Repository navigation
GM: Add support for cam harness & stock ACC - #962
Merged
Merged
Conversation
* Complete rewrite / simplification * Add param for cam harness (default is OBD2) - Forward btw 0 and 2 - Filter LKAS and optionally ACC from cam * Add param for stock ACC - Allows ACC on PT bus when set, not otherwise - Allows ACC from cam when set, not otherwise * Add temporary WIP EPS timing workaround in ifdef
sshane
reviewed
Jun 13, 2022
adeebshihadeh
changed the title
fix and formatting
sshane
reviewed
Jun 15, 2022
4 tasks done
JMPZ11
added a commit
to opgm/openpilot
that referenced
this pull request
Jun 20, 2022
Contributor
Author
|
@sshane is helping to update the tests, otherwise I think the main code is ready for review - I'm removing this from draft status |
JMPZ11
marked this pull request as ready for review
June 20, 2022 06:39
JMPZ11
added a commit
to opgm/openpilot
that referenced
this pull request
Jun 21, 2022
Contributor
|
sshane
reviewed
Aug 12, 2022
sshane
reviewed
Aug 12, 2022
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This reverts commit 5005779.
mlocoteta
pushed a commit
to mlocoteta/panda
that referenced
this pull request
Apr 29, 2023
* Allow brake TX on PT bus * Initial Panda GM cam harness support * Complete rewrite / simplification * Add param for cam harness (default is OBD2) - Forward btw 0 and 2 - Filter LKAS and optionally ACC from cam * Add param for stock ACC - Allows ACC on PT bus when set, not otherwise - Allows ACC from cam when set, not otherwise * Add temporary WIP EPS timing workaround in ifdef * Remove keepalive; regen == braking * Fix MISRA violations * EPS timing opt-in by param * Minor clean up * remove timing code for readability fix and formatting * we only need to send one message if cam harness and stock long * Simplify params * Removed dup brake msg * revised params, split 3-ways * add test * clean up a bit, no need to send ACC yet like this * split out button enable and pcm enable into seperate tests * some formatting some formatting * GM CAM uses PCM cruise for controls_allowed * fix gas safety tests * misra * fix static analysis comment * fix brake pressed * Add OP VOACC override stock cam * Add VOACC safetyparam to init.py * Revert "Add VOACC safetyparam to init.py" This reverts commit 2e46f87. * Revert "Add OP VOACC override stock cam" This reverts commit a4b096c. * better comments * better comments better comments fix * move non-base msg definitions to subclass * various comments * TODO: add button safety * add button safety * use new pcm_cruise_check * revert regen braking change * only cancel button allowed * Apply suggestions from code review * Update board/safety/safety_gm.h Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * fix suggestion * Fix tests * Revert "Fix tests" This reverts commit 5005779. * this is a much simpler fix, do full fix in another PR * tx button safety Co-authored-by: Shane Smiskol <shane@smiskol.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
liruifeng1120
pushed a commit
to liruifeng1120/panda
that referenced
this pull request
Dec 24, 2025
…or (commaai#962) * Update gm_global_a_lowspeed.dbc to include BOLT EUV Blindspot indicator Add BSM radars from 2023 bolt EUV * Update gm_global_a_lowspeed.dbc rename a right to light * Update gm_global_a_lowspeed.dbc --------- Co-authored-by: Shane Smiskol <shane@smiskol.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
In preparation for non-ASCM based Silverado, Suburban and Tahoe support, safety model options
have been added to enable forwarding between the camera and powertrain bus (with appropriate
message filtering), and to optionally allow the use of stock ACC.
(Note that these changes should apply to any GM vehicle with ACC + LKAS that doesn't use an ASCM)
The friction brake command is permitted for tx on powertrain, and included in ACC command fwd filter.
Regen paddle updated to set brake_pressed instead of directly unsetting controls_allowed.
Contains WIP LKAS timing enforcement wrapped in an #ifdef for easy removal -
may be necessary until the OP side EPS fix is completed.
TODO:
[ ] Work on preventing remaining EPS faults in OPThis will be done in OP[ ] Determine why steering limit code is being triggered and resolve if possibleThis will be a separate issue[ ] Reminder: Current port doesn't monitor the status of the brake controller on the chassis bus - might be good to addNot in scope for this PR[ ] Reminder: Investigate brake controller status for cars that use the PT bus for friction brakesNot in scope for this PR