Remote Start Toggle & RedPanda

common/params.cc

@@ -469,6 +469,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RoadEdgesWidth", PERSISTENT},
     {"RoadName", CLEAR_ON_MANAGER_START},
     {"RoadNameUI", PERSISTENT},
+    {"RedPanda", PERSISTENT},
+    {"RemoteStartBootsComma", PERSISTENT},
     {"RotatingWheel", PERSISTENT},
     {"ScreenBrightness", PERSISTENT},
     {"ScreenBrightnessOnroad", PERSISTENT},

frogpilot/common/frogpilot_variables.py

@@ -237,6 +237,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("FullMap", "0", 2, "0"),
   ("GasRegenCmd", "1", 2, "0"),
   ("GMPedalLongitudinal", "1", 2, "1"),
+  ("RedPanda", "0", 3, "0"),
+  ("RemoteStartBootsComma", "0", 3, "0"),
   ("GithubSshKeys", "", 0, ""),
   ("GithubUsername", "", 0, ""),
   ("GoatScream", "0", 1, "0"),
@@ -808,6 +810,9 @@ class FrogPilotVariables:
     toggle.vEgoStarting = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStarting
     toggle.vEgoStopping = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStopping
 
+    toggle.red_panda = toggle.car_make == "gm" and (params.get_bool("RedPanda") if tuning_level >= level["RedPanda"] else default.get_bool("RedPanda"))
+    toggle.remote_start_boots_comma = toggle.car_make == "gm" and (params.get_bool("RemoteStartBootsComma") if tuning_level >= level["RemoteStartBootsComma"] else default.get_bool("RemoteStartBootsComma"))
+
     toggle.force_fingerprint = (params.get_bool("ForceFingerprint") if tuning_level >= level["ForceFingerprint"] else default.get_bool("ForceFingerprint")) and toggle.car_model is not None
 
     toggle.frogsgomoo_tweak = toggle.openpilot_longitudinal and toggle.car_make == "toyota" and (params.get_bool("FrogsGoMoosTweak") if tuning_level >= level["FrogsGoMoosTweak"] else default.get_bool("FrogsGoMoosTweak"))

frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -1,6 +1,9 @@
 #include <QRegularExpression>
 #include <QTextStream>
 
+#include <chrono>
+#include <thread>
+
 #include "frogpilot/ui/qt/offroad/vehicle_settings.h"
 
 QStringList getCarNames(const QString &carMake, QMap<QString, QString> &carModels) {
@@ -170,6 +173,8 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     {"ExperimentalGMTune", tr("FrogsGoMoo's Experimental Tune"), tr("<b>Experimental GM tune by FrogsGoMoo</b> that attempts to smoothen stopping and takeoff control. Use at your own risk!"), ""},
     {"GMPedalLongitudinal", tr("Use Pedal for Longitudinal Control"), tr("<b>Use the pedal interceptor for longitudinal control</b> instead of camera ACC/Redneck when available."), ""},
     {"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
+    {"RedPanda", tr("Red Panda"), tr("<b>Enable Red Panda behavior</b> for GM (alternate safety config and bus numbering). Requires a reboot to take effect."), ""},
+    {"RemoteStartBootsComma", tr("Remote Start Boots Comma"), tr("<b>Use GM C9 SystemPowerMode</b> for ignition detection. Toggle requires a panda firmware update and a reboot to take effect."), ""},
     {"VoltSNG", tr("Stop-and-Go Hack"), tr("<b>Force stop-and-go</b> on the 2017 Chevy Volt."), ""},
 
     {"HKGToggles", tr("Hyundai/Kia/Genesis Settings"), tr("<b>FrogPilot features for Genesis, Hyundai, and Kia vehicles.</b>"), ""},
@@ -300,6 +305,25 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     });
   }
 
+  ParamControl *remoteStartToggle = static_cast<ParamControl*>(toggles["RemoteStartBootsComma"]);
+  QObject::connect(remoteStartToggle, &ToggleControl::toggleFlipped, [parent, remoteStartToggle, this](bool state) {
+    const QString prompt = tr("Remote Start requires a Panda firmware update. Flash the Panda now?");
+    if (!FrogPilotConfirmationDialog::yesorno(prompt, this)) {
+      params.putBool("RemoteStartBootsComma", !state);
+      remoteStartToggle->refresh();
+      return;
+    }
+
+    std::thread([parent, this]() {
+      parent->keepScreenOn = true;
+      params_memory.putBool("FlashPanda", true);
+      while (params_memory.getBool("FlashPanda")) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      }
+      Hardware::reboot();
+    }).detach();
+  });
+
   openDescriptions(forceOpenDescriptions, toggles);
 
   QObject::connect(uiState(), &UIState::offroadTransition, [selectMakeButton, selectModelButton, this]() {

frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -36,7 +36,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "VoltSNG"};
+  QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "RedPanda", "RemoteStartBootsComma", "VoltSNG"};
   QSet<QString> hkgKeys = {"NewLongAPI", "TacoTuneHacks"};
   QSet<QString> longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "SNGHack", "VoltSNG"};
   QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
@@ -50,6 +50,7 @@ private:
   ParamControl *forceFingerprint;
 
   Params params;
+  Params params_memory{"/dev/shm/params"};
   Params params_default{"/dev/shm/params_default"};
 
   QJsonObject frogpilotToggleLevels;

panda/board/drivers/can_common.h

@@ -33,6 +33,7 @@ extern bool can_loopback;
 // Ignition detected from CAN meessages
 bool ignition_can = false;
 uint32_t ignition_can_cnt = 0U;
+extern bool gm_remote_start_boots_comma;
 
 #define ALL_CAN_SILENT 0xFF
 #define ALL_CAN_LIVE 0
@@ -202,10 +203,18 @@ void ignition_can_hook(CANPacket_t *to_push) {
     int len = GET_LEN(to_push);
     
     // GM exception
-    if ((addr == 0xC9) && (len == 8)) {
-      // Matches SystemPowerMode (1=Run, 0=Off)
-      ignition_can = (GET_BYTE(to_push, 6) & 0x10U) != 0U;
-      ignition_can_cnt = 0U;
+    if (gm_remote_start_boots_comma) {
+      if ((addr == 0xC9) && (len == 8)) {
+        // Matches SystemPowerMode (1=Run, 0=Off)
+        ignition_can = (GET_BYTE(to_push, 6) & 0x10U) != 0U;
+        ignition_can_cnt = 0U;
+      }
+    } else {
+      if ((addr == 0x1F1) && (len == 8)) {
+        // SystemPowerMode (2=Run, 3=Crank Request)
+        ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
+        ignition_can_cnt = 0U;
+      }
     }
 
     // Tesla exception

panda/board/safety/safety_gm.h

@@ -85,6 +85,7 @@ const uint16_t GM_PARAM_BOLT_2017 = 512;
 const uint16_t GM_PARAM_BOLT_2022_PEDAL = 1024;
 const uint16_t GM_PARAM_ASCM_INT = 2048;
 const uint16_t GM_PARAM_FORCE_BRAKE_C9 = 4096;
+const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -108,6 +109,7 @@ bool gm_skip_relay_check = false;
 bool gm_force_ascm = false;
 bool gm_bolt_2022_pedal = false;
 bool gm_force_brake_c9 = false;
+bool gm_remote_start_boots_comma = false;
 
 static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
   int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
@@ -376,6 +378,7 @@ static safety_config gm_init(uint16_t param) {
   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);
 
   safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   if (gm_hw == GM_CAM) {

panda/python/__init__.py

@@ -242,6 +242,7 @@ class Panda:
   FLAG_GM_BOLT_2022_PEDAL = 1024
   FLAG_GM_ASCM_INT = 2048
   FLAG_GM_FORCE_BRAKE_C9 = 4096
+  FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2

selfdrive/car/gm/interface.py

@@ -7,7 +7,7 @@ from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, set_red_panda_canbus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -141,7 +141,13 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles):
     ret.carName = "gm"
+    red_panda = getattr(frogpilot_toggles, "red_panda", False)
+    set_red_panda_canbus(red_panda)
+
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    if red_panda:
+      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]
 
@@ -154,13 +160,13 @@ class CarInterface(CarInterfaceBase):
 
     if PEDAL_MSG in fingerprint[0]:
       ret.enableGasInterceptor = True
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
       # When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
       experimental_long = False
       if candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023:
         # Hard-block pedal interceptor for ACC fingerprinted Bolts
         ret.enableGasInterceptor = False
-        ret.safetyConfigs[0].safetyParam &= ~Panda.FLAG_GM_GAS_INTERCEPTOR
+        gm_safety_cfg.safetyParam &= ~Panda.FLAG_GM_GAS_INTERCEPTOR
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct
@@ -180,19 +186,19 @@ class CarInterface(CarInterfaceBase):
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
       if candidate in SDGM_CAR:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
+        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]:
-          ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
+          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
         ret.minSteerSpeed = 7 * CV.MPH_TO_MS
       elif candidate in ASCM_INT:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
         ret.minSteerSpeed = 7 * CV.MPH_TO_MS
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_ASCM_INT
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_ASCM_INT
       else:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
 
       # Tuning for experimental long
       ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
@@ -207,11 +213,10 @@ class CarInterface(CarInterfaceBase):
       if ret.experimentalLongitudinalAvailable and experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
       if is_bolt_2022_2023_pedal:
         ret.experimentalLongitudinalAvailable = False
         ret.pcmCruise = False
-
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       ret.networkLocation = NetworkLocation.gateway
@@ -231,7 +236,10 @@ class CarInterface(CarInterfaceBase):
 
       if ret.enableGasInterceptor:
         # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
+
+    if getattr(frogpilot_toggles, "remote_start_boots_comma", False):
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_REMOTE_START_BOOTS_COMMA
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@@ -288,7 +296,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.torque.kfDEPRECATED = 0.02
 
       if candidate == CAR.CHEVROLET_BOLT_CC_2017:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_BOLT_2017
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
 
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng
@@ -297,8 +305,8 @@ class CarInterface(CarInterfaceBase):
     # Enable pedal interceptor for ACC models when detected
     if is_bolt_2022_2023_pedal:
       ret.flags |= GMFlags.PEDAL_LONG.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_BOLT_2022_PEDAL
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_ACC
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2022_PEDAL
 
     if candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
@@ -365,7 +373,7 @@ class CarInterface(CarInterfaceBase):
 
     if ret.enableGasInterceptor and frogpilot_toggles.gm_pedal_longitudinal:
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = -1
       ret.pcmCruise = False
       ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
@@ -374,7 +382,7 @@ class CarInterface(CarInterfaceBase):
 
       if candidate in CC_ONLY_CAR or (candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor): #pedal interceptor tuning
         ret.flags |= GMFlags.PEDAL_LONG.value
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
         if candidate in (CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
           ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
@@ -390,14 +398,14 @@ class CarInterface(CarInterfaceBase):
           ret.longitudinalTuning.kfDEPRECATED = 0.25
           ret.stoppingDecelRate = 0.8
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
         ret.startingState = True
         ret.vEgoStopping = 0.25
         ret.vEgoStarting = 0.25
 
     if ret.enableGasInterceptor and candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
       ret.flags |= GMFlags.PEDAL_LONG.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
       ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
       ret.longitudinalTuning.kiV = [0.0, 0.18, 0.25]
       ret.longitudinalTuning.kfDEPRECATED = 0.15
@@ -408,7 +416,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in CC_ONLY_CAR:
       ret.flags |= GMFlags.CC_LONG.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_CC_LONG
       ret.radarUnavailable = True
       ret.experimentalLongitudinalAvailable = False
       ret.minEnableSpeed = 24 * CV.MPH_TO_MS
@@ -431,12 +439,12 @@ class CarInterface(CarInterfaceBase):
           ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
 
     if candidate in CC_ONLY_CAR:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
+      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):
       ret.flags |= GMFlags.NO_CAMERA.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_CAMERA
 
     if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value

selfdrive/car/gm/values.py

@@ -333,6 +333,22 @@ class CanBus:
   LOOPBACK = 128
   DROPPED = 192
 
+def set_red_panda_canbus(enabled: bool) -> None:
+  if enabled:
+    CanBus.POWERTRAIN = 4
+    CanBus.OBSTACLE = 5
+    CanBus.CAMERA = 6
+    CanBus.CHASSIS = 6
+    CanBus.LOOPBACK = 132
+    CanBus.DROPPED = 196
+  else:
+    CanBus.POWERTRAIN = 0
+    CanBus.OBSTACLE = 1
+    CanBus.CAMERA = 2
+    CanBus.CHASSIS = 2
+    CanBus.LOOPBACK = 128
+    CanBus.DROPPED = 192
+
 class GMFlags(IntFlag):
   PEDAL_LONG = 1
   CC_LONG = 2