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CC longitudinal control

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Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 4b511bb036
commit c7de259c83
6 changed files with 112 additions and 19 deletions
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47
panda/board/safety/safety_gm.h
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@@ -46,26 +46,26 @@ const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {
{0x315, 2, 5}, // ch bus
{0x104c006c, 3, 3}, {0x10400060, 3, 5}}; // gmlan
const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, // pt bus
const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, // pt bus
{0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus
const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus
{0x184, 2, 8}}; // camera bus
const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, // pt bus
{0x184, 2, 8}}; // camera bus
const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus
{0x184, 2, 8}, {0x1E1, 2, 7}}; // camera bus
// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
RxCheck gm_rx_checks[] = {
{.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, .frequency = 10U}, // Non-SDGM Car
{0x1E1, 2, 7, .frequency = 10U}}}, // SDGM Car
{0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car
{.msg = {{0xF1, 0, 6, .frequency = 10U}, // Non-SDGM Car
{0xF1, 2, 6, .frequency = 10U}}}, // SDGM Car
{.msg = {{0xBE, 0, 6, .frequency = 10U}, // Volt, Silverado, Acadia Denali
{0xBE, 0, 7, .frequency = 10U}, // Bolt EUV
{0xBE, 0, 8, .frequency = 10U}}}, // Escalade
{0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
{.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
{.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
};
@@ -73,6 +73,7 @@ RxCheck gm_rx_checks[] = {
const uint16_t GM_PARAM_HW_CAM = 1;
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;
enum {
GM_BTN_UNPRESS = 1,
@@ -84,6 +85,7 @@ enum {
enum {GM_ASCM, GM_CAM, GM_SDGM} gm_hw = GM_ASCM;
bool gm_cam_long = false;
bool gm_pcm_cruise = false;
bool gm_cc_long = false;
static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
@@ -127,7 +129,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
// ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM)
if ((addr == 0x1E1) && (!gm_pcm_cruise || gas_interceptor_detected || gm_cc_long) && (gm_hw != GM_SDGM)) {
if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long) && (gm_hw != GM_SDGM)) {
handle_gm_wheel_buttons(to_push);
}
@@ -207,11 +209,16 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
}
// BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
if ((addr == 0x1E1) && gm_pcm_cruise) {
if ((addr == 0x1E1) && (gm_pcm_cruise || gm_cc_long)) {
int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
bool allowed_cancel = (button == 6) && cruise_engaged_prev;
if (!allowed_cancel) {
bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
// 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);
}
if (!allowed_btn) {
tx = false;
}
}
@@ -271,16 +278,22 @@ static safety_config gm_init(uint16_t param) {
} else {
}
#ifdef ALLOW_DEBUG
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
#endif
gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long || (gm_hw == GM_SDGM);
gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
if (gm_hw == GM_CAM) {
ret = gm_cam_long ? BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS) : BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
if (gm_cc_long) {
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);
} else {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
}
} else if (gm_hw == GM_SDGM) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
}
return ret;
}