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GM: match ECM standstill check #1105

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Merged
merged 5 commits into from
Oct 18, 2022
Merged

GM: match ECM standstill check #1105

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39900bb
match ECM check
sshane Oct 16, 2022
6cbde17
fix
sshane Oct 16, 2022
56e5b2f
needs to be <= 10 to avoid a fault, fix for safety tests
sshane Oct 16, 2022
027f3e1
fix
sshane Oct 16, 2022
5082017
Merge remote-tracking branch 'upstream/master' into gm-standstill
sshane Oct 18, 2022
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9 changes: 6 additions & 3 deletions board/safety/safety_gm.h
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,8 @@ const int GM_MAX_RATE_DOWN = 17;
const int GM_DRIVER_TORQUE_ALLOWANCE = 50;
const int GM_DRIVER_TORQUE_FACTOR = 4;

const int GM_STANDSTILL_THRSLD = 10; // 0.311kph

const int GM_MAX_GAS = 3072;
const int GM_MAX_REGEN = 1404;
const int GM_MAX_BRAKE = 400;
Expand Down Expand Up @@ -67,10 +69,11 @@ static int gm_rx_hook(CANPacket_t *to_push) {
update_sample(&torque_driver, torque_driver_new);
}

// sample speed, really only care if car is moving or not
// rear left wheel speed
// sample rear wheel speeds
if (addr == 842) {
vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
}

// ACC steering wheel buttons (GM_CAM is tied to the PCM)
Expand Down
2 changes: 1 addition & 1 deletion tests/safety/test_gm.py
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Expand Up @@ -19,7 +19,7 @@ class Buttons:


class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
STANDSTILL_THRESHOLD = 0
STANDSTILL_THRESHOLD = 10 * 0.0311
RELAY_MALFUNCTION_ADDR = 384
RELAY_MALFUNCTION_BUS = 0
BUTTONS_BUS = 0
Expand Down