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Pedal Panda?

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firestar5683
2025-10-10 00:09:59 -05:00
parent 068065ca56
commit fa83aef8bb
1 changed files with 13 additions and 39 deletions
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panda/board/safety/safety_gm.h
+13 -39
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@@ -10,16 +10,16 @@ const SteeringLimits GM_STEERING_LIMITS = {
};
const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 3072,
.min_gas = 1404,
.inactive_gas = 1404,
.max_gas = 7168,
.min_gas = 5500,
.inactive_gas = 5500,
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 3400,
.min_gas = 1514,
.inactive_gas = 1554,
.max_gas = 7496,
.min_gas = 5610,
.inactive_gas = 5650,
.max_brake = 400,
};
@@ -143,7 +143,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
brake_pressed = GET_BIT(to_push, 40U);
brake_pressed = GET_BIT(to_push, 40U) != 0U;
}
if (addr == 0xC9) {
@@ -172,13 +172,6 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
}
// Cruise check for ACC models with pedal interceptor - block stock ACC
if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor) {
// When pedal interceptor is active on ACC models, ignore stock cruise state
// to prevent conflicts between pedal interceptor and stock ACC
cruise_engaged_prev = false;
}
if (addr == 0xBD) {
regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
}
@@ -199,12 +192,6 @@ 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)
int addr = GET_ADDR(to_push);
if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U; // ACCCmdActive
cruise_engaged_prev = cruise_engaged;
}
}
static bool gm_tx_hook(const CANPacket_t *to_send) {
@@ -242,10 +229,10 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
// GAS/REGEN: safety check
if (addr == 0x2CB) {
bool apply = GET_BIT(to_send, 0U);
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
bool violation = false;
// Allow apply bit in pre-enabled and overriding states, except for inactive gas // Allow apply bit in pre-enabled and overriding states
// Allow apply bit in pre-enabled and overriding states
violation |= !controls_allowed && apply;
violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
@@ -259,11 +246,6 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
// For ACC cars with pedal interceptor, allow cancel even if cruise_engaged_prev is false
// (since we set it to false to prevent conflicts, but still need to cancel cruise)
if (gm_hw == GM_CAM && enable_gas_interceptor && button == GM_BTN_CANCEL) {
allowed_btn = true;
}
// 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);
@@ -306,13 +288,9 @@ static int gm_fwd_hook(int bus_num, int addr) {
}
if (bus_num == 2) {
// block lkas message and acc messages
// Block 0x370 only for experimental long without pedal interceptor
// block lkas message and acc messages if gm_cam_long, forward all others
bool is_lkas_msg = (addr == 0x180);
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
if (gm_cam_long && !enable_gas_interceptor) {
is_acc_msg = is_acc_msg || (addr == 0x370);
}
bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
if (!block_msg) {
bus_fwd = 0;
@@ -335,19 +313,15 @@ static safety_config gm_init(uint16_t param) {
gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
if (gm_hw == GM_ASCM || gm_force_ascm) {
gm_long_limits = &GM_ASCM_LONG_LIMITS;
gm_long_limits = &GM_ASCM_LONG_LIMITS;
} else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
gm_long_limits = &GM_CAM_LONG_LIMITS;
gm_long_limits = &GM_CAM_LONG_LIMITS;
} else {
}
gm_pedal_long = GET_FLAG(param, GM_PARAM_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;
// Block ACC messages when pedal interceptor is active on ACC models
if (gm_hw == GM_CAM && enable_gas_interceptor) {
gm_cam_long = true;
}
gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);