GM CAM ACC Spam

garrettpall · Jan 27, 2024 · 7b7a918 · 7b7a918
1 parent e513d72
commit 7b7a918
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
@@ -6,7 +6,7 @@
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, SDGM_CAR
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, SDGM_CAR, CAMERA_ACC_CAR
 from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone, V_CRUISE_MAX
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
@@ -244,10 +244,11 @@ def update(self, CC, CS, now_nanos):
             can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
       # ACC Spam
-      if self.CP.carFingerprint in SDGM_CAR and toggle_params.get_bool("CSLCEnabled"):
+      if (self.CP.carFingerprint in SDGM_CAR or self.CP.carFingerprint in CAMERA_ACC_CAR)and toggle_params.get_bool("CSLCEnabled"):
         if CC.enabled and self.frame % 3 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and not CS.out.gasPressed:
+          bus = CanBus.CAMERA if self.CP.carFingerprint in SDGM_CAR else CanBus.POWERTRAIN
           slcSet = get_set_speed(self, hud_v_cruise)
-          can_sends.extend(gmcan.create_gm_acc_spam_command(self.packer_pt, self, CS, slcSet))
+          can_sends.extend(gmcan.create_gm_acc_spam_command(self.packer_pt, self, CS, slcSet, bus))
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1

diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
@@ -250,7 +250,7 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators):
   else:
     return []
 
-def create_gm_acc_spam_command(packer, controller, CS, slcSet):
+def create_gm_acc_spam_command(packer, controller, CS, slcSet, bus):
   cruiseBtn = CruiseButtons.INIT
   byfive = 0
   speedSetPoint = int(round(CS.out.cruiseState.speed * CV.MS_TO_MPH))
@@ -277,6 +277,6 @@ def create_gm_acc_spam_command(packer, controller, CS, slcSet):
   if (cruiseBtn != CruiseButtons.INIT) and controller.frame % (FRAMES_ON + FRAMES_OFF) < FRAMES_ON:
     controller.last_button_frame = controller.frame
     idx = (CS.buttons_counter + 1) % 4
-    return [create_buttons_five(packer, CanBus.CAMERA, idx, cruiseBtn, byfive)]
+    return [create_buttons_five(packer, bus, idx, cruiseBtn, byfive)]
   else:
     return []