GM: passive on LKA-only cars (#135)

If LKA camera is still connected to powertrain.
commaai · Sep 6, 2018 · 53aef76 · 53aef76
1 parent 01b5235
commit 53aef76
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
@@ -22,7 +22,7 @@ const int GM_MAX_BRAKE = 350;
 int gm_brake_prev = 0;
 int gm_gas_prev = 0;
 int gm_speed = 0;
-// silence everything if stock ECUs are still online
+// silence everything if stock car control ECUs are still online
 int gm_ascm_detected = 0;
 int gm_ignition_started = 0;
 int gm_rt_torque_last = 0;
@@ -63,8 +63,11 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     gm_speed = to_push->RDLR & 0xFFFF;
   }
 
-  // check if stock ASCM ECU is still online
-  if (bus_number == 0 && addr == 715) {
+  // Check if ASCM or LKA camera are online
+  // on powertrain bus.
+  // 384 = ASCMLKASteeringCmd
+  // 715 = ASCMGasRegenCmd
+  if (bus_number == 0 && (addr == 384 || addr == 715)) {
     gm_ascm_detected = 1;
     controls_allowed = 0;
   }