Merge remote-tracking branch 'origin/master' into h90d-canfd

mlocoteta · Oct 15, 2022 · e0b18df · e0b18df
2 parents aa98c2a + 5962bcd
commit e0b18df
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Showing 2 changed files with 10 additions and 3 deletions.
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -93,9 +93,13 @@ static int gm_rx_hook(CANPacket_t *to_push) {
     }
 
     if (addr == 190) {
-      // Reference for signal and threshold:
+      // Reference for signal and thresholds:
       // https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
-      brake_pressed = GET_BYTE(to_push, 1) >= 8U;
+      if (gm_hw == GM_ASCM) {
+        brake_pressed = GET_BYTE(to_push, 1) >= 8U;
+      } else {
+        brake_pressed = GET_BYTE(to_push, 1) >= 20U;
+      }
     }
 
     if (addr == 452) {

diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
@@ -23,6 +23,7 @@ class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafety
   RELAY_MALFUNCTION_ADDR = 384
   RELAY_MALFUNCTION_BUS = 0
   BUTTONS_BUS = 0
+  USER_BRAKE_THRESHOLD = 0
 
   MAX_RATE_UP = 7
   MAX_RATE_DOWN = 17
@@ -55,7 +56,7 @@ def _speed_msg(self, speed):
 
   def _user_brake_msg(self, brake):
     # GM safety has a brake threshold of 8
-    values = {"BrakePedalPos": 8 if brake else 0}
+    values = {"BrakePedalPos": self.USER_BRAKE_THRESHOLD if brake else 0}
     return self.packer.make_can_msg_panda("ECMAcceleratorPos", 0, values)
 
   def _user_regen_msg(self, regen):
@@ -163,6 +164,7 @@ class TestGmAscmSafety(TestGmSafetyBase):
              [0x104c006c, 3], [0x10400060, 3]]  # gmlan
   FWD_BLACKLISTED_ADDRS: Dict[int, List[int]] = {}
   FWD_BUS_LOOKUP: Dict[int, int] = {}
+  USER_BRAKE_THRESHOLD = 8
 
   def setUp(self):
     self.packer = CANPackerPanda("gm_global_a_powertrain_generated")
@@ -210,6 +212,7 @@ class TestGmCameraSafety(TestGmSafetyBase):
   FWD_BLACKLISTED_ADDRS = {2: [384]}  # LKAS message, ACC messages are (715, 880, 789)
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
   BUTTONS_BUS = 2  # tx only
+  USER_BRAKE_THRESHOLD = 20
 
   def setUp(self):
     self.packer = CANPackerPanda("gm_global_a_powertrain_generated")