GM: match ECM standstill check (commaai#1105)

* match ECM check * fix * needs to be <= 10 to avoid a fault, fix for safety tests * fix
mlocoteta · Apr 29, 2023 · 16a6e65 · 16a6e65
1 parent a18ac33
commit 16a6e65
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -16,6 +16,8 @@ const int GM_MAX_RATE_DOWN = 17;
 const int GM_DRIVER_TORQUE_ALLOWANCE = 50;
 const int GM_DRIVER_TORQUE_FACTOR = 4;
 
+const int GM_STANDSTILL_THRSLD = 10;  // 0.311kph
+
 const int GM_MAX_GAS = 3072;
 const int GM_MAX_REGEN = 1404;
 const int GM_MAX_BRAKE = 400;
@@ -67,10 +69,11 @@ static int gm_rx_hook(CANPacket_t *to_push) {
       update_sample(&torque_driver, torque_driver_new);
     }
 
-    // sample speed, really only care if car is moving or not
-    // rear left wheel speed
+    // sample rear wheel speeds
     if (addr == 842) {
-      vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1);
+      int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1);
+      int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3);
+      vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
     }
 
     // ACC steering wheel buttons (GM_CAM is tied to the PCM)

diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
@@ -19,7 +19,7 @@ class Buttons:
 
 
 class TestGmSafetyBase(common.PandaSafetyTest, common.DriverTorqueSteeringSafetyTest):
-  STANDSTILL_THRESHOLD = 0
+  STANDSTILL_THRESHOLD = 10 * 0.0311
   RELAY_MALFUNCTION_ADDR = 384
   RELAY_MALFUNCTION_BUS = 0
   BUTTONS_BUS = 0