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volt checks

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This commit is contained in:
firestar5683
2026-04-07 20:26:13 -05:00
parent 3f2dc76051
commit c2ff6b573a
38 changed files with 118 additions and 60 deletions
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opendbc_repo/opendbc/car/gm/interface.py
+1 -1
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@@ -200,7 +200,6 @@ class CarInterface(CarInterfaceBase):
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.EV.value
else:
ret.transmissionType = TransmissionType.automatic
@@ -615,6 +614,7 @@ class CarInterface(CarInterfaceBase):
if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and candidate not in SDGM_CAR:
ret.flags |= GMFlags.NO_CAMERA.value
ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value
if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
opendbc_repo/opendbc/car/gm/values.py
+2 -1
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@@ -157,7 +157,8 @@ class CarControllerParams:
class GMSafetyFlags(IntFlag):
HW_CAM = 1
HW_CAM_LONG = 2
EV = 4
# Reuses the retired EV safety bit. EV-specific safety handling is no longer needed.
FLAG_GM_NO_CAMERA = 4
FLAG_GM_CC_LONG = 8
FLAG_GM_GAS_INTERCEPTOR = 16
opendbc_repo/opendbc/car/interfaces.py
+1
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@@ -50,6 +50,7 @@ GEAR_SHIFTER_MAP: dict[str, structs.CarState.GearShifter] = {
'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
'S': GearShifter.sport, 'SPORT': GearShifter.sport,
'L': GearShifter.low, 'LOW': GearShifter.low,
'L2': GearShifter.low, 'L3': GearShifter.low,
'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
}
opendbc_repo/opendbc/safety/modes/gm.h
+46 -51
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@@ -522,7 +522,7 @@ static bool gm_fwd_hook(int bus_num, int addr) {
static safety_config gm_init(uint16_t param) {
const uint16_t GM_PARAM_HW_CAM = 1;
const uint16_t GM_PARAM_HW_CAM_LONG = 2;
const uint16_t GM_PARAM_EV = 4;
const uint16_t GM_PARAM_NO_CAMERA = 4;
const uint16_t GM_PARAM_CC_LONG = 8;
const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 16;
const uint16_t GM_PARAM_NO_ACC = 32;
@@ -566,18 +566,23 @@ static safety_config gm_init(uint16_t param) {
{0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus
static const CanMsg GM_CAM_LONG_NO_CAMERA_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x315, 0, 5, .check_relay = false}, {0x2CB, 0, 8, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus
{0x184, 2, 8, .check_relay = false}, // camera bus
{0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus
static RxCheck gm_rx_checks[] = {
GM_COMMON_RX_CHECKS
GM_ACC_RX_CHECKS
};
static RxCheck gm_ev_rx_checks[] = {
GM_COMMON_RX_CHECKS
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
GM_ACC_RX_CHECKS
{.msg = {{0x184, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{0x1E1, 2, 7, 100000U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{ 0 }}},
{.msg = {{0xF1, 0, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{0xF1, 2, 6, 100000U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{ 0 }}},
{.msg = {{0x1C4, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static RxCheck gm_ascm_int_stock_cam_rx_checks[] = {
@@ -591,11 +596,11 @@ static safety_config gm_init(uint16_t param) {
{0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus
static RxCheck gm_no_acc_ev_rx_checks[] = {
GM_COMMON_RX_CHECKS
{.msg = {{0xBD, 0, 7, 40U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x3D1, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // Non-ACC PCM
};
static const CanMsg GM_CAM_NO_CAMERA_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus
{0x1E1, 2, 7, .check_relay = false}, {0x184, 2, 8, .check_relay = false}, // camera bus
{0x200, 0, 6, .check_relay = false},
{0x1E1, 0, 7, .check_relay = false},
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}}; // pt bus
static RxCheck gm_no_acc_rx_checks[] = {
GM_COMMON_RX_CHECKS
@@ -615,12 +620,6 @@ static safety_config gm_init(uint16_t param) {
{.msg = {{0xC9, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static RxCheck gm_cam_acc_rx_checks[] = {
GM_COMMON_RX_CHECKS
GM_ACC_RX_CHECKS
{.msg = {{0x370, 2, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, // camera ACC status
};
static RxCheck gm_cam_acc_pedal_rx_checks[] = {
{.msg = {{0x184, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
@@ -634,26 +633,18 @@ static safety_config gm_init(uint16_t param) {
{.msg = {{0xC9, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static RxCheck gm_sdgm_acc_rx_checks[] = {
{.msg = {{0x184, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{0x1E1, 2, 7, 100000U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{ 0 }}},
{.msg = {{0xF1, 0, 6, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{0xF1, 2, 6, 100000U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},
{ 0 }}},
{.msg = {{0x1C4, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
};
static const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false},
{0x184, 2, 8, .check_relay = true}, {0x1E1, 2, 7, .check_relay = false}}; // camera bus
static const CanMsg GM_CC_LONG_NO_CAMERA_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false}, // pt bus
{0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false},
{0x184, 2, 8, .check_relay = false}, {0x1E1, 2, 7, .check_relay = false}}; // camera bus
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
gm_sdgm = GET_FLAG(param, GM_PARAM_HW_SDGM);
gm_ascm_int = GET_FLAG(param, GM_PARAM_HW_ASCM_INT);
const bool gm_no_camera = GET_FLAG(param, GM_PARAM_NO_CAMERA);
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
@@ -704,46 +695,50 @@ static safety_config gm_init(uint16_t param) {
}
safety_config ret;
if (gm_hw == GM_CAM) {
// SDGM behaves like a forwarding camera path for whitelist/forwarding purposes.
if ((gm_hw == GM_CAM) || gm_sdgm) {
// FIXME: cppcheck thinks that gm_cam_long is always false. This is not true
// if ALLOW_DEBUG is defined but cppcheck is run without ALLOW_DEBUG
// cppcheck-suppress knownConditionTrueFalse
if (gm_cc_long) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS);
if (gm_no_camera) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_NO_CAMERA_TX_MSGS);
} else {
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);
if (gm_no_camera) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_NO_CAMERA_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
}
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
if (gm_no_camera) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_NO_CAMERA_TX_MSGS);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
}
}
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
}
const bool gm_ev = GET_FLAG(param, GM_PARAM_EV);
if (enable_gas_interceptor) {
if (gm_has_acc && (gm_hw == GM_CAM || gm_sdgm)) {
SET_RX_CHECKS(gm_cam_acc_pedal_rx_checks, ret);
} else {
SET_RX_CHECKS(gm_pedal_rx_checks, ret);
}
} else if (gm_has_acc && gm_sdgm) {
SET_RX_CHECKS(gm_sdgm_acc_rx_checks, ret);
} else if (gm_has_acc && (gm_hw == GM_CAM || gm_sdgm)) {
SET_RX_CHECKS(gm_cam_acc_rx_checks, ret);
} else if (!gm_has_acc && gm_ev) {
SET_RX_CHECKS(gm_no_acc_ev_rx_checks, ret);
} else if (!gm_has_acc && !gm_ev) {
} else if (!gm_has_acc) {
SET_RX_CHECKS(gm_no_acc_rx_checks, ret);
} else if (gm_ev) {
SET_RX_CHECKS(gm_ev_rx_checks, ret);
}
if (gm_ascm_int_stock_cam || gm_ascm_int_no_accel_pos) {
SET_RX_CHECKS(gm_ascm_int_stock_cam_rx_checks, ret);
}
// ASCM does not forward any messages
if (gm_hw == GM_ASCM) {
// ASCM does not forward any messages. SDGM still forwards between PT and camera.
if ((gm_hw == GM_ASCM) && !gm_sdgm) {
ret.disable_forwarding = true;
}
return ret;
opendbc_repo/opendbc/safety/tests/test_gm.py
+64 -3
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@@ -139,7 +139,7 @@ class TestGmSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTe
class TestGmEVSafetyBase(TestGmSafetyBase):
EXTRA_SAFETY_PARAM = GMSafetyFlags.EV
EXTRA_SAFETY_PARAM = 0
# existence of _user_regen_msg adds regen tests
def _user_regen_msg(self, regen):
@@ -233,8 +233,21 @@ class TestGmCameraSafety(TestGmCameraSafetyBase):
self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
def _prime_gm_ascm_int_stock_cam_rx_checks(safety, f1_bus: int) -> None:
# This path should only accept the Volt/Malibu ASCM_INT stock-camera status on bus 0.
class TestGmSdgmSafety(TestGmSafetyBase):
TX_MSGS = [[0x180, 0], [0x370, 0], [0x200, 0], [0x1E1, 0], [0x3D1, 0], [0xBD, 0], [0x1F5, 0], # pt bus
[0x1E1, 2], [0x184, 2]] # camera bus
FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184]} # block LKAS message and PSCMStatus
BUTTONS_BUS = 2 # tx only
def setUp(self):
self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_SDGM | self.EXTRA_SAFETY_PARAM)
self.safety.init_tests()
def _prime_gm_base_rx_checks(safety, f1_bus: int) -> None:
for bus, addr, length in (
(0, 0x184, 8),
(0, 0x34A, 5),
@@ -246,6 +259,20 @@ def _prime_gm_ascm_int_stock_cam_rx_checks(safety, f1_bus: int) -> None:
safety.safety_rx_hook(common.make_msg(bus, addr, length))
def test_gm_camera_stock_acc_uses_base_rx_checks():
safety = libsafety_py.libsafety
safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM)
safety.init_tests()
_prime_gm_base_rx_checks(safety, 0)
assert safety.safety_config_valid()
def _prime_gm_ascm_int_stock_cam_rx_checks(safety, f1_bus: int) -> None:
# This path should only accept the Volt/Malibu ASCM_INT stock-camera status on bus 0.
_prime_gm_base_rx_checks(safety, f1_bus)
def test_gm_ascm_int_stock_cam_f1_rx_pinning():
safety = libsafety_py.libsafety
safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_ASCM_INT)
@@ -275,6 +302,17 @@ class TestGmCameraEVSafety(GmCameraAccEVRegenMixin, TestGmCameraSafety, TestGmEV
pass
class TestGmCameraNoCameraSafety(TestGmCameraSafety):
RELAY_MALFUNCTION_ADDRS = {0: (), 2: ()}
def setUp(self):
self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_NO_CAMERA)
self.safety.init_tests()
class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase):
TX_MSGS = [[0x180, 0], [0x315, 0], [0x2CB, 0], [0x370, 0], [0x200, 0], [0x1E1, 0], [0x3D1, 0], [0xBD, 0], [0x1F5, 0], # pt bus
[0x184, 2]] # camera bus
@@ -298,6 +336,17 @@ class TestGmCameraLongitudinalEVSafety(GmCameraAccEVRegenMixin, TestGmCameraLong
pass
class TestGmCameraLongitudinalNoCameraSafety(TestGmCameraLongitudinalSafety):
RELAY_MALFUNCTION_ADDRS = {0: (), 2: ()}
def setUp(self):
self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerSafety("gm_global_a_chassis")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | GMSafetyFlags.FLAG_GM_NO_CAMERA)
self.safety.init_tests()
def interceptor_msg(gas, addr):
to_send = common.make_msg(0, addr, 6)
to_send[0].data[0] = (gas & 0xFF00) >> 8
@@ -400,6 +449,18 @@ class TestGmCcLongitudinalSafety(TestGmCameraSafety):
self.assertEqual(enabled, self._tx(self._button_msg(btn)))
class TestGmCcLongitudinalNoCameraSafety(TestGmCcLongitudinalSafety):
RELAY_MALFUNCTION_ADDRS = {0: (), 2: ()}
def setUp(self):
self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
self.safety = libsafety_py.libsafety
self.safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | GMSafetyFlags.FLAG_GM_NO_ACC |
GMSafetyFlags.FLAG_GM_CC_LONG | GMSafetyFlags.FLAG_GM_NO_CAMERA)
self.safety.init_tests()
class TestGmCcLongitudinalPandaSchedSafety(TestGmCcLongitudinalSafety):
FWD_BLACKLISTED_ADDRS = {2: [0x180, 0x370], 0: [0x184, 0x3D1]}
INTERCEPTOR_GAS_PRESSED = 596
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@@ -1,2 +1,2 @@
extern const uint8_t gitversion[19];
const uint8_t gitversion[19] = "DEV-5ddabfcc-DEBUG";
const uint8_t gitversion[19] = "DEV-2b280bd5-DEBUG";
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@@ -1 +1 @@
DEV-5ddabfcc-DEBUG
DEV-2b280bd5-DEBUG
selfdrive/test/process_replay/migration.py
+2 -2
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@@ -276,8 +276,8 @@ def migrate_pandaStates(msgs):
"TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
"TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
"KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
"CHEVROLET_VOLT": GMSafetyFlags.EV,
"CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
"CHEVROLET_VOLT": 0,
"CHEVROLET_BOLT_EUV": GMSafetyFlags.HW_CAM,
}
# TODO: get new Ford route
safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL)