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Plexy

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This commit is contained in:
firestar5683
2026-04-29 14:02:42 -05:00
parent 40aff87f88
commit 91a6df08b0
6 changed files with 38 additions and 4 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+6 -1
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@@ -607,7 +607,12 @@ class CarController(CarControllerBase):
if self.CP.enableGasInterceptorDEPRECATED:
can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
if self.CP.carFingerprint not in CC_ONLY_CAR:
friction_brake_bus = CanBus.CHASSIS
volt_gateway_alt_brake = (
self.CP.carFingerprint == CAR.CHEVROLET_VOLT and
self.CP.networkLocation == NetworkLocation.gateway and
bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value)
)
friction_brake_bus = CanBus.POWERTRAIN if volt_gateway_alt_brake else CanBus.CHASSIS
# GM Camera exceptions
# TODO: can we always check the longControlState?
if self.CP.networkLocation == NetworkLocation.fwdCamera:
opendbc_repo/opendbc/car/gm/carstate.py
+4 -1
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@@ -27,6 +27,7 @@ TransmissionType = structs.CarParams.TransmissionType
NetworkLocation = structs.CarParams.NetworkLocation
STANDSTILL_THRESHOLD = 10 * 0.0311
VOLT_EBCM_BRAKE_PRESSED_THRESHOLD = 6 / 0xd0
AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S = 1.0
@@ -162,7 +163,9 @@ class CarState(CarStateBase):
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
if self.CP.carFingerprint == CAR.CHEVROLET_VOLT and no_accel_pos:
ret.brakePressed = ret.brake >= VOLT_EBCM_BRAKE_PRESSED_THRESHOLD
elif self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
ret.brakePressed = ret.brake >= 8
elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
opendbc_repo/opendbc/car/gm/interface.py
+3
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@@ -620,6 +620,9 @@ class CarInterface(CarInterfaceBase):
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
if candidate == CAR.CHEVROLET_VOLT and ret.networkLocation == NetworkLocation.gateway:
# Reuse the no-camera safety bit as an ASCM Volt selector for the alternate EBCM brake path.
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value
try:
remote_start_boots_comma = params.get_bool("RemoteStartBootsComma")
opendbc_repo/opendbc/car/gm/tests/test_gm.py
+1
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@@ -103,6 +103,7 @@ class TestGMInterface:
starpilot_toggles=_test_starpilot_toggles())
assert car_params.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value
assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
pt_parser = CarInterface.CarState.get_can_parsers(car_params)[Bus.pt]
assert "ECMAcceleratorPos" not in pt_parser.vl
opendbc_repo/opendbc/safety/modes/gm.h
+15 -1
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@@ -59,6 +59,7 @@ static bool gm_force_brake_c9 = false;
static bool gm_panda_3d1_sched = false;
static bool gm_panda_paddle_sched = false;
static bool gm_bolt_2022_pedal = false;
static bool gm_alt_brake = false;
static bool gm_cc_long = false;
static bool gm_has_acc = true;
@@ -246,10 +247,14 @@ static void gm_rx_hook(const CANPacket_t *msg) {
brake_pressed = GET_BIT(msg, 40U);
}
if ((msg->addr == 0xBEU) && ((gm_hw == GM_ASCM) || gm_sdgm || gm_ascm_int)) {
if ((msg->addr == 0xBEU) && (((gm_hw == GM_ASCM) && !gm_alt_brake) || gm_sdgm || gm_ascm_int)) {
brake_pressed = msg->data[1] >= 8U;
}
if ((msg->addr == 0xF1U) && gm_alt_brake) {
brake_pressed = msg->data[1] >= 6U;
}
if ((msg->addr == 0xC9U) && (gm_hw == GM_CAM) && !gm_force_brake_c9) {
brake_pressed = GET_BIT(msg, 40U);
}
@@ -546,6 +551,12 @@ static safety_config gm_init(uint16_t param) {
{0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false},
{0x1F5, 0, 8, .check_relay = false}}; // pt bus
static const CanMsg GM_ASCM_ALT_BRAKE_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x315, 0, 5, .check_relay = true}, // pt bus
{0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false}, // obs bus
{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
static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
@@ -660,6 +671,7 @@ static safety_config gm_init(uint16_t param) {
gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
gm_panda_3d1_sched = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && gm_pedal_long && !gm_has_acc && !gm_bolt_2022_pedal;
gm_panda_paddle_sched = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && gm_pedal_long && enable_gas_interceptor;
gm_alt_brake = GET_FLAG(param, GM_PARAM_NO_CAMERA) && (gm_hw == GM_ASCM) && !gm_sdgm && !gm_ascm_int;
gm_3d1_spoof_valid = false;
gm_3d1_internal_tx = false;
@@ -726,6 +738,8 @@ static safety_config gm_init(uint16_t param) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
}
}
} else if (gm_alt_brake) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_ALT_BRAKE_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
}
opendbc_repo/opendbc/safety/tests/test_gm.py
+9 -1
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@@ -196,7 +196,15 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
class TestGmAscmEVSafety(TestGmAscmSafety, TestGmEVSafetyBase):
pass
EXTRA_SAFETY_PARAM = GMSafetyFlags.FLAG_GM_NO_CAMERA
TX_MSGS = [[0x180, 0], [0x409, 0], [0x40A, 0], [0x2CB, 0], [0x370, 0], [0x200, 0], [0x1E1, 0], [0xBD, 0], [0x1F5, 0], [0x315, 0],
[0xA1, 1], [0x306, 1], [0x308, 1], [0x310, 1]]
RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB, 0x315)}
BRAKE_BUS = 0
def _user_brake_msg(self, brake):
values = {"BrakePedalPosition": 6 if brake else 0}
return self.packer.make_can_msg_panda("EBCMBrakePedalPosition", 0, values)
class TestGmCameraSafetyBase(TestGmSafetyBase):