Madlad stuff

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -420,7 +420,7 @@ class CarController(CarControllerBase):
     self.last_button_frame = 0
     self.cancel_counter = 0
 
-    self.lka_steering_cmd_counter = 0
+    self.lka_steering_cmd_counter = -1
     self.lka_icon_status_last = (False, False)
 
     self.params = CarControllerParams(self.CP)
@@ -836,20 +836,17 @@ class CarController(CarControllerBase):
       # - on startup, first few msgs are blocked
       # - until we're in sync with camera so counters align when relay closes, preventing a fault.
       #   openpilot can subtly drift, so this is activated throughout a drive to stay synced
-      out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
+      next_lka_steering_cmd_counter = get_lka_steering_cmd_counter(self.lka_steering_cmd_counter, CS)
+      out_of_sync = next_lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
       if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
         steer_step = self.params.STEER_STEP
 
-    self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
+    self.lka_steering_cmd_counter = get_lka_steering_cmd_counter(self.lka_steering_cmd_counter, CS)
 
     # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
     # received the ASCMLKASteeringCmd loopback confirmation too recently
     last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
     if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
-      # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
-      if CS.loopback_lka_steering_cmd_ts_nanos == 0:
-        self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
-
       if CC.latActive:
         new_torque = int(round(actuators.torque * self.params.STEER_MAX))
         apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
@@ -864,6 +861,7 @@ class CarController(CarControllerBase):
       self.apply_torque_last = apply_torque
       idx = self.lka_steering_cmd_counter % 4
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_torque, idx, CC.latActive))
+      self.lka_steering_cmd_counter = (idx + 1) % 4
 
     if should_spoof_ecm_cruise_status(self.CP) and self.frame % 4 == 0:
       can_sends.append(gmcan.create_ecm_cruise_control_command(

opendbc_repo/opendbc/car/gm/interface.py

@@ -680,6 +680,17 @@ class CarInterface(CarInterfaceBase):
         # 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
 
+    volt_ascm_sascm_stock_acc = (
+      candidate == CAR.CHEVROLET_VOLT_ASCM and
+      has_sascm and
+      not alpha_long and
+      ret.pcmCruise and
+      not ret.openpilotLongitudinalControl and
+      not ret.enableGasInterceptorDEPRECATED
+    )
+    if volt_ascm_sascm_stock_acc:
+      ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_VOLT_ASCM_STOCK_ACC.value
+
     try:
       remote_start_boots_comma = params.get_bool("RemoteStartBootsComma")
     except UnknownKeyName:

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

@@ -138,6 +138,28 @@ class TestGMInterface:
       assert not car_params.startingState
       assert car_params.startAccel == pytest.approx(0.0)
 
+  def test_volt_ascm_sascm_stock_long_sets_marker_only_with_alpha_long_off(self):
+    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0x2FF] = 8  # SASCM detected
+
+    stock_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=False,
+                                           is_release=False, docs=False, starpilot_toggles=_test_starpilot_toggles())
+    alpha_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=True,
+                                           is_release=False, docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert not stock_params.openpilotLongitudinalControl
+    assert stock_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_VOLT_ASCM_STOCK_ACC.value
+    assert alpha_params.openpilotLongitudinalControl
+    assert not alpha_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_VOLT_ASCM_STOCK_ACC.value
+
+  def test_volt_ascm_stock_long_marker_requires_sascm(self):
+    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
+    car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, _empty_fingerprint(), [], alpha_long=False,
+                                         is_release=False, docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert not car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_VOLT_ASCM_STOCK_ACC.value
+
   def test_volt_cc_sparse_fingerprint_without_camera_sets_no_camera(self):
     CarInterface = interfaces[CAR.CHEVROLET_VOLT_CC]
     fingerprint = {

opendbc_repo/opendbc/car/gm/values.py

@@ -172,6 +172,9 @@ class GMSafetyFlags(IntFlag):
   HW_SDGM = 1024
   FLAG_GM_BOLT_2017 = 2048
   FLAG_GM_BOLT_2022_PEDAL = 4096
+  # Context-specific alias for Volt ASCM + SASCM stock ACC. The Bolt pedal
+  # meaning remains active only on pedal/no-ACC paths in panda safety.
+  FLAG_GM_VOLT_ASCM_STOCK_ACC = 4096
   FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
   FLAG_GM_PANDA_3D1_SCHED = 16384
   FLAG_GM_PANDA_PADDLE_SCHED = 32768

opendbc_repo/opendbc/safety/modes/gm.h

@@ -62,6 +62,7 @@ static bool gm_bolt_2022_pedal = false;
 static bool gm_alt_brake = false;
 static bool gm_volt_auto_hold = false;
 static bool gm_volt_one_pedal = false;
+static bool gm_volt_ascm_stock_acc = false;
 
 static bool gm_cc_long = false;
 static bool gm_has_acc = true;
@@ -519,7 +520,7 @@ static bool gm_fwd_hook(int bus_num, int addr) {
       bool is_acc_actuation_msg = (addr == 0x315U) || (addr == 0x2CBU);
 
       block_msg = is_lkas_msg;
-      if (gm_cam_long || gm_pedal_long) {
+      if (gm_cam_long || gm_pedal_long || gm_volt_ascm_stock_acc) {
         block_msg |= is_acc_status_msg;
       }
       if (gm_cam_long) {
@@ -706,16 +707,8 @@ static safety_config gm_init(uint16_t param) {
   enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
   gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
-  gm_bolt_2022_pedal = GET_FLAG(param, GM_PARAM_BOLT_2022_PEDAL);
+  const bool gm_bolt_2022_pedal_param = GET_FLAG(param, GM_PARAM_BOLT_2022_PEDAL);
   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;
-  // Reuse the paddle-scheduler bit as a stock-Volt auto-hold marker on non-pedal ACC paths.
-  gm_volt_auto_hold = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && !gm_pedal_long && !gm_cc_long && gm_has_acc;
-  // Reuse the 3D1 scheduler bit as a stock-Volt one-pedal marker on non-pedal
-  // ACC paths. The actual 3D1 scheduler still requires pedal-long and no-ACC,
-  // so this stays isolated from the Bolt pedal path.
-  gm_volt_one_pedal = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && !gm_pedal_long && !gm_cc_long && gm_has_acc;
   gm_alt_brake = GET_FLAG(param, GM_PARAM_NO_CAMERA) && (gm_hw == GM_ASCM) && !gm_sdgm && !gm_ascm_int;
 
   gm_3d1_spoof_valid = false;
@@ -746,6 +739,18 @@ static safety_config gm_init(uint16_t param) {
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
   gm_pcm_cruise = (gm_hw == GM_CAM || gm_sdgm) && !gm_cam_long && !gm_force_ascm && !gm_pedal_long;
   const bool gm_ascm_int_stock_cam = gm_ascm_int && (gm_hw == GM_CAM) && gm_pcm_cruise && !gm_cam_long && !gm_pedal_long && !gm_cc_long;
+  // On the stock-ASCM_INT camera path, reuse the Bolt pedal bit as a Volt
+  // ASCM + SASCM stock-ACC marker and strip its pedal-long meaning.
+  gm_volt_ascm_stock_acc = gm_ascm_int_stock_cam && gm_bolt_2022_pedal_param;
+  gm_bolt_2022_pedal = gm_bolt_2022_pedal_param && !gm_volt_ascm_stock_acc;
+  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;
+  // Reuse the paddle-scheduler bit as a stock-Volt auto-hold marker on non-pedal ACC paths.
+  gm_volt_auto_hold = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && !gm_pedal_long && !gm_cc_long && gm_has_acc;
+  // Reuse the 3D1 scheduler bit as a stock-Volt one-pedal marker on non-pedal
+  // ACC paths. The actual 3D1 scheduler still requires pedal-long and no-ACC,
+  // so this stays isolated from the Bolt pedal path.
+  gm_volt_one_pedal = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && !gm_pedal_long && !gm_cc_long && gm_has_acc;
   const bool gm_ascm_int_no_accel_pos = gm_ascm_int && (gm_hw == GM_CAM) && gm_force_brake_c9;
   // FLAG_GM_BOLT_2022_PEDAL is shared with Malibu Hybrid pedal-long. Requiring
   // the paddle scheduler bit narrows this whitelist to the Gen2 Bolt pedal-long

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -297,6 +297,20 @@ def test_gm_ascm_int_stock_cam_f1_rx_pinning():
   assert not safety.safety_config_valid()
 
 
+def test_gm_volt_ascm_stock_acc_marker_blocks_camera_acc_status_forwarding():
+  safety = libsafety_py.libsafety
+  stock_ascm_int = GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_ASCM_INT
+  marked_volt_ascm = stock_ascm_int | GMSafetyFlags.FLAG_GM_VOLT_ASCM_STOCK_ACC
+
+  safety.set_safety_hooks(CarParams.SafetyModel.gm, stock_ascm_int)
+  safety.init_tests()
+  assert safety.safety_fwd_hook(2, 0x370) == 0
+
+  safety.set_safety_hooks(CarParams.SafetyModel.gm, marked_volt_ascm)
+  safety.init_tests()
+  assert safety.safety_fwd_hook(2, 0x370) == -1
+
+
 def test_gm_ascm_int_long_no_accel_pos_uses_stock_cam_rx_checks():
   safety = libsafety_py.libsafety
   safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG |