Cadillac ascm proxy (commaai#155)

* added safety_ascm

* better using one funciton

* GM_ASCM safety mode by default

* fixced ign bug and passing everything for now

* blocking 0x152-0x154 and reforwarding 0x153

* gotta fwd 152 as well on CH bus

* adding braking message block

* blocking gas cmd as well

* allow cadillac supercruise to pass through

* no more hardcoded ascm safety mode

board/main.c

@@ -559,6 +559,7 @@ int main() {
   usb_init();
 
   // default to silent mode to prevent issues with Ford
+  // hardcode a specific safety mode if you want to force the panda to be in a specific mode
   safety_set_mode(SAFETY_NOOUTPUT, 0);
   can_silent = ALL_CAN_SILENT;
   can_init_all();

board/safety.h

@@ -57,6 +57,7 @@ int controls_allowed = 0;
 #ifdef PANDA
 #include "safety/safety_toyota_ipas.h"
 #include "safety/safety_tesla.h"
+#include "safety/safety_gm_ascm.h"
 #endif
 #include "safety/safety_gm.h"
 #include "safety/safety_ford.h"
@@ -106,6 +107,7 @@ typedef struct {
 #define SAFETY_TESLA 8
 #define SAFETY_CHRYSLER 9
 #define SAFETY_SUBARU 10
+#define SAFETY_GM_ASCM 0x1334
 #define SAFETY_TOYOTA_IPAS 0x1335
 #define SAFETY_TOYOTA_NOLIMITS 0x1336
 #define SAFETY_ALLOUTPUT 0x1337
@@ -125,6 +127,7 @@ const safety_hook_config safety_hook_registry[] = {
   {SAFETY_TOYOTA_NOLIMITS, &toyota_nolimits_hooks},
 #ifdef PANDA
   {SAFETY_TOYOTA_IPAS, &toyota_ipas_hooks},
+  {SAFETY_GM_ASCM, &gm_ascm_hooks},
   {SAFETY_TESLA, &tesla_hooks},
 #endif
   {SAFETY_ALLOUTPUT, &alloutput_hooks},

board/safety/safety_gm_ascm.h

@@ -0,0 +1,52 @@
+// 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) {
+
+  uint32_t addr = to_fwd->RIR>>21;
+
+  if (bus_num == 0) {
+
+    // do not propagate lkas messages from ascm to actuators
+    // 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)) {
+      int supercruise_on = (to_fwd->RDHR>>4) & 0x1;  // bit 36
+      if (!supercruise_on) return -1;
+    }
+
+    // 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
+    if (addr == 0x151) {
+      to_fwd->RIR = (0x152 << 21) | (to_fwd->RIR & 0x1fffff);
+    }
+    if (addr == 0x153) {
+      to_fwd->RIR = (0x154 << 21) | (to_fwd->RIR & 0x1fffff);
+    }
+
+    // brake
+    //if (addr == 0x314) {
+    //  to_fwd->RIR = (0x315 << 21) | (to_fwd->RIR & 0x1fffff);
+    //}
+
+    return 2;
+  }
+
+  if (bus_num == 2) {
+    return 0;
+  }
+
+  return -1;
+}
+
+const safety_hooks gm_ascm_hooks = {
+  .init = nooutput_init,
+  .rx = default_rx_hook,
+  .tx = alloutput_tx_hook,
+  .tx_lin = nooutput_tx_lin_hook,
+  .ignition = default_ign_hook,
+  .fwd = gm_ascm_fwd_hook,
+};
+