New SDGM Harness

panda/board/drivers/can_common.h

@@ -200,7 +200,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
   if (bus == 0) {
     int addr = GET_ADDR(to_push);
     int len = GET_LEN(to_push);
-    
+
     // GM exception
     if ((addr == 0x1F1) && (len == 8)) {
       // SystemPowerMode (2=Run, 3=Crank Request)
@@ -220,16 +220,6 @@ void ignition_can_hook(CANPacket_t *to_push) {
       ignition_can = (GET_BYTE(to_push, 0) >> 5) == 0x6U;
       ignition_can_cnt = 0U;
     }
-
-  } else if (bus == 2) {
-    int addr = GET_ADDR(to_push);
-    int len = GET_LEN(to_push);
-    // 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

@@ -56,33 +56,27 @@ 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
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
 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},   // Non-SDGM Car
-           {0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car
-  {.msg = {{0xF1, 0, 6, .frequency = 10U},   // Non-SDGM Car
-           {0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
+  {.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
+  {.msg = {{0xF1, 0, 6, .frequency = 10U}, { 0 }, { 0 }}},
   {.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_HW_SDGM = 4;
-const uint16_t GM_PARAM_CC_LONG = 8;
-const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
-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;
+const uint16_t GM_PARAM_CC_LONG = 4;
+const uint16_t GM_PARAM_HW_ASCM_LONG = 8;
+const uint16_t GM_PARAM_NO_CAMERA = 16;
+const uint16_t GM_PARAM_NO_ACC = 32;
+const uint16_t GM_PARAM_PEDAL_LONG = 64;  // TODO: this can be inferred
+const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 128;
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -93,8 +87,7 @@ enum {
 
 typedef enum {
   GM_ASCM,
-  GM_CAM,
-  GM_SDGM
+  GM_CAM
 } GmHardware;
 GmHardware gm_hw = GM_ASCM;
 bool gm_cam_long = false;
@@ -105,29 +98,7 @@ bool gm_cc_long = false;
 bool gm_skip_relay_check = false;
 bool gm_force_ascm = false;
 
-static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
-  int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
-
-  // enter controls on falling edge of set or rising edge of resume (avoids fault)
-  bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
-  bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
-  if (set || res) {
-    controls_allowed = true;
-  }
-
-  // exit controls on cancel press
-  if (button == GM_BTN_CANCEL) {
-    controls_allowed = false;
-  }
-
-  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);
 
@@ -145,9 +116,23 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       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);
+    // 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)
+      bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
+      bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
+      if (set || res) {
+        controls_allowed = true;
+      }
+
+      // exit controls on cancel press
+      if (button == GM_BTN_CANCEL) {
+        controls_allowed = false;
+      }
+
+      cruise_button_prev = button;
     }
 
     // Reference for brake pressed signals:
@@ -156,7 +141,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       brake_pressed = GET_BYTE(to_push, 1) >= 8U;
     }
 
-    if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
+    if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
       brake_pressed = GET_BIT(to_push, 40U) != 0U;
     }
 
@@ -276,7 +261,7 @@ 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) || (gm_hw == GM_SDGM)) {
+  if (gm_hw == GM_CAM) {
     if (bus_num == 0) {
       // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
       bool is_pscm_msg = (addr == 0x184);
@@ -302,13 +287,7 @@ static int gm_fwd_hook(int bus_num, int addr) {
 static safety_config gm_init(uint16_t param) {
   sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX;
 
-  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_hw = GET_FLAG(param, GM_PARAM_HW_CAM) ? GM_CAM : GM_ASCM;
 
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
 
@@ -318,7 +297,7 @@ static safety_config gm_init(uint16_t param) {
     } else {
       gm_long_limits = &GM_ASCM_LONG_LIMITS;
     }
-  } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
+  } else if (gm_hw == GM_CAM) {
     if (sport_mode) {
       gm_long_limits = &GM_CAM_LONG_LIMITS_SPORT;
     } else {
@@ -330,7 +309,7 @@ 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_hw == GM_SDGM);
+  gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
   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);
@@ -344,8 +323,6 @@ 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

@@ -229,13 +229,12 @@ class Panda:
 
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
-  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
+  FLAG_GM_CC_LONG = 4
+  FLAG_GM_HW_ASCM_LONG = 8
+  FLAG_GM_NO_CAMERA = 16
+  FLAG_GM_NO_ACC = 32
+  FLAG_GM_PEDAL_LONG = 64  # TODO: This can be inferred
+  FLAG_GM_GAS_INTERCEPTOR = 128
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2

selfdrive/car/gm/carcontroller.py

@@ -243,10 +243,7 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
       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))
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1

selfdrive/car/gm/carstate.py

@@ -39,14 +39,9 @@ def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
 
     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.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+    self.buttons_counter = pt_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)
@@ -113,32 +108,18 @@ def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
     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
-                      pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
+    # 1 - open, 0 - closed
+    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
-      # 1 - latched
-      ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-      ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-      ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+    # 1 - latched
+    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+    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.parkingBrake = pt_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
@@ -151,8 +132,6 @@ def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
         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)
@@ -162,21 +141,14 @@ def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
       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
+      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
     # FrogPilot CarState functions
     fp_ret.hasMenu = not (self.CP.flags & GMFlags.NO_CAMERA.value or self.CP.carFingerprint in CC_ONLY_CAR)
 
     self.lkas_previously_enabled = self.lkas_enabled
-    if self.CP.carFingerprint in SDGM_CAR:
-      self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
-    else:
-      self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+    self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
 
     self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
 
@@ -191,16 +163,7 @@ def get_cam_can_parser(CP):
       messages += [
         ("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:
+      if CP.carFingerprint not in SDGM_CAR:
         messages += [
           ("AEBCmd", 10),
         ]
@@ -214,34 +177,25 @@ def get_cam_can_parser(CP):
   @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),
       ("SportMode", 0),
     ]
 
-    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))
+    if CP.enableBsm:
+      messages.append(("BCMBlindSpotMonitor", 10))
 
     # Used to read back last counter sent to PT by camera
     if CP.networkLocation == NetworkLocation.fwdCamera: