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Volt?

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firestar5683
2026-02-11 19:18:36 -06:00
parent 743863a4a5
commit bba72c85c7
2 changed files with 20 additions and 7 deletions
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panda/board/safety/safety_gm.h
+11 -4
View File
@@ -212,10 +212,17 @@ 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)) {
// Cruise check for ASCMActiveCruiseControlStatus on bus 2.
// Keep kaofui behavior for non-Bolt paths; Bolt pedal path keeps local tracking.
if ((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;
if (gm_bolt_2022_pedal) {
cruise_engaged_prev = cruise_engaged;
} else if (gm_pcm_cruise && gm_has_acc) {
pcm_cruise_check(cruise_engaged);
} else {
cruise_engaged_prev = cruise_engaged;
}
}
}
@@ -361,6 +368,7 @@ 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);
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
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) {
@@ -369,7 +377,6 @@ static safety_config gm_init(uint16_t param) {
gm_pcm_cruise = (((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
selfdrive/car/gm/carstate.py
+9 -3
View File
@@ -99,9 +99,15 @@ class CarState(CarStateBase):
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
if self.CP.carFingerprint in kaofui_state_cars:
ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
else:
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.carFingerprint in kaofui_state_cars:
ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if (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
else:
@@ -109,7 +115,7 @@ class CarState(CarStateBase):
# that the brake is being intermittently pressed without user interaction.
# To avoid a cruise fault we need to use a conservative brake position threshold
# https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
analog_thresh = 0.10 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
analog_thresh = 0.15 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
ret.brakePressed = ret.brake >= analog_thresh
# Regen braking is braking