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firestar5683
2026-02-10 17:08:25 -06:00
parent 4c3c5ddbbb
commit a80201c553
1 changed files with 7 additions and 7 deletions
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selfdrive/car/gm/interface.py
+7 -7
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@@ -149,7 +149,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), ret.safetyConfigs[0]]
gm_safety_cfg = ret.safetyConfigs[-1] if red_panda else ret.safetyConfigs[0]
ret.autoResumeSng = False
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
ret.enableBsm = 0x142 in fingerprint.get(CanBus.POWERTRAIN, {})
def has_sascm(fingerprint):
return 0x2FF in fingerprint.get(CanBus.POWERTRAIN, {})
@@ -158,7 +158,7 @@ class CarInterface(CarInterfaceBase):
if has_sascm(fingerprint):
ret.flags |= GMFlags.SASCM.value
if PEDAL_MSG in fingerprint[0]:
if PEDAL_MSG in fingerprint.get(CanBus.POWERTRAIN, {}):
ret.enableGasInterceptor = True
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
if candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023:
@@ -182,14 +182,14 @@ class CarInterface(CarInterfaceBase):
if candidate in (CAMERA_ACC_CAR | SDGM_CAR | ASCM_INT) or candidate == CAR.CHEVROLET_VOLT_CAMERA:
ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
ret.networkLocation = NetworkLocation.fwdCamera
ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
ret.pcmCruise = True
ret.minEnableSpeed = 5 * CV.KPH_TO_MS
ret.minSteerSpeed = 10 * CV.KPH_TO_MS
if candidate in SDGM_CAR:
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_SDGM
# Use C9 brake bit only on SDGM variants that lack 0xBE (ECMAcceleratorPos)
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
ret.flags |= GMFlags.FORCE_BRAKE_C9.value
ret.minEnableSpeed = -1. # engage speed is decided by pcm
@@ -221,7 +221,7 @@ class CarInterface(CarInterfaceBase):
else: # ASCM, OBD-II harness
ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
ret.networkLocation = NetworkLocation.gateway
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint.get(CanBus.OBSTACLE, {}) and not docs
ret.pcmCruise = False # stock non-adaptive cruise control is kept off
# supports stop and go, but initial engage must (conservatively) be above 18mph
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
@@ -443,11 +443,11 @@ class CarInterface(CarInterfaceBase):
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_ACC
# Exception for flashed cars, or cars whose camera was removed
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in (SDGM_CAR | ASCM_INT):
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint.get(CanBus.CAMERA, {}) and not candidate in (SDGM_CAR | ASCM_INT):
ret.flags |= GMFlags.NO_CAMERA.value
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_CAMERA
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
return ret