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OPGM - Skip harness relay check if camera is missing

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Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi 2024-05-29 02:48:09 -07:00
parent 6ce83943ea
commit c761a1790d
6 changed files with 27 additions and 7 deletions
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2
panda/board/safety.h
View File

@ -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();
}
}

3
panda/board/safety/safety_gm.h
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@ -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) {

1
panda/python/__init__.py
View File

@ -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

14
selfdrive/car/gm/carstate.py
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@ -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))

9
selfdrive/car/gm/interface.py
View File

@ -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

5
selfdrive/car/gm/values.py
View File

@ -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.