BUTTONS YEEEAAAA

selfdrive/car/gm/carcontroller.py

@@ -66,7 +66,9 @@ class CarController(CarControllerBase):
     self.malibu_cancel_phase = 0
     self.malibu_cancel_last_ts = 0.0
     self.malibu_cancel_frame = 0
+    self.malibu_cancel_frame_offset = 0
     self.malibu_button_phase = 0
+    self.malibu_last_button_ts_nanos = 0
 
     self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@@ -229,6 +231,19 @@ class CarController(CarControllerBase):
     self.pedal_steady = pedal_gas
     return pedal_gas, press_regen_paddle
 
+  def _update_malibu_button_slot(self, cs):
+    button_ts = cs.steering_button_ts_nanos
+    if button_ts != 0 and button_ts != self.malibu_last_button_ts_nanos:
+      self.malibu_last_button_ts_nanos = button_ts
+      return True
+    return False
+
+  def _sync_malibu_phase_from_oem(self, cs):
+    phase_map = gmcan.malibu_phase_map_for_acc(cs.cruise_buttons)
+    if phase_map and cs.steering_button_checksum in phase_map:
+      phase = phase_map[cs.steering_button_checksum]
+      self.malibu_cancel_phase = phase
+      self.malibu_button_phase = phase
 
   def update(self, CC, CS, now_nanos, frogpilot_toggles):
     self.CS = CS
@@ -286,12 +301,11 @@ class CarController(CarControllerBase):
     # Send CAN commands.
     can_sends = []
 
+    malibu_oem_button_slot = False
     if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-      phase_map = gmcan.malibu_phase_map_for_acc(CS.cruise_buttons)
-      if phase_map and CS.steering_button_checksum in phase_map:
-        phase = (phase_map[CS.steering_button_checksum] + 1) % 4
-        self.malibu_cancel_phase = phase
-        self.malibu_button_phase = phase
+      malibu_oem_button_slot = self._update_malibu_button_slot(CS)
+      if malibu_oem_button_slot:
+        self._sync_malibu_phase_from_oem(CS)
 
     raw_regen_active = (
       self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
@@ -369,6 +383,8 @@ class CarController(CarControllerBase):
       can_sends.append(gmcan.create_ecm_cruise_control_command(
         self.packer_pt, CanBus.POWERTRAIN, spoof_enabled, spoof_set_speed_kph))
 
+    malibu_cancel_requested = False
+
     if self.CP.openpilotLongitudinalControl:
 
       # Gas/regen, brakes, and UI commands - all at 25Hz
@@ -547,17 +563,16 @@ class CarController(CarControllerBase):
       stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
       if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
         stock_cc_active = CS.out.cruiseState.enabled
+      pedal_cancel = self.CP.flags & GMFlags.PEDAL_LONG.value
+      if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+        pedal_cancel = pedal_cancel and CC.longActive
+
       if (
-          (self.CP.flags & GMFlags.PEDAL_LONG.value)  # Always cancel stock CC when using pedal interceptor
+          pedal_cancel
           or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled)  # Cancel stock CC if OP is not active
       ) and stock_cc_active:
         if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-          # Match 33 Hz cadence (every 3 frames) and align phase to the last seen checksum.
-          if self.malibu_cancel_frame % 3 == 0:
-            can_sends.append(gmcan.create_buttons_malibu_cancel(
-              CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
-            self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
-          self.malibu_cancel_frame += 1
+          malibu_cancel_requested = True
         else:
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
             self.last_button_frame = self.frame
@@ -570,20 +585,24 @@ class CarController(CarControllerBase):
       self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
 
       # Stock longitudinal, integrated at camera
-      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
+      if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+        if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
+          malibu_cancel_requested = True
+      elif (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
           self.last_button_frame = self.frame
-          if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-            if self.malibu_cancel_frame % 3 == 0:
-              can_sends.append(gmcan.create_buttons_malibu_cancel(
-                CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
-              self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
-            self.malibu_cancel_frame += 1
-          elif self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in (volt_like | {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE}):
+          if self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in (volt_like | {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE}):
             can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
           else:
             can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
+    if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+      # Malibu has no reliable rolling counter in 0x1E1; lock cancel send to each observed OEM 0x1E1 slot.
+      if malibu_cancel_requested and malibu_oem_button_slot:
+        can_sends.append(gmcan.create_buttons_malibu_cancel(
+          CanBus.POWERTRAIN, (self.malibu_cancel_phase + 1) % 4, CS.steering_button_prefix))
+        self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
+
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
       if self.frame % 10 == 0:

selfdrive/car/gm/carstate.py

@@ -28,6 +28,7 @@ class CarState(CarStateBase):
     self.buttons_counter = 0
     self.steering_button_checksum = 0
     self.steering_button_prefix = 0x01
+    self.steering_button_ts_nanos = 0
 
     self.prev_distance_button = 0
     self.distance_button = 0
@@ -56,6 +57,7 @@ class CarState(CarStateBase):
       self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
       self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
       self.steering_button_checksum = pt_cp.vl["ASCMSteeringButton"]["SteeringButtonChecksum"]
+      self.steering_button_ts_nanos = pt_cp.ts_nanos["ASCMSteeringButton"]["ACCButtons"]
       acc_always_one = pt_cp.vl["ASCMSteeringButton"]["ACCAlwaysOne"]
       acc_hidden_bit = pt_cp.vl["ASCMSteeringButton"].get("ACCHiddenBit", 0)
       self.steering_button_prefix = (int(acc_always_one) & 1) | ((int(acc_hidden_bit) & 1) << 6)
@@ -63,6 +65,7 @@ class CarState(CarStateBase):
       self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
       self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
       self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+      self.steering_button_ts_nanos = cam_cp.ts_nanos["ASCMSteeringButton"]["ACCButtons"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.
     # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)

selfdrive/car/gm/gmcan.py

@@ -7,10 +7,10 @@ from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
 
 MALIBU_BUTTON_TABLE = {
-  0: [0x2FBC, 0x25DE, 0x15EE, 0x1FCC],
+  0: [0x10FF, 0x15EE, 0x1ADD, 0x1FCC],
   1: [0x55AE, 0x5F8C, 0x6F7C, 0x659E],
   4: [0x2ACD, 0x20EF, 0x1ADD, 0x10FF],
-  5: [0x50BF, 0x5A9D, 0x60AF, 0x6A8D],
+  5: [0x60AF, 0x659E, 0x6A8D, 0x6F7C],
 }
 
 MALIBU_BUTTON_MAP = {
@@ -78,10 +78,10 @@ def create_buttons_malibu_cancel(bus, phase, prefix=0x41):
   data = bytearray(7)
   data[3] = prefix & 0xFF
   data[4] = 0x00
-  cancel_bytes = (0x60, 0xAF, 0x65, 0x9E, 0x6A, 0x8D, 0x6F, 0x7C)
-  idx = ((phase + 2) % 4) * 2
-  data[5] = cancel_bytes[idx]
-  data[6] = cancel_bytes[idx + 1]
+  cancel_seq = MALIBU_BUTTON_TABLE[5]
+  val = cancel_seq[phase % len(cancel_seq)]
+  data[5] = (val >> 8) & 0xFF
+  data[6] = val & 0xFF
   return make_can_msg(0x1e1, bytes(data), bus)
 
 

selfdrive/car/gm/interface.py

@@ -537,6 +537,9 @@ class CarInterface(CarInterfaceBase):
       # Keep Malibu Hybrid pedal on the same longitudinal tune as Bolt pedal cars.
       ret.longitudinalTuning.kpBP = [0.0, 5.0, 15.0, 35.0]
       ret.longitudinalTuning.kpV = [0.095, 0.085, 0.065, 0.050]
+      # Reuse Bolt pedal cancel-allow safety path so 0x1E1 cancel isn't blocked
+      # when stock cruise state differs from pedal-long control state.
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2022_PEDAL
       ret.longitudinalTuning.kiBP = [0.0, 3.0, 6.0, 35.0]
       ret.longitudinalTuning.kiV = [0.07, 0.10, 0.15, 0.24]
       ret.longitudinalTuning.kfDEPRECATED = 0.20