GM camera ACC: reliable relay open init (#27163)

Reliable relay open

Author: sshane

selfdrive/car/gm/carcontroller.py

@@ -63,7 +63,7 @@ def update(self, CC, CS):
     elif (self.frame - self.last_steer_frame) >= steer_step:
       # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
       if init_lka_counter:
-        self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1
+        self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
 
       if CC.latActive:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))

selfdrive/car/gm/carstate.py

@@ -18,7 +18,7 @@ def __init__(self, CP):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
     self.loopback_lka_steering_cmd_updated = False
-    self.camera_lka_steering_cmd_counter = 0
+    self.pt_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
@@ -33,7 +33,7 @@ def update(self, pt_cp, cam_cp, loopback_cp):
     # Variables used for avoiding LKAS faults
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+      self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -113,13 +113,11 @@ def get_cam_can_parser(CP):
     if CP.networkLocation == NetworkLocation.fwdCamera:
       signals += [
         ("AEBCmdActive", "AEBCmd"),
-        ("RollingCounter", "ASCMLKASteeringCmd"),
         ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
         ("ACCCruiseState", "ASCMActiveCruiseControlStatus"),
       ]
       checks += [
         ("AEBCmd", 10),
-        ("ASCMLKASteeringCmd", 10),
         ("ASCMActiveCruiseControlStatus", 25),
       ]
 
@@ -180,6 +178,15 @@ def get_can_parser(CP):
       ("ECMAcceleratorPos", 80),
     ]
 
+    # Used to read back last counter sent to PT by camera
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      signals += [
+        ("RollingCounter", "ASCMLKASteeringCmd"),
+      ]
+      checks += [
+        ("ASCMLKASteeringCmd", 0),
+      ]
+
     if CP.transmissionType == TransmissionType.direct:
       signals.append(("RegenPaddle", "EBCMRegenPaddle"))
       checks.append(("EBCMRegenPaddle", 50))