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Add Full GM GasRegenCmd

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This commit is contained in:
garrettpall
2024-01-12 22:39:30 -07:00
committed by FrogAi
parent 955950381f
commit beb4faf213
6 changed files with 39 additions and 25 deletions
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14
panda/board/safety/safety_gm.h
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@@ -10,16 +10,16 @@ const SteeringLimits GM_STEERING_LIMITS = {
};
const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
.max_gas = 3072,
.min_gas = 1404,
.inactive_gas = 1404,
.max_gas = 7168,
.min_gas = 5500,
.inactive_gas = 5500,
.max_brake = 400,
};
const LongitudinalLimits GM_CAM_LONG_LIMITS = {
.max_gas = 3400,
.min_gas = 1514,
.inactive_gas = 1554,
.max_gas = 8650,
.min_gas = 5610,
.inactive_gas = 5650,
.max_brake = 400,
};
@@ -163,7 +163,7 @@ static bool gm_tx_hook(CANPacket_t *to_send) {
// GAS/REGEN: safety check
if (addr == 0x2CB) {
bool apply = GET_BIT(to_send, 0U) != 0U;
int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
bool violation = false;
// Allow apply bit in pre-enabled and overriding states