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OPGM - CC longitudinal control

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Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-05-29 02:49:50 -07:00
parent 3e34c11f0d
commit e102fdcb43
9 changed files with 171 additions and 15 deletions
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panda/board/safety/safety_gm.h
+32 -12
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@@ -37,26 +37,28 @@ const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {
{0x315, 2, 5}, // ch bus
{0x104c006c, 3, 3}, {0x10400060, 3, 5}}; // gmlan
const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, // pt bus
const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, // pt bus
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, // pt bus
{0x184, 2, 8}}; // camera bus
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus
{0x184, 2, 8}, {0x1E1, 2, 7}}; // camera bus
// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
RxCheck gm_rx_checks[] = {
{.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0xBE, 0, 6, .frequency = 10U}, // Volt, Silverado, Acadia Denali
{0xBE, 0, 7, .frequency = 10U}, // Bolt EUV
{0xBE, 0, 8, .frequency = 10U}}}, // Escalade
{.msg = {{0xF1, 0, 6, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
};
const uint16_t GM_PARAM_HW_CAM = 1;
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
const uint16_t GM_PARAM_CC_LONG = 4;
const uint16_t GM_PARAM_HW_ASCM_LONG = 8;
const uint16_t GM_PARAM_NO_CAMERA = 16;
const uint16_t GM_PARAM_NO_ACC = 32;
@@ -75,6 +77,7 @@ bool gm_cam_long = false;
bool gm_pcm_cruise = false;
bool gm_has_acc = true;
bool gm_pedal_long = false;
bool gm_cc_long = false;
bool gm_skip_relay_check = false;
bool gm_force_ascm = false;
@@ -97,7 +100,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
if ((addr == 0x1E1) && !gm_pcm_cruise) {
if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long)) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
// enter controls on falling edge of set or rising edge of resume (avoids fault)
@@ -140,7 +143,11 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
// Cruise check for CC only cars
if ((addr == 0x3D1) && !gm_has_acc) {
bool cruise_engaged = (GET_BYTE(to_push, 4) >> 7) != 0U;
cruise_engaged_prev = cruise_engaged;
if (gm_cc_long) {
pcm_cruise_check(cruise_engaged);
} else {
cruise_engaged_prev = cruise_engaged;
}
}
if (addr == 0xBD) {
@@ -213,11 +220,16 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
}
// BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
if ((addr == 0x1E1) && (gm_pcm_cruise || gm_pedal_long)) {
if ((addr == 0x1E1) && (gm_pcm_cruise || gm_pedal_long || gm_cc_long)) {
int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
bool allowed_cancel = (button == 6) && cruise_engaged_prev;
if (!allowed_cancel) {
bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
// For standard CC, allow spamming of SET / RESUME
if (gm_cc_long) {
allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
}
if (!allowed_btn) {
tx = false;
}
}
@@ -264,14 +276,22 @@ static safety_config gm_init(uint16_t param) {
}
gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
gm_pcm_cruise = ((gm_hw == GM_CAM) && !gm_cam_long && !gm_force_ascm && !gm_pedal_long);
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
gm_pcm_cruise = ((gm_hw == GM_CAM) && (!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);
safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
if (gm_hw == GM_CAM) {
ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
if (gm_cc_long) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS);
} else if (gm_cam_long) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
}
}
return ret;
}
panda/python/__init__.py
+1
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@@ -229,6 +229,7 @@ class Panda:
FLAG_GM_HW_CAM = 1
FLAG_GM_HW_CAM_LONG = 2
FLAG_GM_CC_LONG = 4
FLAG_GM_PEDAL_LONG = 128 # TODO: This can be inferred
FLAG_GM_GAS_INTERCEPTOR = 256
panda/tests/safety/common.py
+1 -1
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@@ -849,7 +849,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
continue
if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
continue
if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmInterceptorSafety'}):
if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmInterceptorSafety', 'TestGmCcLongitudinalSafety'}):
continue
if attr.startswith('TestFord') and current_test.startswith('TestFord'):
continue
panda/tests/safety/test_gm.py
+39
View File
@@ -309,5 +309,44 @@ class TestGmInterceptorSafety(common.GasInterceptorSafetyTest, TestGmCameraSafet
return self.packer.make_can_msg_panda("ECMCruiseControl", 0, values)
class TestGmCcLongitudinalSafety(TestGmCameraSafety):
TX_MSGS = [[384, 0], [481, 0], [388, 2]]
FWD_BLACKLISTED_ADDRS = {2: [384], 0: [388]} # block LKAS message and PSCMStatus
BUTTONS_BUS = 0 # tx only
MAX_GAS = 3400
MAX_REGEN = 1514
INACTIVE_REGEN = 1554
MAX_BRAKE = 400
def setUp(self):
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libpanda_py.libpanda
self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_NO_ACC | Panda.FLAG_GM_CC_LONG)
self.safety.init_tests()
def _pcm_status_msg(self, enable):
values = {"CruiseActive": enable}
return self.packer.make_can_msg_panda("ECMCruiseControl", 0, values)
def test_fwd_hook(self):
pass
def test_buttons(self):
self.safety.set_controls_allowed(0)
for btn in range(8):
self.assertFalse(self._tx(self._button_msg(btn)))
self.safety.set_controls_allowed(1)
for btn in range(8):
self.assertFalse(self._tx(self._button_msg(btn)))
for enabled in (True, False):
for btn in (Buttons.RES_ACCEL, Buttons.DECEL_SET, Buttons.CANCEL):
self._rx(self._pcm_status_msg(enabled))
self.assertEqual(enabled, self._tx(self._button_msg(btn)))
if __name__ == "__main__":
unittest.main()