GM

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -6,7 +6,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits
 from opendbc.car.gm import gmcan
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import (
-  ASCM_INT, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, SDGM_CAR, AccState, CanBus, CarControllerParams,
+  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, SDGM_CAR, AccState, CanBus, CarControllerParams,
   CruiseButtons, GMFlags, GMSafetyFlags,
 )
 from opendbc.car.interfaces import CarControllerBase
@@ -194,6 +194,15 @@ def should_send_adas_status(CP, is_kaofui_car):
   return CP.networkLocation != NetworkLocation.fwdCamera and CP.carFingerprint not in SDGM_CAR
 
 
+def should_send_acc_2cd(CP):
+  return (
+    CP.networkLocation == NetworkLocation.fwdCamera and
+    CP.carFingerprint in CAMERA_ACC_CAR and
+    CP.carFingerprint not in (CC_ONLY_CAR | SDGM_CAR) and
+    not bool(getattr(CP, "flags", 0) & GMFlags.NO_CAMERA.value)
+  )
+
+
 def get_testing_ground_1_brake_switch_bias(v_ego: float) -> int:
   return int(round(np.interp(v_ego, [0.0, 6.0, 15.0, 30.0], [40.0, 85.0, 130.0, 170.0])))
 
@@ -1078,6 +1087,8 @@ class CarController(CarControllerBase):
           # TODO: can we always check the longControlState?
           if self.CP.networkLocation == NetworkLocation.fwdCamera:
             at_full_stop = at_full_stop and stopping
+          if should_send_acc_2cd(self.CP):
+            can_sends.append(gmcan.create_acc_2cd_command(CanBus.POWERTRAIN, idx))
 
           if self.CP.autoResumeSng:
             resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -217,6 +217,13 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
 
 
+def create_acc_2cd_command(bus, idx):
+  dat = bytearray([0x00, 0x2c, 0x03, 0xd3, 0x00])
+  dat[0] = (idx & 0x3) << 6
+  dat[4] = (0xfd - (idx & 0x3)) & 0xff
+  return CanData(0x2CD, bytes(dat), bus)
+
+
 def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw_alert, acc_always_one=1):
   target_speed = min(target_speed_kph, 255)
 

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

@@ -58,6 +58,7 @@ from opendbc.car.gm.carcontroller import (
   should_use_fixed_stopping_brake,
   should_activate_auto_hold,
   should_activate_volt_one_pedal,
+  should_send_acc_2cd,
   should_send_adas_status,
   should_send_stock_long_cancel,
   should_spoof_dash_speed,
@@ -356,6 +357,19 @@ def test_live_camera_path_does_not_send_pt_keepalive():
   assert get_adas_keepalive_step(cp, is_kaofui_car=True) is None
 
 
+def test_acc_2cd_replacement_only_used_with_live_camera_path():
+  assert should_send_acc_2cd(SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_TRAILBLAZER, networkLocation=CarParams.NetworkLocation.fwdCamera, flags=0))
+  assert not should_send_acc_2cd(SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_TRAILBLAZER, networkLocation=CarParams.NetworkLocation.fwdCamera, flags=GMFlags.NO_CAMERA.value))
+  assert not should_send_acc_2cd(SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_TRAILBLAZER, networkLocation=CarParams.NetworkLocation.gateway, flags=0))
+  assert not should_send_acc_2cd(SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_TRAILBLAZER_CC, networkLocation=CarParams.NetworkLocation.fwdCamera, flags=0))
+  assert not should_send_acc_2cd(SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_BLAZER, networkLocation=CarParams.NetworkLocation.fwdCamera, flags=0))
+
+
 def test_ascm_int_cars_do_not_send_radar_status():
   common = {
     "networkLocation": CarParams.NetworkLocation.fwdCamera,

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

@@ -28,6 +28,14 @@ class TestGMCan:
     assert dat[1] & 0x1
     assert decoded == 8848
 
+  def test_acc_2cd_command_matches_stock_camera_counter_layout(self):
+    assert [gmcan.create_acc_2cd_command(0, idx)[1].hex() for idx in range(4)] == [
+      "002c03d3fd",
+      "402c03d3fc",
+      "802c03d3fb",
+      "c02c03d3fa",
+    ]
+
   def test_prndl2_command_matches_bolt_gen2_regen_paddle_spoof(self):
     CP = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL)
 

opendbc_repo/opendbc/safety/modes/gm.h

@@ -517,13 +517,14 @@ static bool gm_fwd_hook(int bus_num, int addr) {
       bool is_lkas_msg = addr == 0x180U;
       bool is_acc_status_msg = addr == 0x370U;
       bool is_acc_actuation_msg = (addr == 0x315U) || (addr == 0x2CBU);
+      bool is_acc_counter_msg = addr == 0x2CDU;
 
       block_msg = is_lkas_msg;
       if (gm_cam_long || gm_pedal_long) {
         block_msg |= is_acc_status_msg;
       }
       if (gm_cam_long) {
-        block_msg |= is_acc_actuation_msg;
+        block_msg |= is_acc_actuation_msg || is_acc_counter_msg;
       }
     }
   }
@@ -579,7 +580,7 @@ static safety_config gm_init(uint16_t param) {
   };
 
   // block PSCMStatus (0x184); forwarded through openpilot to hide an alert from the camera
-  static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, {0x3D1, 0, 8, .check_relay = false},  // pt bus
+  static const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x2CD, 0, 5, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, {0x3D1, 0, 8, .check_relay = false},  // pt bus
                                                {0x184, 2, 8, .check_relay = true},  // camera 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

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -346,10 +346,10 @@ class TestGmCameraNoCameraSafety(TestGmCameraSafety):
 
 
 class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase):
-  TX_MSGS = [[0x180, 0], [0x315, 0], [0x2CB, 0], [0x370, 0], [0x200, 0], [0x1E1, 0], [0x3D1, 0], [0xBD, 0], [0x1F5, 0],  # pt bus
+  TX_MSGS = [[0x180, 0], [0x315, 0], [0x2CB, 0], [0x2CD, 0], [0x370, 0], [0x200, 0], [0x1E1, 0], [0x3D1, 0], [0xBD, 0], [0x1F5, 0],  # pt bus
              [0x184, 2]]  # camera bus
-  FWD_BLACKLISTED_ADDRS = {2: [0x180, 0x2CB, 0x370, 0x315], 0: [0x184]}  # block LKAS, ACC messages and PSCMStatus
-  RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB, 0x370, 0x315), 2: (0x184,)}
+  FWD_BLACKLISTED_ADDRS = {2: [0x180, 0x2CB, 0x2CD, 0x370, 0x315], 0: [0x184]}  # block LKAS, ACC messages and PSCMStatus
+  RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB, 0x2CD, 0x370, 0x315), 2: (0x184,)}
   BUTTONS_BUS = 0  # rx only
 
   MAX_GAS = 2698