OPGM - Add SDGM support

Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
Co-Authored-By: garrettpall <76917194+garrettpall@users.noreply.github.com>

panda/board/drivers/can_common.h

@@ -227,6 +227,13 @@ void ignition_can_hook(CANPacket_t *to_push) {
       ignition_can_cnt = 0U;
     }
 
+  } else if (bus == 2) {
+    // GM exception, SDGM cars have this message on bus 2
+    if ((addr == 0x1F1) && (len == 8)) {
+      // SystemPowerMode (2=Run, 3=Crank Request)
+      ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
+      ignition_can_cnt = 0U;
+    }
   }
 }
 

panda/board/safety/safety_gm.h

@@ -43,6 +43,9 @@ const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7},  /
 const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6},  // pt bus
                                       {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
+
 const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
                                      {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
 
@@ -50,18 +53,21 @@ const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
 RxCheck gm_rx_checks[] = {
   {.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
   {.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
-  {.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
+  {.msg = {{0x1E1, 0, 7, .frequency = 10U},   // Non-SDGM Car
-  {.msg = {{0xF1, 0, 6, .frequency = 10U}, { 0 }, { 0 }}},
+           {0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car
+  {.msg = {{0xF1, 0, 6, .frequency = 10U},   // Non-SDGM Car
+           {0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
   {.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
   {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
 };
 
 const uint16_t GM_PARAM_HW_CAM = 1;
 const uint16_t GM_PARAM_HW_CAM_LONG = 2;
-const uint16_t GM_PARAM_CC_LONG = 4;
+const uint16_t GM_PARAM_HW_SDGM = 4;
-const uint16_t GM_PARAM_HW_ASCM_LONG = 8;
+const uint16_t GM_PARAM_CC_LONG = 8;
-const uint16_t GM_PARAM_NO_CAMERA = 16;
+const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
-const uint16_t GM_PARAM_NO_ACC = 32;
+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;
 
@@ -72,7 +78,12 @@ enum {
   GM_BTN_CANCEL = 6,
 };
 
-enum {GM_ASCM, GM_CAM} gm_hw = GM_ASCM;
+typedef enum {
+  GM_ASCM,
+  GM_CAM,
+  GM_SDGM
+} GmHardware;
+GmHardware gm_hw = GM_ASCM;
 bool gm_cam_long = false;
 bool gm_pcm_cruise = false;
 bool gm_has_acc = true;
@@ -81,26 +92,7 @@ bool gm_cc_long = false;
 bool gm_skip_relay_check = false;
 bool gm_force_ascm = false;
 
-static void gm_rx_hook(const CANPacket_t *to_push) {
+static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
-  if (GET_BUS(to_push) == 0U) {
-    int addr = GET_ADDR(to_push);
-
-    if (addr == 0x184) {
-      int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
-      torque_driver_new = to_signed(torque_driver_new, 11);
-      // update array of samples
-      update_sample(&torque_driver, torque_driver_new);
-    }
-
-    // sample rear wheel speeds
-    if (addr == 0x34A) {
-      int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
-      int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
-      vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
-    }
-
-    // ACC steering wheel buttons (GM_CAM is tied to the PCM)
-    if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long)) {
   int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
 
   // enter controls on falling edge of set or rising edge of resume (avoids fault)
@@ -118,13 +110,40 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
   cruise_button_prev = button;
 }
 
+static void gm_rx_hook(const CANPacket_t *to_push) {
+  if ((GET_BUS(to_push) == 2U) && (GET_ADDR(to_push) == 0x1E1) && (gm_hw == GM_SDGM)) {
+    // SDGM buttons are on bus 2
+    handle_gm_wheel_buttons(to_push);
+  }
+  if (GET_BUS(to_push) == 0U) {
+    int addr = GET_ADDR(to_push);
+
+    if (addr == 0x184) {
+      int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7);
+      torque_driver_new = to_signed(torque_driver_new, 11);
+      // update array of samples
+      update_sample(&torque_driver, torque_driver_new);
+    }
+
+    // sample rear wheel speeds
+    if (addr == 0x34A) {
+      int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
+      int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
+      vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
+    }
+
+    // ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM)
+    if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long) && (gm_hw != GM_SDGM)) {
+      handle_gm_wheel_buttons(to_push);
+    }
+
     // Reference for brake pressed signals:
     // https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
     if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
       brake_pressed = GET_BYTE(to_push, 1) >= 8U;
     }
 
-    if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
+    if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
       brake_pressed = GET_BIT(to_push, 40U);
     }
 
@@ -240,7 +259,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
 static int gm_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
 
-  if (gm_hw == GM_CAM) {
+  if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
     if (bus_num == 0) {
       // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
       bool is_pscm_msg = (addr == 0x184);
@@ -264,13 +283,19 @@ static int gm_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config gm_init(uint16_t param) {
-  gm_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
+  if GET_FLAG(param, GM_PARAM_HW_CAM) {
+    gm_hw = GM_CAM;
+  } else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
+    gm_hw = GM_SDGM;
+  } else {
+    gm_hw = GM_ASCM;
+  }
 
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
 
   if (gm_hw == GM_ASCM || gm_force_ascm) {
     gm_long_limits = &GM_ASCM_LONG_LIMITS;
-  } else if (gm_hw == GM_CAM) {
+  } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
     gm_long_limits = &GM_CAM_LONG_LIMITS;
   } else {
   }
@@ -278,7 +303,7 @@ static safety_config gm_init(uint16_t param) {
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
-  gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
+  gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
   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);
@@ -292,6 +317,8 @@ static safety_config gm_init(uint16_t param) {
     } else {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
     }
+  } else if (gm_hw == GM_SDGM) {
+    ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
   }
   return ret;
 }

panda/python/__init__.py

@@ -229,7 +229,11 @@ class Panda:
 
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
-  FLAG_GM_CC_LONG = 4
+  FLAG_GM_HW_SDGM = 4
+  FLAG_GM_CC_LONG = 8
+  FLAG_GM_HW_ASCM_LONG = 16
+  FLAG_GM_NO_CAMERA = 32
+  FLAG_GM_NO_ACC = 64
   FLAG_GM_PEDAL_LONG = 128  # TODO: This can be inferred
   FLAG_GM_GAS_INTERCEPTOR = 256
 

panda/tests/safety/common.py

@@ -849,7 +849,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
               continue
             if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
               continue
-            if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmInterceptorSafety', 'TestGmCcLongitudinalSafety'}):
+            if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmSdgmSafety', 'TestGmInterceptorSafety', 'TestGmCcLongitudinalSafety'}):
               continue
             if attr.startswith('TestFord') and current_test.startswith('TestFord'):
               continue

panda/tests/safety/test_gm.py

@@ -223,6 +223,37 @@ class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase)
     self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_HW_CAM_LONG)
     self.safety.init_tests()
 
+class TestGmSdgmSafety(TestGmSafetyBase):
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+  TX_MSGS = [[0x180, 0], [0x1E1, 0],  # pt bus
+             [0x184, 2]]  # obj bus
+  FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184]}  # block LKAS message and PSCMStatus
+  BUTTONS_BUS = 0  # tx
+
+  def setUp(self):
+    self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
+    self.packer_chassis = CANPackerPanda("gm_global_a_chassis")
+    self.safety = libpanda_py.libpanda
+    self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_SDGM)
+    self.safety.init_tests()
+
+  def _user_brake_msg(self, brake):
+    values = {"BrakePressed": brake}
+    return self.packer.make_can_msg_panda("ECMEngineStatus", 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)))
 
 ##### OPGM TESTS #####
 

selfdrive/car/gm/carcontroller.py

@@ -6,7 +6,7 @@ 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
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -205,6 +205,9 @@ class CarController(CarControllerBase):
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
           self.last_button_frame = self.frame
+          if self.CP.carFingerprint in SDGM_CAR:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
+          else:
             can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:

selfdrive/car/gm/carstate.py

@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CAMERA_ACC_CAR, CC_ONLY_CAR
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CAMERA_ACC_CAR, CC_ONLY_CAR, SDGM_CAR
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -38,9 +38,14 @@ class CarState(CarStateBase):
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_distance_button = self.distance_button
+    if self.CP.carFingerprint not in SDGM_CAR:
       self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
       self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
       self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+    else:
+      self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+      self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+      self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.
     # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
@@ -107,6 +112,7 @@ class CarState(CarStateBase):
     ret.steerFaultTemporary = self.lkas_status == 2
     ret.steerFaultPermanent = self.lkas_status == 3
 
+    if self.CP.carFingerprint not in SDGM_CAR:
       # 1 - open, 0 - closed
       ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
                       pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
@@ -119,6 +125,19 @@ class CarState(CarStateBase):
       ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
       ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+    else:
+      # 1 - open, 0 - closed
+      ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                      cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                      cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                      cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
+
+      # 1 - latched
+      ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+      ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+      ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+
+      ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -129,7 +148,10 @@ class CarState(CarStateBase):
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       if self.CP.carFingerprint not in CC_ONLY_CAR:
         ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
+      if self.CP.carFingerprint not in SDGM_CAR:
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      else:
+        ret.stockAeb = False
       # openpilot controls nonAdaptive when not pcmCruise
       if self.CP.pcmCruise:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
@@ -139,8 +161,12 @@ class CarState(CarStateBase):
       ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
 
     if self.CP.enableBsm:
+      if self.CP.carFingerprint not in SDGM_CAR:
         ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
         ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+      else:
+        ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+        ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
     return ret
 
@@ -149,9 +175,21 @@ class CarState(CarStateBase):
     messages = []
     if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
       messages += [
-        ("AEBCmd", 10),
         ("ASCMLKASteeringCmd", 10),
       ]
+      if CP.carFingerprint in SDGM_CAR:
+        messages += [
+          ("BCMTurnSignals", 1),
+          ("BCMDoorBeltStatus", 10),
+          ("BCMGeneralPlatformStatus", 10),
+          ("ASCMSteeringButton", 33),
+        ]
+        if CP.enableBsm:
+          messages.append(("BCMBlindSpotMonitor", 10))
+      else:
+        messages += [
+          ("AEBCmd", 10),
+        ]
       if CP.carFingerprint not in CC_ONLY_CAR:
         messages += [
           ("ASCMActiveCruiseControlStatus", 25),
@@ -162,22 +200,31 @@ class CarState(CarStateBase):
   @staticmethod
   def get_can_parser(CP):
     messages = [
-      ("BCMTurnSignals", 1),
-      ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
-      ("BCMDoorBeltStatus", 10),
-      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),
-      ("AcceleratorPedal2", 33),
-      ("ASCMSteeringButton", 33),
-      ("ECMEngineStatus", 100),
       ("PSCMSteeringAngle", 100),
       ("ECMAcceleratorPos", 80),
     ]
 
+    if CP.carFingerprint in SDGM_CAR:
+      messages += [
+        ("ECMPRDNL2", 40),
+        ("AcceleratorPedal2", 40),
+        ("ECMEngineStatus", 80),
+      ]
+    else:
+      messages += [
+        ("ECMPRDNL2", 10),
+        ("AcceleratorPedal2", 33),
+        ("ECMEngineStatus", 100),
+        ("BCMTurnSignals", 1),
+        ("BCMDoorBeltStatus", 10),
+        ("BCMGeneralPlatformStatus", 10),
+        ("ASCMSteeringButton", 33),
+      ]
       if CP.enableBsm:
         messages.append(("BCMBlindSpotMonitor", 10))
 

selfdrive/car/gm/fingerprints.py

@@ -171,6 +171,11 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 717: 5, 723: 4, 730: 4, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 869: 4, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
   }],
+  CAR.XT4: [
+  # Cadillac XT4 w/ ACC 2023
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
+  }],
 }
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

selfdrive/car/gm/interface.py

@@ -8,7 +8,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -129,6 +129,15 @@ class CarInterface(CarInterfaceBase):
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
+    elif candidate in SDGM_CAR:
+      ret.experimentalLongitudinalAvailable = False
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.pcmCruise = True
+      ret.radarUnavailable = True
+      ret.minEnableSpeed = -1.  # engage speed is decided by ASCM
+      ret.minSteerSpeed = 30 * CV.MPH_TO_MS
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
+
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
@@ -217,6 +226,10 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.XT4:
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     elif candidate == CAR.CT6_CC:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -269,7 +282,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
 
     # Exception for flashed cars, or cars whose camera was removed
-    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA]:
+    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
       ret.flags |= GMFlags.NO_CAMERA.value
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
 
@@ -303,7 +316,7 @@ class CarInterface(CarInterfaceBase):
     # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
     below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
     if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
-                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
+                                      (self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill and not self.CP.autoResumeSng:
       events.add(EventName.resumeRequired)

selfdrive/car/gm/values.py

@@ -47,6 +47,12 @@ class CarControllerParams:
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
       max_regen_acceleration = 0.
 
+    elif CP.carFingerprint in SDGM_CAR:
+      self.MAX_GAS = 3400
+      self.MAX_ACC_REGEN = 1514
+      self.INACTIVE_REGEN = 1554
+      max_regen_acceleration = 0.
+
     else:
       self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
       self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
@@ -211,6 +217,10 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Trailblazer 2024 No ACC")],
     GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
   )
+  XT4 = GMPlatformConfig(
+    [GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
+    CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
+  )
 
 
 class CruiseButtons:
@@ -294,6 +304,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV, CAR.VOLT_CC, CAR.BOLT_CC}
 CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC}
 
+# We're integrated at the Safety Data Gateway Module on these cars
+SDGM_CAR = {CAR.XT4}
+
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
 CAMERA_ACC_CAR.update({CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC})

selfdrive/car/torque_data/override.toml

@@ -40,6 +40,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "SUBARU OUTBACK 6TH GEN" = [2.0, 2.0, 0.2]
 "CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 "CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2]
+"CADILLAC XT4 2023" = [1.45, 1.6, 0.2]
 "CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05]
 "CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
 "CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]