OPGM - Skip harness relay check if camera is missing

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

panda/board/safety.h

@@ -275,7 +275,7 @@ void generic_rx_checks(bool stock_ecu_detected) {
   regen_braking_prev = regen_braking;
 
   // check if stock ECU is on bus broken by car harness
-  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected) {
+  if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected && !gm_skip_relay_check) {
     relay_malfunction_set();
   }
 }

panda/board/safety/safety_gm.h

@@ -52,6 +52,7 @@ RxCheck gm_rx_checks[] = {
 
 const uint16_t GM_PARAM_HW_CAM = 1;
 const uint16_t GM_PARAM_HW_CAM_LONG = 2;
+const uint16_t GM_PARAM_NO_CAMERA = 16;
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -63,6 +64,7 @@ enum {
 enum {GM_ASCM, GM_CAM} gm_hw = GM_ASCM;
 bool gm_cam_long = false;
 bool gm_pcm_cruise = false;
+bool gm_skip_relay_check = false;
 
 static void gm_rx_hook(const CANPacket_t *to_push) {
   if (GET_BUS(to_push) == 0U) {
@@ -228,6 +230,7 @@ static safety_config gm_init(uint16_t param) {
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG);
 #endif
   gm_pcm_cruise = (gm_hw == GM_CAM) && !gm_cam_long;
+  gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
 
   safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   if (gm_hw == GM_CAM) {

panda/python/__init__.py

@@ -229,6 +229,7 @@ class Panda:
 
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
+  FLAG_GM_NO_CAMERA = 16
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2

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
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -46,7 +46,7 @@ class CarState(CarStateBase):
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
     if self.loopback_lka_steering_cmd_updated:
       self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
       self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
@@ -66,7 +66,10 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
+    if self.CP.flags & GMFlags.NO_CAMERA.value:
+      ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
+    else:
+      ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
@@ -129,7 +132,7 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
     messages = []
-    if CP.networkLocation == NetworkLocation.fwdCamera:
+    if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
       messages += [
         ("AEBCmd", 10),
         ("ASCMLKASteeringCmd", 10),
@@ -165,6 +168,9 @@ class CarState(CarStateBase):
       messages += [
         ("ASCMLKASteeringCmd", 0),
       ]
+      if CP.flags & GMFlags.NO_CAMERA.value:
+        messages.remove(("ECMAcceleratorPos", 80))
+        messages.append(("EBCMBrakePedalPosition", 100))
 
     if CP.transmissionType == TransmissionType.direct:
       messages.append(("EBCMRegenPaddle", 50))

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
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -20,6 +20,8 @@ NetworkLocation = car.CarParams.NetworkLocation
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
+CAM_MSG = 0x320  # AEBCmd
+                 # TODO: Is this always linked to camera presence?H
 
 NON_LINEAR_TORQUE_PARAMS = {
   CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
@@ -200,6 +202,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    # Exception for flashed cars, or cars whose camera was removed
+    if (ret.networkLocation == NetworkLocation.fwdCamera) and CAM_MSG not in fingerprint[CanBus.CAMERA]:
+      ret.flags |= GMFlags.NO_CAMERA.value
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
+
     return ret
 
   # returns a car.CarState

selfdrive/car/gm/values.py

@@ -1,5 +1,5 @@
 from dataclasses import dataclass, field
-from enum import Enum
+from enum import Enum, IntFlag
 
 from cereal import car
 from openpilot.selfdrive.car import dbc_dict, PlatformConfig, DbcDict, Platforms, CarSpecs
@@ -190,6 +190,9 @@ class CanBus:
   LOOPBACK = 128
   DROPPED = 192
 
+class GMFlags(IntFlag):
+  NO_CAMERA = 4
+
 
 # In a Data Module, an identifier is a string used to recognize an object,
 # either by itself or together with the identifiers of parent objects.