GM: Add support for cam harness & stock ACC #962
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* Complete rewrite / simplification * Add param for cam harness (default is OBD2) - Forward btw 0 and 2 - Filter LKAS and optionally ACC from cam * Add param for stock ACC - Allows ACC on PT bus when set, not otherwise - Allows ACC from cam when set, not otherwise * Add temporary WIP EPS timing workaround in ifdef
sshane
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Jun 13, 2022
adeebshihadeh
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fix and formatting
sshane
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Jun 15, 2022
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JMPZ11
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@sshane is helping to update the tests, otherwise I think the main code is ready for review - I'm removing this from draft status |
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sshane
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Co-authored-by: Adeeb Shihadeh <[email protected]>
This reverts commit 5005779.
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* Allow brake TX on PT bus * Initial Panda GM cam harness support * Complete rewrite / simplification * Add param for cam harness (default is OBD2) - Forward btw 0 and 2 - Filter LKAS and optionally ACC from cam * Add param for stock ACC - Allows ACC on PT bus when set, not otherwise - Allows ACC from cam when set, not otherwise * Add temporary WIP EPS timing workaround in ifdef * Remove keepalive; regen == braking * Fix MISRA violations * EPS timing opt-in by param * Minor clean up * remove timing code for readability fix and formatting * we only need to send one message if cam harness and stock long * Simplify params * Removed dup brake msg * revised params, split 3-ways * add test * clean up a bit, no need to send ACC yet like this * split out button enable and pcm enable into seperate tests * some formatting some formatting * GM CAM uses PCM cruise for controls_allowed * fix gas safety tests * misra * fix static analysis comment * fix brake pressed * Add OP VOACC override stock cam * Add VOACC safetyparam to init.py * Revert "Add VOACC safetyparam to init.py" This reverts commit 2e46f87. * Revert "Add OP VOACC override stock cam" This reverts commit a4b096c. * better comments * better comments better comments fix * move non-base msg definitions to subclass * various comments * TODO: add button safety * add button safety * use new pcm_cruise_check * revert regen braking change * only cancel button allowed * Apply suggestions from code review * Update board/safety/safety_gm.h Co-authored-by: Adeeb Shihadeh <[email protected]> * fix suggestion * Fix tests * Revert "Fix tests" This reverts commit 5005779. * this is a much simpler fix, do full fix in another PR * tx button safety Co-authored-by: Shane Smiskol <[email protected]> Co-authored-by: Adeeb Shihadeh <[email protected]>
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In preparation for non-ASCM based Silverado, Suburban and Tahoe support, safety model options
have been added to enable forwarding between the camera and powertrain bus (with appropriate
message filtering), and to optionally allow the use of stock ACC.
(Note that these changes should apply to any GM vehicle with ACC + LKAS that doesn't use an ASCM)
The friction brake command is permitted for tx on powertrain, and included in ACC command fwd filter.
Regen paddle updated to set brake_pressed instead of directly unsetting controls_allowed.
Contains WIP LKAS timing enforcement wrapped in an #ifdef for easy removal -
may be necessary until the OP side EPS fix is completed.
TODO:
[ ] Work on preventing remaining EPS faults in OPThis will be done in OP[ ] Determine why steering limit code is being triggered and resolve if possibleThis will be a separate issue[ ] Reminder: Current port doesn't monitor the status of the brake controller on the chassis bus - might be good to addNot in scope for this PR[ ] Reminder: Investigate brake controller status for cars that use the PT bus for friction brakesNot in scope for this PR