GM: Add support for cam harness & stock ACC

board/safety/safety_gm.h

@@ -18,10 +18,11 @@ 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
+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
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
 AddrCheckStruct gm_addr_checks[] = {
@@ -34,6 +35,7 @@ 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 +44,8 @@ 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);
@@ -92,19 +96,17 @@ static int gm_rx_hook(CANPacket_t *to_push) {
       gas_pressed = GET_BYTE(to_push, 5) != 0U;
     }
 
-    // exit controls on regen paddle
+    // Regen is braking
     if (addr == 189) {
-      bool regen = GET_BYTE(to_push, 0) & 0x20U;
-      if (regen) {
-        controls_allowed = 0;
-      }
+      brake_pressed = GET_BYTE(to_push, 0) & 0x20U;
     }
 
     // Check if ASCM or LKA camera are online
     // on powertrain bus.
     // 384 = ASCMLKASteeringCmd
     // 715 = ASCMGasRegenCmd
-    generic_rx_checks(((addr == 384) || (addr == 715)));
+    // Allow ACC if using stock long
+    generic_rx_checks(((addr == 384) || ((gm_hw == GM_ASCM) && (addr == 715))));
   }
   return valid;
 }
@@ -120,8 +122,10 @@ 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
@@ -222,8 +226,31 @@ static int gm_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
   return tx;
 }
 
+static int gm_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
+
+  int bus_fwd = -1;
+
+  // if camera does LKAS/ACC, forward all messages except LKAS from camera (stock longitudinal)
+  if (gm_hw == GM_CAM) {
+    if (bus_num == 0) {
+      bus_fwd = 2;
+    }
+
+    if (bus_num == 2) {
+      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 +259,5 @@ 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

@@ -182,6 +182,8 @@ class Panda:
   CLOCK_SOURCE_MODE_DISABLED = 0
   CLOCK_SOURCE_MODE_FREE_RUNNING = 1
 
+  FLAG_GM_HW_CAM = 1
+
   # first byte is for EPS scaling factor
   FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
   FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)

tests/safety/test_gm.py

@@ -18,7 +18,7 @@ class Buttons:
   CANCEL = 6
 
 
-class TestGmSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
+class TestGmSafetyBase(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
@@ -28,6 +28,7 @@ class TestGmSafety(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest
   RELAY_MALFUNCTION_BUS = 0
   FWD_BLACKLISTED_ADDRS: Dict[int, List[int]] = {}
   FWD_BUS_LOOKUP: Dict[int, int] = {}
+  STOCK_LONG = False
 
   MAX_RATE_UP = 7
   MAX_RATE_DOWN = 17
@@ -37,26 +38,20 @@ 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)
@@ -114,7 +109,7 @@ def test_brake_safety_check(self):
     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 self.STOCK_LONG:
           self.assertFalse(self._tx(self._send_brake_msg(b)))
         else:
           self.assertTrue(self._tx(self._send_brake_msg(b)))
@@ -123,7 +118,7 @@ def test_gas_safety_check(self):
     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 self.STOCK_LONG:
           self.assertFalse(self._tx(self._send_gas_msg(g)))
         else:
           self.assertTrue(self._tx(self._send_gas_msg(g)))
@@ -180,5 +175,48 @@ def test_tx_hook_on_pedal_pressed_on_alternative_gas_experience(self):
         self._rx(self._user_gas_msg(0))
 
 
+class TestGmSafety(TestGmSafetyBase):
+
+  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
+
+
+class TestGmCameraSafety(TestGmSafetyBase):
+  """Harness is integrated at the camera, we only need to send steering messages, forward the rest"""
+
+  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}
+  STOCK_LONG = True
+
+  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()
+
+  # TODO: implement this
+  def _pcm_status_msg(self, enable):
+    raise NotImplementedError
+
+
 if __name__ == "__main__":
   unittest.main()