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Spoof CruiseSpeed Non-Acc

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This commit is contained in:
firestarsdog
2026-02-17 22:58:14 -05:00
committed by firestar5683
parent 030cf80148
commit fed12740f2
15 changed files with 173 additions and 21 deletions
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selfdrive/car/gm/carcontroller.py
+20 -5
View File
@@ -368,7 +368,21 @@ class CarController(CarControllerBase):
if now_nanos - self.last_steer_ts_ns >= flush_gap_ns:
can_sends.extend(paddle_sends)
spoof_ecm_cruise_cars = {
CAR.CHEVROLET_BOLT_CC_2017,
CAR.CHEVROLET_BOLT_CC_2019_2021,
CAR.CHEVROLET_BOLT_CC_2022_2023,
CAR.CHEVROLET_MALIBU_HYBRID_CC,
}
non_acc_pedal_long = (self.CP.flags & GMFlags.PEDAL_LONG.value) and self.CP.carFingerprint in spoof_ecm_cruise_cars and self.CP.enableGasInterceptor
if non_acc_pedal_long and self.frame % 4 == 0:
spoof_enabled = True
spoof_set_speed_kph = hud_v_cruise * CV.MS_TO_KPH
can_sends.append(gmcan.create_ecm_cruise_control_command(
self.packer_pt, CanBus.POWERTRAIN, spoof_enabled, spoof_set_speed_kph))
if self.CP.openpilotLongitudinalControl:
# Gas/regen, brakes, and UI commands - all at 25Hz
if self.frame % 4 == 0:
stopping = actuators.longControlState == LongCtrlState.stopping
@@ -422,7 +436,7 @@ class CarController(CarControllerBase):
accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
scaled_torque = torque + self.params.ZERO_GAS
apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
@@ -467,7 +481,7 @@ class CarController(CarControllerBase):
friction_brake_bus = CanBus.CHASSIS
# GM Camera exceptions
# TODO: can we always check the longControlState?
if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
if self.CP.networkLocation == NetworkLocation.fwdCamera:
at_full_stop = at_full_stop and stopping
friction_brake_bus = CanBus.POWERTRAIN
if self.CP.carFingerprint in SDGM_CAR:
@@ -488,10 +502,11 @@ class CarController(CarControllerBase):
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
idx, CC.enabled, near_stop, at_full_stop, self.CP))
# Send dashboard UI commands (ACC status)
is_bolt_acc_pedal = self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
if self.CP.carFingerprint not in CC_ONLY_CAR or is_bolt_acc_pedal:
send_fcw = hud_alert == VisualAlert.fcw
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
can_sends.append(gmcan.create_acc_dashboard_command(
self.packer_pt, CanBus.POWERTRAIN, CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
else:
# to keep accel steady for logs when not sending gas
accel += self.accel_g
selfdrive/car/gm/carstate.py
+7
View File
@@ -34,6 +34,8 @@ class CarState(CarStateBase):
self.single_pedal_mode = False
self.pedal_steady = 0.
self.ecm_cruise_control_ts_nanos = 0
self.accelerator_pedal2_ts_nanos = 0
def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
ret = car.CarState.new_message()
@@ -193,6 +195,8 @@ class CarState(CarStateBase):
if self.CP.pcmCruise and self.CP.carFingerprint not in ASCM_INT:
ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
if self.CP.carFingerprint in CC_ONLY_CAR:
self.ecm_cruise_control_ts_nanos = pt_cp.ts_nanos["ECMCruiseControl"]["CruiseActive"]
self.accelerator_pedal2_ts_nanos = pt_cp.ts_nanos["AcceleratorPedal2"]["CruiseState"]
ret.accFaulted = False
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
@@ -206,6 +210,9 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
except:
ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
else:
self.ecm_cruise_control_ts_nanos = 0
self.accelerator_pedal2_ts_nanos = 0
if self.CP.enableBsm:
if not sdgm_non_volt:
selfdrive/car/gm/gmcan.py
+17
View File
@@ -185,6 +185,23 @@ def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_con
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)
def create_ecm_cruise_control_command(packer, bus, enabled, target_speed_kph):
dat = bytearray(8)
dat[0] = 0x01
# Match observed stock shape on non-ACC CC paths: byte4 is usually 0x00
# (with occasional 0x80 from stock state transitions). Keep this spoofed
# path at 0x00 to avoid plausibility mismatch on non-speed bits.
dat[4] = 0x00
set_speed_raw = 0
if enabled:
set_speed_raw = int(round(max(0., target_speed_kph) / 0.0625))
set_speed_raw = max(0, min(set_speed_raw, 0x0FFF))
dat[2] = (set_speed_raw >> 8) & 0xFF
dat[3] = set_speed_raw & 0xFF
return make_can_msg(0x3D1, bytes(dat), bus)
def create_adas_time_status(bus, tt, idx):
dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
selfdrive/car/gm/interface.py
+10
View File
@@ -534,6 +534,16 @@ class CarInterface(CarInterfaceBase):
if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
use_panda_3d1_sched = (
ret.openpilotLongitudinalControl and
ret.enableGasInterceptor and
bool(ret.flags & GMFlags.PEDAL_LONG.value) and
candidate in CC_ONLY_CAR and
candidate != CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
)
if use_panda_3d1_sched:
gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PANDA_3D1_SCHED
return ret
# returns a car.CarState