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blaze

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firestar5683
2026-02-19 11:13:07 -06:00
parent 266fda2c91
commit fdcab8d127
2 changed files with 6 additions and 9 deletions
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selfdrive/car/gm/carstate.py
+3 -6
View File
@@ -107,20 +107,17 @@ class CarState(CarStateBase):
ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.carFingerprint == CAR.CHEVROLET_BLAZER:
# Blazer can miss light taps on analog threshold; include digital brake switch.
ret.brakePressed = (pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0) or (ret.brake >= 0.7)
elif self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_CC:
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_CC:
# Malibu CC: keep strict opgm behavior using BrakePedalPos >= 8.
ret.brakePressed = ret.brake >= 8
elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (self.CP.networkLocation == NetworkLocation.fwdCamera):
elif (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:
# Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
# 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 = 0.15 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
analog_thresh = 0.10 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
ret.brakePressed = ret.brake >= analog_thresh
# Regen braking is braking
selfdrive/car/gm/interface.py
+3 -3
View File
@@ -250,9 +250,9 @@ class CarInterface(CarInterfaceBase):
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.minSteerSpeed = 7 * CV.MPH_TO_MS
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_SDGM
# Use C9 brake bit on Blazer and SDGM variants that lack 0xBE (ECMAcceleratorPos),
# so panda brake_pressed source matches carstate on light taps.
if candidate == CAR.CHEVROLET_BLAZER or ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
# Use C9 brake bit on SDGM variants that lack 0xBE (ECMAcceleratorPos),
# so panda brake_pressed source matches carstate.
if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
ret.flags |= GMFlags.FORCE_BRAKE_C9.value