GM camera ACC: show under enable speed alert (#26148)

* fix the fault more generically

* fix

* need this

* some clean up

* comment and use standstill

* comment

* add comment

* better fix

* rm

* better (for now)

* update docs

docs/CARS.md

@@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
@@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
 |Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
 |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
 |Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
 |Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|

selfdrive/car/gm/interface.py

@@ -62,11 +62,14 @@ class CarInterface(CarInterfaceBase):
       ret.radarOffCan = True  # no radar
       ret.pcmCruise = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
       ret.radarOffCan = False
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
+      # supports stop and go, but initial engage must (conservatively) be above 18mph
+      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
@@ -90,9 +93,6 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
 
-    # supports stop and go, but initial engage must (conservatively) be above 18mph
-    ret.minEnableSpeed = 18 * CV.MPH_TO_MS
-
     if candidate == CAR.VOLT:
       ret.mass = 1607. + STD_CARGO_KG
       ret.wheelbase = 2.69
@@ -153,7 +153,6 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 1.0
 
     elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV):
-      ret.minEnableSpeed = -1
       ret.mass = 1669. + STD_CARGO_KG
       ret.wheelbase = 2.63779
       ret.steerRatio = 16.8
@@ -163,7 +162,6 @@ class CarInterface(CarInterfaceBase):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.SILVERADO:
-      ret.minEnableSpeed = -1
       ret.mass = 2200. + STD_CARGO_KG
       ret.wheelbase = 3.75
       ret.steerRatio = 16.3
@@ -172,7 +170,6 @@ class CarInterface(CarInterfaceBase):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.EQUINOX:
-      ret.minEnableSpeed = -1
       ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 14.4
@@ -207,19 +204,16 @@ class CarInterface(CarInterfaceBase):
                                                          GearShifter.eco, GearShifter.manumatic],
                                        pcm_enable=self.CP.pcmCruise)
 
-    if ret.vEgo < self.CP.minEnableSpeed:
+    # 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):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill:
       events.add(EventName.resumeRequired)
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(EventName.belowSteerSpeed)
 
-    if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.pcmCruise:
-      # The ECM has a higher brake pressed threshold than the camera, causing an
-      # ACC fault when you engage at a stop with your foot partially on the brake
-      if ret.vEgoRaw < 0.1 and ret.brake < 20:
-        events.add(EventName.gmAccFaultedTemp)
-
     ret.events = events.to_msg()
 
     return ret