From 5962bcd08ae4e7c5193535efb45cc9c39da52f54 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 14 Oct 2022 16:51:53 -0700
Subject: [PATCH] GM: different brake thresholds by platform (#1104)

* Different brake pressed thresholds

* Update board/safety/safety_gm.h
---
 board/safety/safety_gm.h | 8 ++++++--
 tests/safety/test_gm.py  | 5 ++++-
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index c9560d5ab7..534e28362c 100644
--- 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
index c5b9141584..0ac2999170 100755
--- 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")