GM Stock Custom Longitudinal Control

Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>

common/params.cc

@@ -253,6 +253,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Compass", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ConditionalExperimental", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CrosstrekTorque", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
+    {"CSLCEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"CSLCSpeed", PERSISTENT},
     {"CurrentHolidayTheme", PERSISTENT},
     {"CurrentRandomEvent", PERSISTENT},
     {"CurveSensitivity", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},

opendbc/gm_global_a_powertrain_generated.dbc

@@ -165,6 +165,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
  SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCByFive : 26|2@0+ (1,0) [0|3] "" XXX
  SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO

panda/board/safety/safety_gm.h

@@ -58,7 +58,7 @@ const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8
                                       {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
+                                  {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
 
 const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
                                      {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
@@ -84,6 +84,7 @@ const uint16_t GM_PARAM_NO_CAMERA = 32;
 const uint16_t GM_PARAM_NO_ACC = 64;
 const uint16_t GM_PARAM_PEDAL_LONG = 128;  // TODO: this can be inferred
 const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256;
+const uint16_t GM_PARAM_CSLC = 512;
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -105,6 +106,7 @@ bool gm_pedal_long = false;
 bool gm_cc_long = false;
 bool gm_skip_relay_check = false;
 bool gm_force_ascm = false;
+bool gm_cslc = false;
 
 static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
   int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
@@ -261,8 +263,8 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
 
     bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
-    // For standard CC, allow spamming of SET / RESUME
+    // For standard CC and CSLC, allow spamming of SET / RESUME
-    if (gm_cc_long) {
+    if (gm_cc_long || (((gm_hw == GM_SDGM) || (gm_hw == GM_CAM)) && gm_cslc)) {
       allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
     }
 
@@ -335,6 +337,7 @@ static safety_config gm_init(uint16_t param) {
   gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
   enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
+  gm_cslc = GET_FLAG(param, GM_PARAM_CSLC);
 
   safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   if (gm_hw == GM_CAM) {

panda/python/__init__.py

@@ -239,6 +239,7 @@ class Panda:
   FLAG_GM_NO_ACC = 64
   FLAG_GM_PEDAL_LONG = 128  # TODO: This can be inferred
   FLAG_GM_GAS_INTERCEPTOR = 256
+  FLAG_GM_CSLC = 512
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2

selfdrive/car/card.py

@@ -59,7 +59,7 @@ class CarD:
     if self.always_on_lateral:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
 
-    self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
+    self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX # Also needed for GM CSLC
 
     car_recognized = self.CP.carName != 'mock'
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")

selfdrive/car/gm/carcontroller.py

@@ -7,9 +7,9 @@ from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CAMERA_ACC_CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
+from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone, V_CRUISE_MAX
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -18,6 +18,8 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
 
+params_memory = Params("/dev/shm/params")
+
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
@@ -117,7 +119,7 @@ class CarController(CarControllerBase):
       idx = self.lka_steering_cmd_counter % 4
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
 
-    if self.CP.openpilotLongitudinalControl:
+    if self.CP.openpilotLongitudinalControl and not frogpilot_variables.CSLC:
       # Gas/regen, brakes, and UI commands - all at 25Hz
       if self.frame % 4 == 0:
         stopping = actuators.longControlState == LongCtrlState.stopping
@@ -244,6 +246,15 @@ class CarController(CarControllerBase):
           else:
             can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
+      # ACC Spam
+      if (self.CP.carFingerprint in SDGM_CAR or self.CP.carFingerprint in CAMERA_ACC_CAR) and frogpilot_variables.CSLC:
+        bus = CanBus.CAMERA
+        if CC.enabled and self.frame % 3 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and not CS.out.gasPressed and not CS.distance_button:
+          slcSet = get_set_speed(self, hud_v_cruise)
+          can_sends.extend(gmcan.create_gm_acc_spam_command(self.packer_pt, self, CS, slcSet, bus, CS.out.vEgo, frogpilot_variables, accel, self.CP.carFingerprint in SDGM_CAR))
+        elif CC.enabled and self.frame % 51 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise and not CS.distance_button:
+          can_sends.extend([gmcan.create_buttons(self.packer_pt, bus, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET)] * (25 if self.CP.carFingerprint in SDGM_CAR else 1))
+
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
       if self.frame % 10 == 0:
@@ -259,3 +270,13 @@ class CarController(CarControllerBase):
 
     self.frame += 1
     return new_actuators, can_sends
+
+def get_set_speed(self, hud_v_cruise):
+  v_cruise = min(hud_v_cruise, V_CRUISE_MAX * CV.KPH_TO_MS)
+
+  v_cruise_slc: float = 0.
+  v_cruise_slc = params_memory.get_float("CSLCSpeed")
+
+  if v_cruise_slc > 0.:
+    v_cruise = v_cruise_slc
+  return v_cruise

selfdrive/car/gm/gmcan.py

@@ -13,6 +13,7 @@ def create_buttons(packer, bus, idx, button):
     "RollingCounter": idx,
     "ACCAlwaysOne": 1,
     "DistanceButton": 0,
+    "ACCByFive": 0,
   }
 
   checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
@@ -23,6 +24,37 @@ def create_buttons(packer, bus, idx, button):
   values["SteeringButtonChecksum"] = checksum
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
+def create_buttons_five(packer, bus, idx, button, byfive):
+  if byfive and button == CruiseButtons.RES_ACCEL:
+    accbyfive = 2
+    ACCAlwaysOne = 1
+    checkoffset = -4
+  elif byfive and button == CruiseButtons.DECEL_SET:
+    accbyfive = 3
+    ACCAlwaysOne = 0
+    checkoffset = 255*idx+10
+  else:
+    accbyfive = 0
+    ACCAlwaysOne = 1
+    checkoffset = 0
+
+  values = {
+    "ACCButtons": button,
+    "RollingCounter": idx,
+    "ACCAlwaysOne": ACCAlwaysOne,
+    "DistanceButton": 0,
+    "ACCByFive": accbyfive,
+  }
+
+  checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
+  checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
+  checksum -= int(values["ACCButtons"] - 1) << 4  # not correct if value is 0
+  checksum -= 2 * values["DistanceButton"]
+  checksum += checkoffset
+
+  values["SteeringButtonChecksum"] = checksum
+  return packer.make_can_msg("ASCMSteeringButton", bus, values)
+
 
 def create_pscm_status(packer, bus, pscm_status):
   values = {s: pscm_status[s] for s in [
@@ -222,3 +254,44 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators):
     return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
   else:
     return []
+
+def create_gm_acc_spam_command(packer, controller, CS, slcSet, bus, Vego, frogpilot_variables, accel, sdgm):
+  cruiseBtn = CruiseButtons.INIT
+  byfive = 0
+
+  MS_CONVERT = CV.MS_TO_KPH if frogpilot_variables.is_metric else CV.MS_TO_MPH
+
+  speedSetPoint = int(round(CS.out.cruiseState.speed * MS_CONVERT))
+  slcSet = int(round(slcSet * MS_CONVERT))
+
+  FRAMES_ON = 6
+  FRAMES_OFF = (30 if sdgm else 12) - FRAMES_ON
+
+  if not frogpilot_variables.experimentalMode:
+    if slcSet + 5 < Vego * MS_CONVERT:
+      slcSet = slcSet - 10 # 10 lower to increase deceleration until with 5
+  else:
+    slcSet = int(round((Vego * 1.01 + 4.6 * accel + 0.7 * accel ** 3 - 1 / 35 * accel ** 5) * MS_CONVERT)) # 1.01 factor to match cluster speed better
+
+  if slcSet <= int(math.floor((speedSetPoint - 1)/5.0)*5.0) and speedSetPoint > (25 if frogpilot_variables.is_metric else 20) and sdgm:
+    cruiseBtn = CruiseButtons.DECEL_SET
+    byfive = 1
+  elif slcSet >= int(math.ceil((speedSetPoint + 1)/5.0)*5.0) and sdgm:
+    cruiseBtn = CruiseButtons.RES_ACCEL
+    byfive = 1
+  elif slcSet < speedSetPoint and speedSetPoint > (25 if frogpilot_variables.is_metric else 16):
+    cruiseBtn = CruiseButtons.DECEL_SET
+    byfive = 0
+  elif slcSet > speedSetPoint:
+    cruiseBtn = CruiseButtons.RES_ACCEL
+    byfive = 0
+  else:
+    cruiseBtn = CruiseButtons.INIT
+    byfive = 0
+
+  if (cruiseBtn != CruiseButtons.INIT) and controller.frame % (FRAMES_ON + FRAMES_OFF) < FRAMES_ON:
+    controller.last_button_frame = controller.frame
+    idx = (CS.buttons_counter + (1 if sdgm else 2)) % 4
+    return [create_buttons_five(packer, bus, idx, cruiseBtn, byfive)]*(23 if sdgm else 3)
+  else:
+    return []

selfdrive/car/gm/interface.py

@@ -12,6 +12,10 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
+from openpilot.common.params import Params
+
+params = Params()
+
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 GearShifter = car.CarState.GearShifter
@@ -95,6 +99,8 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, params, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     params.put_bool("HideDisableOpenpilotLongitudinal", candidate not in (SDGM_CAR | CAMERA_ACC_CAR))
 
+    cslcEnabled = params.get_bool("CSLCEnabled")
+
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
@@ -134,11 +140,25 @@ class CarInterface(CarInterfaceBase):
         ret.longitudinalTuning.kpV = [1.5, 1.125]
         ret.stopAccel = -0.25
 
-      if experimental_long:
+      if experimental_long and not cslcEnabled:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
+      if cslcEnabled:
+        # Used for CEM with CSLC
+        ret.openpilotLongitudinalControl = True
+        ret.longitudinalTuning.deadzoneBP = [0.]
+        ret.longitudinalTuning.deadzoneV = [0.9]  # == 2 mph allowable delta
+        ret.stoppingDecelRate = 3.25  # == 8.33 mph/s (OFF + ON = 12 frames)
+        ret.longitudinalActuatorDelayLowerBound = 1.
+        ret.longitudinalActuatorDelayUpperBound = 2.
+
+        ret.longitudinalTuning.kpBP = [7.15, 7.2, 28.]  # 7.15 m/s == 16 mph
+        ret.longitudinalTuning.kpV = [0., 4., 2.]  # set lower end to 0 since we can't drive below that speed
+        ret.longitudinalTuning.kiBP = [0.]
+        ret.longitudinalTuning.kiV = [0.1]
+
     elif candidate in SDGM_CAR:
       ret.experimentalLongitudinalAvailable = False
       ret.networkLocation = NetworkLocation.fwdCamera
@@ -148,6 +168,19 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 30 * CV.MPH_TO_MS
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
 
+      # Used for CEM with CSLC
+      ret.openpilotLongitudinalControl = cslcEnabled
+      ret.longitudinalTuning.deadzoneBP = [0.]
+      ret.longitudinalTuning.deadzoneV = [0.9]  # == 2 mph allowable delta
+      ret.stoppingDecelRate = 7.45  # == 16.67 mph/s (OFF + ON = 30 frames)
+      ret.longitudinalActuatorDelayLowerBound = 1.
+      ret.longitudinalActuatorDelayUpperBound = 2.
+
+      ret.longitudinalTuning.kpBP = [7.15, 7.2, 28.]  # 7.15 m/s == 16 mph
+      ret.longitudinalTuning.kpV = [0., 4., 2.]  # set lower end to 0 since we can't drive below that speed
+      ret.longitudinalTuning.kiBP = [0.]
+      ret.longitudinalTuning.kiV = [0.1]
+
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = not disable_openpilot_long
       ret.networkLocation = NetworkLocation.gateway
@@ -307,6 +340,9 @@ class CarInterface(CarInterfaceBase):
     if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
 
+    if cslcEnabled:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CSLC
+
     return ret
 
   # returns a car.CarState

selfdrive/controls/controlsd.py

@@ -501,6 +501,13 @@ class Controls:
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
+    resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
+    set_pressed = any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in CS.buttonEvents)
+    if resume_pressed:
+      self.frogpilot_toggles.prev_button = ButtonType.resumeCruise
+    elif set_pressed:
+      self.frogpilot_toggles.prev_button = ButtonType.setCruise
+
     self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, self.FPCC.speedLimitChanged, self.frogpilot_toggles)
 
     # decrement the soft disable timer at every step, as it's reset on
@@ -855,6 +862,7 @@ class Controls:
     controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter
     controlsState.experimentalMode = self.experimental_mode
     controlsState.personality = self.personality
+    self.frogpilot_toggles.experimentalMode = self.experimental_mode
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:

selfdrive/controls/lib/drive_helpers.py

@@ -57,7 +57,7 @@ class VCruiseHelper:
     self.v_cruise_kph_last = self.v_cruise_kph
 
     if CS.cruiseState.available:
-      if not self.CP.pcmCruise:
+      if not self.CP.pcmCruise or frogpilot_variables.CSLC:
         # if stock cruise is completely disabled, then we can use our own set speed logic
         self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, frogpilot_variables)
         self.v_cruise_cluster_kph = self.v_cruise_kph
@@ -148,11 +148,26 @@ class VCruiseHelper:
 
   def initialize_v_cruise(self, CS, experimental_mode: bool, desired_speed_limit, frogpilot_variables) -> None:
     # initializing is handled by the PCM
-    if self.CP.pcmCruise:
+    if self.CP.pcmCruise and not frogpilot_variables.CSLC:
       return
 
     initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
 
+    # CSLC resume/set logic
+    if frogpilot_variables.CSLC:
+      if frogpilot_variables.prev_button == ButtonType.resumeCruise and self.v_cruise_kph_last < 250:
+        self.v_cruise_kph = self.v_cruise_kph_last
+      else:
+        # Initial set speed
+        if desired_speed_limit != 0 and frogpilot_variables.set_speed_limit:
+          # If there's a known speed limit and the corresponding FP toggle is set, push it to the car
+          self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
+        else:
+          # Use fixed initial set speed from mode etc.
+          self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+      self.v_cruise_cluster_kph = self.v_cruise_kph
+      return
+
     # 250kph or above probably means we never had a set speed
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
       self.v_cruise_kph = self.v_cruise_kph_last

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -173,6 +173,8 @@ class FrogPilotPlanner:
     self.road_curvature = calculate_road_curvature(modelData, v_ego)
     self.v_cruise = self.update_v_cruise(carState, controlsState, frogpilotCarState, frogpilotNavigation, liveLocationKalman, modelData, v_cruise, v_ego, frogpilot_toggles)
 
+    self.params_memory.put_float("CSLCSpeed", self.v_cruise)
+
     if frogpilot_toggles.conditional_experimental_mode or frogpilot_toggles.green_light_alert:
       self.cem.update(carState, controlsState.enabled, frogpilotNavigation, lead_distance, self.lead_one, modelData, self.road_curvature, self.slower_lead, v_ego, v_lead, frogpilot_toggles)
 
@@ -212,6 +214,9 @@ class FrogPilotPlanner:
     v_cruise_diff = v_cruise_cluster - v_cruise
 
     v_ego_cluster = max(carState.vEgoCluster, v_ego)
+    if frogpilot_toggles.CSLC:
+      v_ego_diff = 0
+    else:
       v_ego_diff = v_ego_cluster - v_ego
 
     # Pfeiferj's Map Turn Speed Controller

selfdrive/frogpilot/controls/lib/frogpilot_variables.py

@@ -39,14 +39,16 @@ class FrogPilotVariables:
 
     if msg_bytes is None:
       car_name = "mock"
+      toggles.CSLC = False
       openpilot_longitudinal = False
       pcm_cruise = False
     else:
       with car.CarParams.from_bytes(msg_bytes) as msg:
         CP = msg
         car_name = CP.carName
+        toggles.CSLC = self.params.get_bool("CSLCEnabled")
         openpilot_longitudinal = CP.openpilotLongitudinalControl
-        pcm_cruise = CP.pcmCruise
+        pcm_cruise = CP.pcmCruise and not toggles.CSLC
 
     toggles.is_metric = self.params.get_bool("IsMetric")
     distance_conversion = 1 if toggles.is_metric else CV.FOOT_TO_METER

selfdrive/frogpilot/ui/qt/offroad/control_settings.cc

@@ -1011,8 +1011,8 @@ void FrogPilotControlsPanel::updateCarToggles() {
     hasCommaNNFFSupport = checkCommaNNFFSupport(carFingerprint);
     hasDashSpeedLimits = carName == "hyundai" || carName == "toyota";
     hasNNFFLog = checkNNFFLogFileExists(carFingerprint);
-    hasOpenpilotLongitudinal = CP.getOpenpilotLongitudinalControl() && !params.getBool("DisableOpenpilotLongitudinal");
+    hasOpenpilotLongitudinal = (CP.getOpenpilotLongitudinalControl() && !params.getBool("DisableOpenpilotLongitudinal")) || params.getBool("CSLCEnabled");
-    hasPCMCruise = CP.getPcmCruise();
+    hasPCMCruise = CP.getPcmCruise() && !params.getBool("CSLCEnabled");
     isGM = carName == "gm";
     isHKGCanFd = (carName == "hyundai") && (safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD);
     isToyota = carName == "toyota";

selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -113,6 +113,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
     {"LongPitch", tr("Long Pitch Compensation"), tr("Smoothen out the gas and pedal controls."), ""},
     {"GasRegenCmd", tr("Truck Tune"), tr("Increase the acceleration and smoothen out the brake control when coming to a stop. For use on Silverado/Sierra only."), ""},
+    {"CSLCEnabled", tr("GM CSLC"), tr("Set cars cruise speed based on SLC, MTSC, VTSC, & CEM.\n\nTurns OpenPilot Longitudnal Control off for camera ACC cars."), ""},
 
     {"CrosstrekTorque", tr("Subaru Crosstrek Torque Increase"), tr("Increases the maximum allowed torque for the Subaru Crosstrek."), ""},
 
@@ -165,7 +166,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(SettingsWindow *parent) : FrogPil
     });
   }
 
-  std::set<QString> rebootKeys = {"CrosstrekTorque", "GasRegenCmd"};
+  std::set<QString> rebootKeys = {"CrosstrekTorque", "GasRegenCmd", "CSLCEnabled"};
   for (const QString &key : rebootKeys) {
     QObject::connect(static_cast<ToggleControl*>(toggles[key.toStdString().c_str()]), &ToggleControl::toggleFlipped, [this]() {
       if (started) {

selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -29,7 +29,7 @@ private:
 
   QStringList models;
 
-  std::set<QString> gmKeys = {"GasRegenCmd", "LongPitch"};
+  std::set<QString> gmKeys = {"CSLCEnabled", "GasRegenCmd", "LongPitch"};
   std::set<QString> subaruKeys = {"CrosstrekTorque"};
   std::set<QString> toyotaKeys = {"ClusterOffset", "ToyotaTune", "SNGHack", "ToyotaDoors"};