From 84bf91ceda2f757d99e82628965443101df3b91c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 2 Nov 2022 17:55:53 -0700
Subject: [PATCH] GM: fix fault while moving backwards (#26333)

* log signed speed

* bump to master

* need this

* fix

* fix...

* see if this works

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

* move

* Revert "move"

This reverts commit c564e74666e3a418ef43a77926c8a38a2bf89511.
old-commit-hash: e634afb719e9ea787155272b3d2fe64b385bcb7d
---
 opendbc                       | 2 +-
 selfdrive/car/gm/carstate.py  | 2 ++
 selfdrive/car/gm/interface.py | 5 +++--
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/opendbc b/opendbc
index b3dc569994..296f190000 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit b3dc569994fd10e4de04afd650980c51ddfce5e1
+Subproject commit 296f190000a2e71408e207ba21a2257cc853ec15
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 7cb2274674..af69307a2c 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/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
@@ -139,6 +140,7 @@ class CarState(CarStateBase):
       ("FRWheelSpd", "EBCMWheelSpdFront"),
       ("RLWheelSpd", "EBCMWheelSpdRear"),
       ("RRWheelSpd", "EBCMWheelSpdRear"),
+      ("MovingBackward", "EBCMWheelSpdRear"),
       ("PRNDL2", "ECMPRDNL2"),
       ("ManualMode", "ECMPRDNL2"),
       ("LKADriverAppldTrq", "PSCMStatus"),
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 9ef7f388ff..2420098b4a 100755
--- a/selfdrive/car/gm/interface.py
+++ b/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
-                                                  self.CP.networkLocation == NetworkLocation.fwdCamera):
+    below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
+    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)