just fault fix (no logging or standstill. tho revisit standstill)

selfdrive/car/gm/carstate.py

@@ -28,6 +28,7 @@ class CarState(CarStateBase):
     self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
+    self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0
 
     # Variables used for avoiding LKAS faults
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
@@ -39,16 +40,11 @@ class CarState(CarStateBase):
       pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
       pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
       pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
-      unit=CV.KPH_TO_MS * (-1 if pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] else 1),
     )
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
-    # ret.standstill = abs(ret.wheelSpeeds.rl) <= STANDSTILL_THRESHOLD and abs(ret.wheelSpeeds.rr) <= STANDSTILL_THRESHOLD
+    ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
-    ret.standstill = not any((pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"],
-                              pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward2"],
-                              pt_cp.vl["EBCMWheelSpdRear"]["MovingForward"],
-                              pt_cp.vl["EBCMWheelSpdRear"]["MovingForward2"]))
 
     if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
       ret.gearShifter = self.parse_gear_shifter("T")
@@ -144,10 +140,7 @@ class CarState(CarStateBase):
       ("FRWheelSpd", "EBCMWheelSpdFront"),
       ("RLWheelSpd", "EBCMWheelSpdRear"),
       ("RRWheelSpd", "EBCMWheelSpdRear"),
-      ("MovingForward", "EBCMWheelSpdRear"),
-      ("MovingForward2", "EBCMWheelSpdRear"),
       ("MovingBackward", "EBCMWheelSpdRear"),
-      ("MovingBackward2", "EBCMWheelSpdRear"),
       ("PRNDL2", "ECMPRDNL2"),
       ("ManualMode", "ECMPRDNL2"),
       ("LKADriverAppldTrq", "PSCMStatus"),

selfdrive/car/gm/interface.py

@@ -225,8 +225,9 @@ class CarInterface(CarInterfaceBase):
 
     # Enabling at a standstill with brake is allowed
     # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
-    if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and
+    below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
-                                                  self.CP.networkLocation == NetworkLocation.fwdCamera):
+    if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
+                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill:
       events.add(EventName.resumeRequired)