GM: allow TX PSCMStatus message (commaai#1111)

* forwarding * add to tx msgs * don't block * Revert "don't block" This reverts commit b1ca52f. * fix forwarding tests * comment * add comment
budney · Oct 20, 2022 · 54f9390 · 54f9390
1 parent 723e60c
commit 54f9390
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Showing 2 changed files with 10 additions and 5 deletions.
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -28,7 +28,7 @@ const CanMsg GM_ASCM_TX_MSGS[] = {{384, 0, 4}, {1033, 0, 7}, {1034, 0, 7}, {715,
                                   {0x104c006c, 3, 3}, {0x10400060, 3, 5}};  // gmlan
 
 const CanMsg GM_CAM_TX_MSGS[] = {{384, 0, 4},  // pt bus
-                                 {481, 2, 7}};  // camera bus
+                                 {481, 2, 7}, {388, 2, 8}};  // camera bus
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
 AddrCheckStruct gm_addr_checks[] = {
@@ -260,13 +260,17 @@ static int gm_fwd_hook(int bus_num, CANPacket_t *to_fwd) {
   int bus_fwd = -1;
 
   if (gm_hw == GM_CAM) {
+    int addr = GET_ADDR(to_fwd);
     if (bus_num == 0) {
-      bus_fwd = 2;
+      // block PSCMStatus; forwarded through openpilot to hide an alert from the camera
+      bool is_pscm_msg = (addr == 388);
+      if (!is_pscm_msg) {
+        bus_fwd = 2;
+      }
     }
 
     if (bus_num == 2) {
       // block lkas message, forward all others
-      int addr = GET_ADDR(to_fwd);
       bool is_lkas_msg = (addr == 384);
       if (!is_lkas_msg) {
         bus_fwd = 0;

diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
@@ -208,8 +208,9 @@ def test_cancel_button(self):
 
 
 class TestGmCameraSafety(TestGmSafetyBase):
-  TX_MSGS = [[384, 0]]  # pt bus
-  FWD_BLACKLISTED_ADDRS = {2: [384]}  # LKAS message, ACC messages are (715, 880, 789)
+  TX_MSGS = [[384, 0],  # pt bus
+             [388, 2]]  # camera bus
+  FWD_BLACKLISTED_ADDRS = {2: [384], 0: [388]}  # block LKAS message and PSCMStatus
   FWD_BUS_LOOKUP = {0: 2, 2: 0}
   BUTTONS_BUS = 2  # tx only
   USER_BRAKE_THRESHOLD = 20