Skip harness relay check if camera is missing

Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>

panda/board/safety.h

@@ -275,7 +275,7 @@ void generic_rx_checks(bool stock_ecu_detected) {
   regen_braking_prev = regen_braking;
 
   // check if stock ECU is on bus broken by car harness
-  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected) {
+  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected && !gm_skip_relay_check) {
     relay_malfunction_set();
   }
 }

panda/board/safety/safety_gm.h

@@ -80,6 +80,7 @@ const uint16_t GM_PARAM_HW_CAM_LONG = 2;
 const uint16_t GM_PARAM_HW_SDGM = 4;
 const uint16_t GM_PARAM_CC_LONG = 8;
 const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
+const uint16_t GM_PARAM_NO_CAMERA = 32;
 const uint16_t GM_PARAM_NO_ACC = 64;
 const uint16_t GM_PARAM_PEDAL_LONG = 128;  // TODO: this can be inferred
 const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256;
@@ -97,6 +98,7 @@ bool gm_pcm_cruise = false;
 bool gm_has_acc = true;
 bool gm_pedal_long = false;
 bool gm_cc_long = false;
+bool gm_skip_relay_check = false;
 bool gm_force_ascm = false;
 
 static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {

panda/python/__init__.py

@@ -236,6 +236,7 @@ class Panda:
   FLAG_GM_HW_SDGM = 4
   FLAG_GM_CC_LONG = 8
   FLAG_GM_HW_ASCM_LONG = 16
+  FLAG_GM_NO_CAMERA = 32
   FLAG_GM_NO_ACC = 64
   FLAG_GM_PEDAL_LONG = 128
   FLAG_GM_GAS_INTERCEPTOR = 256