brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add SDGM support

Browse Source 
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 ce5ddafc5f
commit fc2fcb4834
9 changed files with 170 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
panda/board/safety/safety_gm.h
View File

@@ -49,6 +49,9 @@ const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {
const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, // 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
@@ -56,7 +59,10 @@ const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8
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}, { 0 }, { 0 }}},
{.msg = {{0x1E1, 0, 7, .frequency = 10U}, // Non-SDGM Car
{0x1E1, 2, 7, .frequency = 10U}}}, // 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
@@ -66,6 +72,7 @@ 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;
enum {
GM_BTN_UNPRESS = 1,
@@ -74,11 +81,34 @@ enum {
GM_BTN_CANCEL = 6,
};
enum {GM_ASCM, GM_CAM} gm_hw = GM_ASCM;
enum {GM_ASCM, GM_CAM, GM_SDGM} gm_hw = GM_ASCM;
bool gm_cam_long = false;
bool gm_pcm_cruise = false;
static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
// enter controls on falling edge of set or rising edge of resume (avoids fault)
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
if (set || res) {
controls_allowed = true;
}
// exit controls on cancel press
if (button == GM_BTN_CANCEL) {
controls_allowed = false;
}
cruise_button_prev = button;
}
static void gm_rx_hook(const CANPacket_t *to_push) {
if ((GET_BUS(to_push) == 2U) && (GET_ADDR(to_push) == 0x1E1) && (gm_hw == GM_SDGM)) {
// SDGM buttons are on bus 2
handle_gm_wheel_buttons(to_push);
}
if (GET_BUS(to_push) == 0U) {
int addr = GET_ADDR(to_push);
@@ -96,23 +126,9 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
}
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
if ((addr == 0x1E1) && !gm_pcm_cruise) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
// enter controls on falling edge of set or rising edge of resume (avoids fault)
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
if (set || res) {
controls_allowed = true;
}
// exit controls on cancel press
if (button == GM_BTN_CANCEL) {
controls_allowed = false;
}
cruise_button_prev = button;
// 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)) {
handle_gm_wheel_buttons(to_push);
}
// Reference for brake pressed signals:
@@ -121,7 +137,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
brake_pressed = GET_BYTE(to_push, 1) >= 8U;
}
if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
brake_pressed = GET_BIT(to_push, 40U);
}
@@ -205,7 +221,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
static int gm_fwd_hook(int bus_num, int addr) {
int bus_fwd = -1;
if (gm_hw == GM_CAM) {
if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
if (bus_num == 0) {
// block PSCMStatus; forwarded through openpilot to hide an alert from the camera
bool is_pscm_msg = (addr == 0x184);
@@ -231,7 +247,13 @@ static int gm_fwd_hook(int bus_num, int addr) {
static safety_config gm_init(uint16_t param) {
sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
if GET_FLAG(param, GM_PARAM_HW_CAM) {
gm_hw = GM_CAM;
} else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
gm_hw = GM_SDGM;
} else {
gm_hw = GM_ASCM;
}
if (gm_hw == GM_ASCM) {
if (sport_mode) {
@@ -251,12 +273,13 @@ static safety_config gm_init(uint16_t param) {
#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_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_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);
}
} else if (gm_hw == GM_SDGM) {
ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
return ret;
}