprints.get(GM_CAMERA_BUS, {})
+  if not all(powertrain.get(address) == length for address, length in GM_SUBURBAN_CAMERA_PT_SIGNATURE.items()):
+    return candidate
+  if not all(camera.get(address) == length for address, length in GM_CAMERA_DIAGNOSTIC_MESSAGES.items()):
+    return candidate
+
+  return "CHEVROLET_SUBURBAN_CAMERA"
+
+
 def _is_gm_candidate(candidate: str | None) -> bool:
   return isinstance(candidate, str) and candidate.startswith(GM_CANDIDATE_PREFIXES)
 
@@ -307,6 +339,10 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
   stored_candidate = _normalize_forced_candidate(params.get("CarModel"))
   cached_candidate = _normalize_forced_candidate(getattr(cached_params, "carFingerprint", None))
 
+  if candidate is None and stored_candidate is None and cached_candidate is None:
+    candidate = _normalize_gm_suburban_camera_candidate(candidate, fingerprints, vin)
+    fingerprinted_candidate = candidate
+
   if candidate is None:
     gm_fallback_candidate = _get_gm_stored_candidate_fallback(fingerprints, stored_candidate, cached_candidate)
     if gm_fallback_candidate is not None:

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -1159,9 +1159,12 @@ class CarController(CarControllerBase):
           if should_send_cc_button_spam(self.CP, CC, CS):
             if self.CP.carFingerprint != CAR.CADILLAC_XT4_CC:
               # Using extend instead of append since the message is only sent intermittently
-              lead_visible = bool(getattr(CS, "openpilot_lead_visible", CC.hudControl.leadVisible))
+              longitudinal_adjustment_active = bool(getattr(
+                CS, "openpilot_longitudinal_adjustment_active", CC.hudControl.leadVisible,
+              ))
               can_sends.extend(gmcan.create_gm_cc_spam_command(
-                self.packer_pt, self, CS, actuators, starpilot_toggles, lead_visible=lead_visible,
+                self.packer_pt, self, CS, actuators, starpilot_toggles,
+                longitudinal_adjustment_active=longitudinal_adjustment_active,
               ))
           else:
             if (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and

opendbc_repo/opendbc/car/gm/fingerprints.py

@@ -213,9 +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]
-  ],
+  # The camera-harness Suburban shares the observed CAN map with the 2019 Yukon;
+  # VIN and camera-bus diagnostics disambiguate it during live fingerprinting.
+  CAR.CHEVROLET_SUBURBAN_CAMERA: FINGERPRINTS[CAR.GMC_YUKON],
   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/gmcan.py

@@ -32,7 +32,7 @@ VOLT_CC_CARS = {
   CAR.CHEVROLET_VOLT_CC,
 }
 VOLT_CC_FREE_REQUEST_DEADBAND_MPH = 5.0
-VOLT_CC_LEAD_REQUEST_DEADBAND_MPH = 2.0
+VOLT_CC_ACTIVE_REQUEST_DEADBAND_MPH = 2.0
 
 
 def malibu_phase_map_for_button(button):
@@ -341,12 +341,15 @@ def stabilize_bolt_cc_button(controller, CP, requested_button):
   return requested_button
 
 
-def _create_volt_cc_spam_command(CS, actuators, ms_convert, lead_visible):
+def _create_volt_cc_spam_command(CS, actuators, ms_convert, longitudinal_adjustment_active):
   accel = float(actuators.accel)
   speed_setpoint = int(round(CS.out.cruiseState.speed * ms_convert))
   ego_speed = CS.out.vEgo * ms_convert
   requested_setpoint = (CS.out.vEgo * 1.01 + 3 * accel) * ms_convert
-  deadband_mph = VOLT_CC_LEAD_REQUEST_DEADBAND_MPH if lead_visible else VOLT_CC_FREE_REQUEST_DEADBAND_MPH
+  deadband_mph = (
+    VOLT_CC_ACTIVE_REQUEST_DEADBAND_MPH if longitudinal_adjustment_active
+    else VOLT_CC_FREE_REQUEST_DEADBAND_MPH
+  )
   request_deadband = deadband_mph * (CV.MPH_TO_KPH if ms_convert == CV.MS_TO_KPH else 1.0)
 
   target_setpoint = None
@@ -361,6 +364,9 @@ def _create_volt_cc_spam_command(CS, actuators, ms_convert, lead_visible):
   )
   if target_setpoint is not None and accel > 0.0 and speed_setpoint >= target_setpoint:
     return CruiseButtons.INIT, float("inf")
+  if (target_setpoint is not None and accel < 0.0 and speed_setpoint <= target_setpoint and
+      not longitudinal_adjustment_active):
+    return CruiseButtons.INIT, float("inf")
 
   if not moving_toward_target and abs(requested_setpoint - speed_setpoint) <= request_deadband:
     return CruiseButtons.INIT, float("inf")
@@ -382,7 +388,7 @@ def _create_volt_cc_spam_command(CS, actuators, ms_convert, lead_visible):
   return CruiseButtons.RES_ACCEL, rate
 
 
-def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles, lead_visible=False):
+def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles, longitudinal_adjustment_active=False):
   accel = actuators.accel
   v_ego = CS.out.vEgo
   cruise_btn = CruiseButtons.INIT
@@ -397,7 +403,7 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
   comparison_setpoint = projected_setpoint if bolt_cc else desired_setpoint
 
   if CS.CP.carFingerprint in VOLT_CC_CARS:
-    cruise_btn, rate = _create_volt_cc_spam_command(CS, actuators, ms_convert, lead_visible)
+    cruise_btn, rate = _create_volt_cc_spam_command(CS, actuators, ms_convert, longitudinal_adjustment_active)
   else:
     if CS.CP.minEnableSpeed - (desired_setpoint / ms_convert) > 3.25:
       cruise_btn = CruiseButtons.CANCEL

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

@@ -1135,7 +1135,7 @@ class TestGMCarController:
     assert msgs == []
     assert controller.apply_speed == 100
 
-  def test_volt_cc_redneck_holds_medium_decel_request_at_max_without_lead(self):
+  def test_volt_cc_redneck_holds_strong_decel_request_at_max_during_free_cruise(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
     controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
     cs = SimpleNamespace(
@@ -1154,13 +1154,13 @@ class TestGMCarController:
     )
 
     msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-0.5), SimpleNamespace(is_metric=True), lead_visible=False,
+      packer, controller, cs, SimpleNamespace(accel=-1.2), SimpleNamespace(is_metric=True),
     )
 
     assert msgs == []
     assert controller.apply_speed == 100
 
-  def test_volt_cc_redneck_brakes_for_lead_inside_free_road_deadband(self):
+  def test_volt_cc_redneck_brakes_for_active_lead_inside_free_road_deadband(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
     controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
     cs = SimpleNamespace(
@@ -1179,7 +1179,7 @@ class TestGMCarController:
     )
 
     msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-0.5), SimpleNamespace(is_metric=True), lead_visible=True,
+      packer, controller, cs, SimpleNamespace(accel=-0.5), SimpleNamespace(is_metric=True), longitudinal_adjustment_active=True,
     )
 
     assert len(msgs) == 1
@@ -1236,7 +1236,7 @@ class TestGMCarController:
     )
 
     msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=-1.36), SimpleNamespace(is_metric=True),
+      packer, controller, cs, SimpleNamespace(accel=-1.36), SimpleNamespace(is_metric=True), longitudinal_adjustment_active=True,
     )
 
     assert len(msgs) == 1

opendbc_repo/opendbc/car/tests/test_can_fingerprint.py

@@ -2,7 +2,7 @@ from types import SimpleNamespace
 
 import pytest
 from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import FRAME_FINGERPRINT, _apply_starpilot_access_policy, _get_gm_stored_candidate_fallback, can_fingerprint
+from opendbc.car.car_helpers import FRAME_FINGERPRINT, _apply_starpilot_access_policy, _get_gm_stored_candidate_fallback, _normalize_gm_suburban_camera_candidate, can_fingerprint
 from opendbc.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -116,3 +116,14 @@ class TestCanFingerprint:
     candidate = _apply_starpilot_access_policy("CHEVROLET_VOLT_CC", SimpleNamespace(block_user=True))
 
     assert candidate == "CHEVROLET_VOLT_CC"
+
+  def test_gm_suburban_camera_variant_uses_vin_and_camera_bus_signature(self):
+    fingerprints = {
+      0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6, 304: 1, 320: 3},
+      2: {0x24b: 8, 0x64b: 8},
+    }
+
+    assert _normalize_gm_suburban_camera_candidate(None, fingerprints, "1GNSKJKJXKR148371") == "CHEVROLET_SUBURBAN_CAMERA"
+    assert _normalize_gm_suburban_camera_candidate("GMC_YUKON", fingerprints, "1GNSKJKJXKR148371") == "CHEVROLET_SUBURBAN_CAMERA"
+    assert _normalize_gm_suburban_camera_candidate(None, fingerprints, "1GNSKCKC5KR255194") is None
+    assert _normalize_gm_suburban_camera_candidate(None, {0: fingerprints[0], 2: {0x320: 3}}, "1GNSKJKJXKR148371") is None

selfdrive/car/card.py

@@ -481,9 +481,19 @@ class Car:
 
   def _update_openpilot_lead_state(self, CC: car.CarControl) -> None:
     lead_visible = bool(CC.hudControl.leadVisible)
+    longitudinal_adjustment_active = lead_visible
     lead_distance = 0.0
     lead_rel_speed = 0.0
 
+    if self.sm.seen['starpilotPlan'] and self.sm.valid['starpilotPlan']:
+      longitudinal_adjustment_active = bool(self.sm['starpilotPlan'].trackingLead)
+
+    if self.sm.seen['longitudinalPlan'] and self.sm.valid['longitudinalPlan']:
+      longitudinal_plan = self.sm['longitudinalPlan']
+      longitudinal_adjustment_active |= bool(
+        longitudinal_plan.shouldStop or str(longitudinal_plan.longitudinalPlanSource) != "cruise"
+      )
+
     if self.sm.seen['radarState'] and self.sm.valid['radarState']:
       lead = self.sm['radarState'].leadOne
       if lead.status:
@@ -498,6 +508,7 @@ class Car:
     self.CI.CS.openpilot_lead_visible = lead_visible
     self.CI.CS.openpilot_lead_distance = lead_distance
     self.CI.CS.openpilot_lead_rel_speed = lead_rel_speed
+    self.CI.CS.openpilot_longitudinal_adjustment_active = longitudinal_adjustment_active
 
   def _update_redneck_cruise(self, CS: car.CarState, CC: car.CarControl) -> None:
     if self.redneck_cruise is None:

selfdrive/car/tests/test_redneck_cruise.py

@@ -217,6 +217,38 @@ class TestRedneckCruise(unittest.TestCase):
     self.assertAlmostEqual(55.0 * CV.MPH_TO_MS * 1.01 + 1.5, target_speed)
     self.assertTrue(lead_present)
 
+  def test_card_does_not_treat_untracked_cruise_lead_as_longitudinal_adjustment(self):
+    sm = MagicMock()
+    sm.seen = {"starpilotPlan": True, "longitudinalPlan": True, "radarState": True}
+    sm.valid = sm.seen.copy()
+    sm.__getitem__.side_effect = {
+      "starpilotPlan": SimpleNamespace(trackingLead=False),
+      "longitudinalPlan": SimpleNamespace(shouldStop=False, longitudinalPlanSource="cruise"),
+      "radarState": SimpleNamespace(leadOne=SimpleNamespace(status=True, dRel=85.0, vRel=-0.5)),
+    }.__getitem__
+    car_state = SimpleNamespace()
+    card = SimpleNamespace(sm=sm, CI=SimpleNamespace(CS=car_state))
+
+    Car._update_openpilot_lead_state(card, SimpleNamespace(hudControl=SimpleNamespace(leadVisible=True)))
+
+    self.assertTrue(car_state.openpilot_lead_visible)
+    self.assertFalse(car_state.openpilot_longitudinal_adjustment_active)
+
+  def test_card_marks_stop_plan_as_longitudinal_adjustment_without_lead(self):
+    sm = MagicMock()
+    sm.seen = {"starpilotPlan": True, "longitudinalPlan": True, "radarState": False}
+    sm.valid = sm.seen.copy()
+    sm.__getitem__.side_effect = {
+      "starpilotPlan": SimpleNamespace(trackingLead=False),
+      "longitudinalPlan": SimpleNamespace(shouldStop=True, longitudinalPlanSource="e2e"),
+    }.__getitem__
+    car_state = SimpleNamespace()
+    card = SimpleNamespace(sm=sm, CI=SimpleNamespace(CS=car_state))
+
+    Car._update_openpilot_lead_state(card, SimpleNamespace(hudControl=SimpleNamespace(leadVisible=False)))
+
+    self.assertTrue(car_state.openpilot_longitudinal_adjustment_active)
+
   def test_card_target_speed_uses_slc_target_with_longitudinal_control(self):
     slc_target = 80.0 * CV.KPH_TO_MS
     starpilot_plan = SimpleNamespace(

starpilot/controls/starpilot_card.py

@@ -31,6 +31,16 @@ from openpilot.starpilot.system.wheel_controls import (
 )
 
 HYUNDAI_MAIN_CRUISE_AOL_CONFIRM_TIMEOUT_FRAMES = 100
+AOL_NON_BLOCKING_IMMEDIATE_DISABLE_ALERTS = {
+  f"speedTooLow/{ET.IMMEDIATE_DISABLE}",
+}
+
+
+def aol_blocked_by_immediate_disable(*alert_types) -> bool:
+  return any(
+    ET.IMMEDIATE_DISABLE in alert_type and alert_type not in AOL_NON_BLOCKING_IMMEDIATE_DISABLE_ALERTS
+    for alert_type in alert_types
+  )
 
 
 class StarPilotCard:
@@ -338,8 +348,9 @@ class StarPilotCard:
     self.always_on_lateral_enabled &= not hyundai_aol_needs_engagement or self.hyundai_aol_ready
     self.always_on_lateral_enabled &= sm["starpilotPlan"].lateralCheck
     self.always_on_lateral_enabled &= sm["liveCalibration"].calPerc >= 1
-    alert_types = sm["selfdriveState"].alertType + sm["starpilotSelfdriveState"].alertType
-    self.always_on_lateral_enabled &= ET.IMMEDIATE_DISABLE not in alert_types
+    self.always_on_lateral_enabled &= not aol_blocked_by_immediate_disable(
+      sm["selfdriveState"].alertType, sm["starpilotSelfdriveState"].alertType,
+    )
     self.always_on_lateral_enabled &= not (carState.brakePressed and carState.vEgo < starpilot_toggles.always_on_lateral_pause_speed) or carState.standstill
     self.always_on_lateral_enabled &= not self.error_log.is_file()
 

starpilot/controls/tests/test_starpilot_card.py

@@ -1123,6 +1123,46 @@ def test_hyundai_main_aol_persists_after_brake_disengage_without_manual_aol_butt
   assert ret.alwaysOnLateralEnabled is True
 
 
+def test_aol_persists_through_longitudinal_speed_too_low_disable(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(
+    SimpleNamespace(brand="gm"),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+  sm = make_sm()
+  sm["selfdriveState"].alertType = f"speedTooLow/{spc.ET.IMMEDIATE_DISABLE}"
+
+  ret = card.update(
+    make_car_state(available=True), SimpleNamespace(distancePressed=False), sm,
+    make_toggles(always_on_lateral_main=True),
+  )
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is True
+
+
+def test_aol_still_stops_for_other_immediate_disables(monkeypatch, tmp_path):
+  monkeypatch.setattr(spc, "Params", FakeParams)
+  monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
+
+  card = spc.StarPilotCard(
+    SimpleNamespace(brand="gm"),
+    SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
+  )
+  sm = make_sm()
+  sm["selfdriveState"].alertType = f"controlsMismatch/{spc.ET.IMMEDIATE_DISABLE}"
+
+  ret = card.update(
+    make_car_state(available=True), SimpleNamespace(distancePressed=False), sm,
+    make_toggles(always_on_lateral_main=True),
+  )
+
+  assert ret.alwaysOnLateralAllowed is True
+  assert ret.alwaysOnLateralEnabled is False
+
+
 def test_non_button_aol_platform_keeps_main_aol_when_main_cruise_is_mapped(monkeypatch, tmp_path):
   monkeypatch.setattr(spc, "Params", FakeParams)
   monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)