mawei
/
panda
mirror of https://github.com/commaai/panda.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

GM: remove ASCM safety mode (#776)

This commit is contained in:
Adeeb Shihadeh 2021-11-11 22:30:09 -08:00 committed by GitHub
parent 2f54aec67b
commit 4ee6a798c6
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 0 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
board/safety.h
View File

@ -5,7 +5,6 @@
#include "safety/safety_honda.h"
#include "safety/safety_toyota.h"
#include "safety/safety_tesla.h"
#include "safety/safety_gm_ascm.h"
#include "safety/safety_gm.h"
#include "safety/safety_ford.h"
#include "safety/safety_hyundai.h"
@ -256,7 +255,6 @@ const safety_hook_config safety_hook_registry[] = {
{SAFETY_SUBARU_LEGACY, &subaru_legacy_hooks},
{SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks},
{SAFETY_ALLOUTPUT, &alloutput_hooks},
{SAFETY_GM_ASCM, &gm_ascm_hooks},
{SAFETY_FORD, &ford_hooks},
#endif
};

43
board/safety/safety_gm_ascm.h
View File

@ -1,43 +0,0 @@
// BUS 0 is on the LKAS module (ASCM) side
// BUS 2 is on the actuator (EPS) side
static int gm_ascm_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
int bus_fwd = -1;
if (bus_num == 0) {
int addr = GET_ADDR(to_fwd);
bus_fwd = 2;
// do not propagate lkas messages from ascm to actuators, unless supercruise is on
// block 0x152 and 0x154, which are the lkas command from ASCM1 and ASCM2
// block 0x315 and 0x2cb, which are the brake and accel commands from ASCM1
//if ((addr == 0x152) || (addr == 0x154) || (addr == 0x315) || (addr == 0x2cb)) {
if ((addr == 0x152) || (addr == 0x154)) {
bool supercruise_on = (GET_BYTE(to_fwd, 4) & 0x10) != 0; // bit 36
if (!supercruise_on) {
bus_fwd = -1;
}
}
if ((addr == 0x151) || (addr == 0x153) || (addr == 0x314)) {
// on the chassis bus, the OBDII port is on the module side, so we need to read
// the lkas messages sent by openpilot (put on unused 0x151 ane 0x153 addrs) and send it to
// the actuator as 0x152 and 0x154
uint32_t fwd_addr = addr + 1;
to_fwd->RIR = (fwd_addr << 21) | (to_fwd->RIR & 0x1fffff);
}
}
if (bus_num == 2) {
bus_fwd = 0;
}
return bus_fwd;
}
const safety_hooks gm_ascm_hooks = {
.init = nooutput_init,
.rx = default_rx_hook,
.tx = alloutput_tx_hook,
.tx_lin = nooutput_tx_lin_hook,
.fwd = gm_ascm_fwd_hook,
};