GM: Add support for cam harness & stock ACC

board/safety/safety_gm.h

@@ -15,13 +15,18 @@ const int GM_MAX_RATE_UP = 7;
 const int GM_MAX_RATE_DOWN = 17;
 const int GM_DRIVER_TORQUE_ALLOWANCE = 50;
 const int GM_DRIVER_TORQUE_FACTOR = 4;
+
 const int GM_MAX_GAS = 3072;
 const int GM_MAX_REGEN = 1404;
 const int GM_MAX_BRAKE = 350;
-const CanMsg GM_TX_MSGS[] = {{384, 0, 4}, {1033, 0, 7}, {1034, 0, 7}, {715, 0, 8}, {880, 0, 6},  // pt bus
-                             {161, 1, 7}, {774, 1, 8}, {776, 1, 7}, {784, 1, 2},   // obs bus
-                             {789, 2, 5},  // ch bus
-                             {0x104c006c, 3, 3}, {0x10400060, 3, 5}};  // gmlan
+
+const CanMsg GM_ASCM_TX_MSGS[] = {{384, 0, 4}, {1033, 0, 7}, {1034, 0, 7}, {715, 0, 8}, {880, 0, 6},  // pt bus
+                                  {161, 1, 7}, {774, 1, 8}, {776, 1, 7}, {784, 1, 2},   // obs bus
+                                  {789, 2, 5},  // ch bus
+                                  {0x104c006c, 3, 3}, {0x10400060, 3, 5}};  // gmlan
+
+const CanMsg GM_CAM_TX_MSGS[] = {{384, 0, 4},  // pt bus
+                                 {481, 2, 7}};  // camera bus
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
 AddrCheckStruct gm_addr_checks[] = {
@@ -34,6 +39,7 @@ AddrCheckStruct gm_addr_checks[] = {
 #define GM_RX_CHECK_LEN (sizeof(gm_addr_checks) / sizeof(gm_addr_checks[0]))
 addr_checks gm_rx_checks = {gm_addr_checks, GM_RX_CHECK_LEN};
 
+const uint16_t GM_PARAM_HW_CAM = 1;
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -42,6 +48,8 @@ enum {
   GM_BTN_CANCEL = 6,
 };
 
+enum {GM_ASCM, GM_CAM} gm_hw = GM_ASCM;
+
 static int gm_rx_hook(CANPacket_t *to_push) {
 
   bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL);
@@ -62,8 +70,8 @@ static int gm_rx_hook(CANPacket_t *to_push) {
       vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
     }
 
-    // ACC steering wheel buttons
-    if (addr == 481) {
+    // ACC steering wheel buttons (GM_CAM is tied to the PCM)
+    if ((addr == 481) && (gm_hw == GM_ASCM)) {
       int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
 
       // exit controls on cancel press
@@ -90,6 +98,12 @@ static int gm_rx_hook(CANPacket_t *to_push) {
 
     if (addr == 452) {
       gas_pressed = GET_BYTE(to_push, 5) != 0U;
+
+      // enter controls on rising edge of ACC, exit controls when ACC off
+      if (gm_hw == GM_CAM) {
+        bool cruise_engaged = (GET_BYTE(to_push, 1) >> 5) != 0U;
+        pcm_cruise_check(cruise_engaged);
+      }
     }
 
     // exit controls on regen paddle
@@ -100,11 +114,13 @@ static int gm_rx_hook(CANPacket_t *to_push) {
       }
     }
 
-    // Check if ASCM or LKA camera are online
-    // on powertrain bus.
-    // 384 = ASCMLKASteeringCmd
-    // 715 = ASCMGasRegenCmd
-    generic_rx_checks(((addr == 384) || (addr == 715)));
+    bool stock_ecu_detected = (addr == 384);  // ASCMLKASteeringCmd
+
+    // Only check ASCMGasRegenCmd if ASCM, GM_CAM uses stock longitudinal
+    if ((gm_hw == GM_ASCM) && (addr == 715)) {
+      stock_ecu_detected = true;
+    }
+    generic_rx_checks(stock_ecu_detected);
   }
   return valid;
 }
@@ -120,8 +136,10 @@ static int gm_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
   int tx = 1;
   int addr = GET_ADDR(to_send);
 
-  if (!msg_allowed(to_send, GM_TX_MSGS, sizeof(GM_TX_MSGS)/sizeof(GM_TX_MSGS[0]))) {
-    tx = 0;
+  if (gm_hw == GM_CAM) {
+    tx = msg_allowed(to_send, GM_CAM_TX_MSGS, sizeof(GM_CAM_TX_MSGS)/sizeof(GM_CAM_TX_MSGS[0]));
+  } else {
+    tx = msg_allowed(to_send, GM_ASCM_TX_MSGS, sizeof(GM_ASCM_TX_MSGS)/sizeof(GM_ASCM_TX_MSGS[0]));
   }
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
@@ -218,12 +236,44 @@ static int gm_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
     }
   }
 
+  // BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal
+  if ((addr == 481) && (gm_hw == GM_CAM)) {
+    int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
+
+    bool allowed_cancel = (button == 6) && cruise_engaged_prev;
+    if (!allowed_cancel) {
+      tx = 0;
+    }
+  }
+
   // 1 allows the message through
   return tx;
 }
 
+static int gm_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
+
+  int bus_fwd = -1;
+
+  if (gm_hw == GM_CAM) {
+    if (bus_num == 0) {
+      bus_fwd = 2;
+    }
+
+    if (bus_num == 2) {
+      // block lkas message, forward all others
+      int addr = GET_ADDR(to_fwd);
+      bool is_lkas_msg = (addr == 384);
+      if (!is_lkas_msg) {
+        bus_fwd = 0;
+      }
+    }
+  }
+
+  return bus_fwd;
+}
+
 static const addr_checks* gm_init(uint16_t param) {
-  UNUSED(param);
+  gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
   return &gm_rx_checks;
 }
 
@@ -232,5 +282,5 @@ const safety_hooks gm_hooks = {
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
-  .fwd = default_fwd_hook,
+  .fwd = gm_fwd_hook,
 };

python/__init__.py

@@ -205,6 +205,8 @@ class Panda:
 
   FLAG_SUBARU_GEN2 = 1
 
+  FLAG_GM_HW_CAM = 1
+
   def __init__(self, serial: Optional[str] = None, claim: bool = True):
     self._serial = serial
     self._handle = None

tests/safety/test_gm.py

@@ -18,16 +18,11 @@ class Buttons:
   CANCEL = 6
 
 
-class TestGmSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
-  TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0],  # pt bus
-             [161, 1], [774, 1], [776, 1], [784, 1],  # obs bus
-             [789, 2],  # ch bus
-             [0x104c006c, 3], [0x10400060, 3]]  # gmlan
+class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
   STANDSTILL_THRESHOLD = 0
   RELAY_MALFUNCTION_ADDR = 384
   RELAY_MALFUNCTION_BUS = 0
-  FWD_BLACKLISTED_ADDRS: Dict[int, List[int]] = {}
-  FWD_BUS_LOOKUP: Dict[int, int] = {}
+  BUTTONS_BUS = 0
 
   MAX_RATE_UP = 7
   MAX_RATE_DOWN = 17
@@ -37,34 +32,27 @@ class TestGmSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest
   DRIVER_TORQUE_ALLOWANCE = 50
   DRIVER_TORQUE_FACTOR = 4
 
+  @classmethod
+  def setUpClass(cls):
+    if cls.__name__ == "TestGmSafetyBase":
+      cls.packer = None
+      cls.safety = None
+      raise unittest.SkipTest
+
   def setUp(self):
     self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
     self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
     self.safety = libpandasafety_py.libpandasafety
     self.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
     self.safety.init_tests()
 
-  # override these tests from PandaSafetyTest, GM uses button enable
-  def test_disable_control_allowed_from_cruise(self):
-    pass
-
-  def test_enable_control_allowed_from_cruise(self):
-    pass
-
-  def test_cruise_engaged_prev(self):
-    pass
-
   def _pcm_status_msg(self, enable):
     raise NotImplementedError
 
   def _speed_msg(self, speed):
     values = {"%sWheelSpd" % s: speed for s in ["RL", "RR"]}
     return self.packer.make_can_msg_panda("EBCMWheelSpdRear", 0, values)
 
-  def _button_msg(self, buttons):
-    values = {"ACCButtons": buttons}
-    return self.packer.make_can_msg_panda("ASCMSteeringButton", 0, values)
-
   def _user_brake_msg(self, brake):
     # GM safety has a brake threshold of 10
     values = {"BrakePedalPosition": 10 if brake else 0}
@@ -90,40 +78,24 @@ def _torque_cmd_msg(self, torque, steer_req=1):
     values = {"LKASteeringCmd": torque}
     return self.packer.make_can_msg_panda("ASCMLKASteeringCmd", 0, values)
 
-  def test_set_resume_buttons(self):
-    """
-      SET and RESUME enter controls allowed on their falling edge.
-    """
-    for btn in range(8):
-      self.safety.set_controls_allowed(0)
-      for _ in range(10):
-        self._rx(self._button_msg(btn))
-        self.assertFalse(self.safety.get_controls_allowed())
-
-      # should enter controls allowed on falling edge
-      if btn in (Buttons.RES_ACCEL, Buttons.DECEL_SET):
-        self._rx(self._button_msg(Buttons.UNPRESS))
-        self.assertTrue(self.safety.get_controls_allowed())
-
-  def test_cancel_button(self):
-    self.safety.set_controls_allowed(1)
-    self._rx(self._button_msg(Buttons.CANCEL))
-    self.assertFalse(self.safety.get_controls_allowed())
+  def _button_msg(self, buttons):
+    values = {"ACCButtons": buttons}
+    return self.packer.make_can_msg_panda("ASCMSteeringButton", self.BUTTONS_BUS, values)
 
-  def test_brake_safety_check(self):
+  def test_brake_safety_check(self, stock_longitudinal=False):
     for enabled in [0, 1]:
       for b in range(0, 500):
         self.safety.set_controls_allowed(enabled)
-        if abs(b) > MAX_BRAKE or (not enabled and b != 0):
+        if abs(b) > MAX_BRAKE or (not enabled and b != 0) or stock_longitudinal:
           self.assertFalse(self._tx(self._send_brake_msg(b)))
         else:
           self.assertTrue(self._tx(self._send_brake_msg(b)))
 
-  def test_gas_safety_check(self):
+  def test_gas_safety_check(self, stock_longitudinal=False):
     for enabled in [0, 1]:
       for g in range(0, 2**12 - 1):
         self.safety.set_controls_allowed(enabled)
-        if abs(g) > MAX_GAS or (not enabled and g != MAX_REGEN):
+        if abs(g) > MAX_GAS or (not enabled and g != MAX_REGEN) or stock_longitudinal:
           self.assertFalse(self._tx(self._send_gas_msg(g)))
         else:
           self.assertTrue(self._tx(self._send_gas_msg(g)))
@@ -180,5 +152,98 @@ def test_tx_hook_on_pedal_pressed_on_alternative_gas_experience(self):
         self._rx(self._user_gas_msg(0))
 
 
+class TestGmAscmSafety(TestGmSafetyBase):
+  TX_MSGS = [[384, 0], [1033, 0], [1034, 0], [715, 0], [880, 0],  # pt bus
+             [161, 1], [774, 1], [776, 1], [784, 1],  # obs bus
+             [789, 2],  # ch bus
+             [0x104c006c, 3], [0x10400060, 3]]  # gmlan
+  FWD_BLACKLISTED_ADDRS: Dict[int, List[int]] = {}
+  FWD_BUS_LOOKUP: Dict[int, int] = {}
+
+  def setUp(self):
+    self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(Panda.SAFETY_GM, 0)
+    self.safety.init_tests()
+
+  # override these tests from PandaSafetyTest, ASCM GM uses button enable
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  def test_enable_control_allowed_from_cruise(self):
+    pass
+
+  def test_cruise_engaged_prev(self):
+    pass
+
+  def _pcm_status_msg(self, enable):
+    raise NotImplementedError
+
+  def test_set_resume_buttons(self):
+    """
+      SET and RESUME enter controls allowed on their falling edge.
+    """
+    for btn in range(8):
+      self.safety.set_controls_allowed(0)
+      for _ in range(10):
+        self._rx(self._button_msg(btn))
+        self.assertFalse(self.safety.get_controls_allowed())
+
+      # should enter controls allowed on falling edge
+      if btn in (Buttons.RES_ACCEL, Buttons.DECEL_SET):
+        self._rx(self._button_msg(Buttons.UNPRESS))
+        self.assertTrue(self.safety.get_controls_allowed())
+
+  def test_cancel_button(self):
+    self.safety.set_controls_allowed(1)
+    self._rx(self._button_msg(Buttons.CANCEL))
+    self.assertFalse(self.safety.get_controls_allowed())
+
+
+class TestGmCameraSafety(TestGmSafetyBase):
+  TX_MSGS = [[384, 0]]  # pt bus
+  FWD_BLACKLISTED_ADDRS = {2: [384]}  # LKAS message, ACC messages are (715, 880, 789)
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+  BUTTONS_BUS = 2  # tx only
+
+  def setUp(self):
+    self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM)
+    self.safety.init_tests()
+
+  def _user_gas_msg(self, gas):
+    cruise_active = self.safety.get_controls_allowed()
+    values = {"AcceleratorPedal2": 1 if gas else 0, "CruiseState": cruise_active}
+    return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
+
+  def _pcm_status_msg(self, enable):
+    values = {"CruiseState": enable}
+    return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values)
+
+  def test_buttons(self):
+    # Only CANCEL button is allowed while cruise is enabled
+    self.safety.set_controls_allowed(0)
+    for btn in range(8):
+      self.assertFalse(self._tx(self._button_msg(btn)))
+
+    self.safety.set_controls_allowed(1)
+    for btn in range(8):
+      self.assertFalse(self._tx(self._button_msg(btn)))
+
+    for enabled in (True, False):
+      self._rx(self._pcm_status_msg(enabled))
+      self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
+
+  # Uses stock longitudinal, allow no longitudinal actuation
+  def test_brake_safety_check(self, stock_longitudinal=True):
+    super().test_brake_safety_check(stock_longitudinal=stock_longitudinal)
+
+  def test_gas_safety_check(self, stock_longitudinal=True):
+    super().test_gas_safety_check(stock_longitudinal=stock_longitudinal)
+
+
 if __name__ == "__main__":
   unittest.main()