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TorquePedal

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firestar5683
2026-02-08 13:05:05 -06:00
parent cf606c06aa
commit 7294fe03be
4 changed files with 49 additions and 10 deletions
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panda/board/safety/safety_gm.h
+33 -3
View File
@@ -82,6 +82,7 @@ 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_BOLT_2017 = 512;
const uint16_t GM_PARAM_BOLT_2022_PEDAL = 1024;
enum {
GM_BTN_UNPRESS = 1,
@@ -103,6 +104,7 @@ bool gm_pedal_long = false;
bool gm_cc_long = false;
bool gm_skip_relay_check = false;
bool gm_force_ascm = false;
bool gm_bolt_2022_pedal = false;
static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
@@ -175,6 +177,11 @@ 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 && gm_bolt_2022_pedal) {
cruise_engaged_prev = false;
}
// Cruise check for CC only cars
if ((addr == 0x3D1) && !gm_has_acc) {
bool cruise_engaged = (GET_BYTE(to_push, 4) >> 7) != 0U;
@@ -205,6 +212,12 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
generic_rx_checks(stock_ecu_detected);
}
// Cruise check for Gen2 Bolt (ASCMActiveCruiseControlStatus on bus 2)
if (gm_bolt_2022_pedal && (GET_ADDR(to_push) == 0x370) && (GET_BUS(to_push) == 2U)) {
bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U; // ACCCmdActive
cruise_engaged_prev = cruise_engaged;
}
}
static bool gm_tx_hook(const CANPacket_t *to_send) {
@@ -259,6 +272,9 @@ 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;
if (gm_hw == GM_CAM && enable_gas_interceptor && gm_bolt_2022_pedal && button == GM_BTN_CANCEL) {
allowed_btn = true;
}
// For standard CC, allow spamming of SET / RESUME
if (gm_cc_long) {
allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
@@ -301,10 +317,20 @@ static int gm_fwd_hook(int bus_num, int addr) {
}
if (bus_num == 2) {
// 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) || (addr == 0x370);
bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long) || (addr == 0x184);
bool block_msg = false;
if (gm_bolt_2022_pedal) {
// Block 0x370 only for experimental long without pedal interceptor
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
if (gm_cam_long && !enable_gas_interceptor) {
is_acc_msg = is_acc_msg || (addr == 0x370);
}
block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
} else {
// block lkas message and acc messages if gm_cam_long, forward all others
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long) || (addr == 0x184);
}
if (!block_msg) {
bus_fwd = 0;
}
@@ -336,6 +362,10 @@ 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;
gm_bolt_2022_pedal = GET_FLAG(param, GM_PARAM_BOLT_2022_PEDAL);
if (gm_hw == GM_CAM && enable_gas_interceptor && gm_bolt_2022_pedal) {
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_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
panda/python/__init__.py
+1
View File
@@ -239,6 +239,7 @@ class Panda:
FLAG_GM_PEDAL_LONG = 128 # TODO: This can be inferred
FLAG_GM_GAS_INTERCEPTOR = 256
FLAG_GM_BOLT_2017 = 512
FLAG_GM_BOLT_2022_PEDAL = 1024
FLAG_FORD_LONG_CONTROL = 1
FLAG_FORD_CANFD = 2
selfdrive/car/gm/carcontroller.py
+2 -1
View File
@@ -465,7 +465,8 @@ class CarController(CarControllerBase):
if self.CP.carFingerprint in SDGM_CAR:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
else:
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
cancel_bus = CanBus.POWERTRAIN if (self.CP.enableGasInterceptor and self.CP.carFingerprint == CAR.CHEVROLET_BOLT_CC_2022_2023) else CanBus.CAMERA
can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, CS.buttons_counter, CruiseButtons.CANCEL))
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
selfdrive/car/gm/interface.py
+13 -6
View File
@@ -141,6 +141,10 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
# When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
experimental_long = False
if candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023:
# Hard-block pedal interceptor for ACC fingerprinted Bolts
ret.enableGasInterceptor = False
ret.safetyConfigs[0].safetyParam &= ~Panda.FLAG_GM_GAS_INTERCEPTOR
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
@@ -149,13 +153,13 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiBP = [5., 35., 60.]
is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_CC_2022_2023 and ret.enableGasInterceptor
if candidate in CAMERA_ACC_CAR:
# For ACC models with pedal interceptor, behave like CC_ONLY_CAR
ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = True # no radar
# Only use pcmCruise if no pedal interceptor (bolt_cc style behavior)
ret.pcmCruise = not ret.enableGasInterceptor
ret.pcmCruise = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
# Use default minEnableSpeed for ACC models (will be overridden by pedal interceptor section if present)
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
@@ -175,6 +179,9 @@ class CarInterface(CarInterfaceBase):
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
if is_bolt_2022_2023_pedal:
ret.experimentalLongitudinalAvailable = False
ret.pcmCruise = False
elif candidate in SDGM_CAR:
ret.longitudinalTuning.kiV = [0., 0., 0.] # TODO: tuning
@@ -264,10 +271,10 @@ class CarInterface(CarInterfaceBase):
ret.flags |= GMFlags.PEDAL_LONG.value
# Enable pedal interceptor for ACC models when detected
if candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor:
# ACC models with pedal interceptor get full pedal longitudinal control
if is_bolt_2022_2023_pedal:
ret.flags |= GMFlags.PEDAL_LONG.value
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_BOLT_2022_PEDAL
if candidate == CAR.CHEVROLET_SILVERADO:
# On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop