f

common/params_keys.h

@@ -390,6 +390,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OneLaneChange", {PERSISTENT, BOOL, "1", "0", 2}},
     {"OnroadDistanceButton", {PERSISTENT, BOOL, "0", "0", 0}},
     {"OnroadDistanceButtonPressed", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"WheelButtonBookmarkCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
     {"openpilotMinutes", {PERSISTENT, INT, "0", "0", 0}},
     {"OverpassRequests", {PERSISTENT, JSON, "{}", "{}"}},
     {"PathColor", {PERSISTENT, STRING, "", "", 2}},

opendbc_repo/opendbc/car/gm/carstate.py

@@ -395,14 +395,15 @@ class CarState(CarStateBase):
       if CP.enableBsm:
         pt_messages.append(("BCMBlindSpotMonitor", 10))
 
+    if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
+      if ("ECMAcceleratorPos", 80) in pt_messages:
+        pt_messages.remove(("ECMAcceleratorPos", 80))
+      pt_messages.append(("EBCMBrakePedalPosition", 100))
+
     if CP.networkLocation == NetworkLocation.fwdCamera:
       pt_messages += [
         ("ASCMLKASteeringCmd", 0),
       ]
-      if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
-        if ("ECMAcceleratorPos", 80) in pt_messages:
-          pt_messages.remove(("ECMAcceleratorPos", 80))
-        pt_messages.append(("EBCMBrakePedalPosition", 100))
 
     if CP.transmissionType == TransmissionType.direct:
       regen_paddle_rate = 50 if CP.carFingerprint in kaofui_state_cars else 40

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -94,6 +94,20 @@ class TestGMInterface:
     assert car_params.flags & GMFlags.NO_CAMERA.value
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
 
+  def test_volt_gateway_without_accel_pos_uses_brake_pedal_message(self):
+    CarInterface = interfaces[CAR.CHEVROLET_VOLT]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0xF1] = 6
+
+    car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT, fingerprint, [], alpha_long=False, is_release=False, docs=False,
+                                         starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value
+
+    pt_parser = CarInterface.CarState.get_can_parsers(car_params)[Bus.pt]
+    assert "ECMAcceleratorPos" not in pt_parser.vl
+    assert "EBCMBrakePedalPosition" in pt_parser.vl
+
 
 class TestGMCarController:
   def test_dash_speed_spoof_respects_live_stock_acc_toggles(self):

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-1c85fed7-DEBUG";
+const uint8_t gitversion[19] = "DEV-41023b71-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-1c85fed7-DEBUG
+DEV-41023b71-DEBUG

selfdrive/ui/feedback/feedbackd.py

@@ -11,16 +11,18 @@ ButtonType = car.CarState.ButtonEvent.Type
 
 def main():
   params = Params()
+  params_memory = Params(memory=True)
   pm = messaging.PubMaster(['userBookmark', 'audioFeedback'])
   sm = messaging.SubMaster(['rawAudioData', 'bookmarkButton', 'carState'])
   should_record_audio = False
   block_num = 0
   waiting_for_release = False
   early_stop_triggered = False
+  last_wheel_bookmark_counter = params_memory.get_int("WheelButtonBookmarkCounter")
 
   while True:
     sm.update()
-    should_send_bookmark = False
+    bookmark_requests = 0
 
     # TODO: https://github.com/commaai/openpilot/issues/36015
     if False and sm.updated['carState'] and sm['carState'].canValid:
@@ -35,7 +37,7 @@ def main():
                 early_stop_triggered = False
                 cloudlog.info("LKAS button pressed - starting 10-second audio feedback")
               else:
-                should_send_bookmark = True  # immediately send bookmark if toggle false
+                bookmark_requests += 1  # immediately send bookmark if toggle false
                 cloudlog.info("LKAS button pressed - bookmarking")
             elif should_record_audio and not waiting_for_release:  # Wait for release of second press to stop recording early
               waiting_for_release = True
@@ -52,7 +54,7 @@ def main():
       msg.audioFeedback.blockNum = block_num
       block_num += 1
       if (block_num * SAMPLE_BUFFER / SAMPLE_RATE) >= FEEDBACK_MAX_DURATION or early_stop_triggered:  # Check for timeout or early stop
-        should_send_bookmark = True  # send bookmark at end of audio segment
+        bookmark_requests += 1  # send bookmark at end of audio segment
         should_record_audio = False
         early_stop_triggered = False
         cloudlog.info("10-second recording completed or second button press - stopping audio feedback")
@@ -60,9 +62,15 @@ def main():
 
     if sm.updated['bookmarkButton']:
       cloudlog.info("Bookmark button pressed!")
-      should_send_bookmark = True
+      bookmark_requests += 1
 
-    if should_send_bookmark:
+    wheel_bookmark_counter = params_memory.get_int("WheelButtonBookmarkCounter")
+    if wheel_bookmark_counter > last_wheel_bookmark_counter:
+      bookmark_requests += wheel_bookmark_counter - last_wheel_bookmark_counter
+      last_wheel_bookmark_counter = wheel_bookmark_counter
+      cloudlog.info("Wheel button bookmark requested!")
+
+    for _ in range(bookmark_requests):
       msg = messaging.new_message('userBookmark', valid=True)
       pm.send('userBookmark', msg)
 

starpilot/controls/starpilot_card.py

@@ -1,6 +1,4 @@
 #!/usr/bin/env python3
-import cereal.messaging as messaging
-
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.selfdrive.car.cruise import CRUISE_LONG_PRESS, ButtonType
@@ -20,7 +18,6 @@ class StarPilotCard:
 
     self.params = Params(return_defaults=True)
     self.params_memory = Params(memory=True)
-    self.pm = messaging.PubMaster(["userBookmark"])
 
     self.accel_pressed = False
     self.always_on_lateral_allowed = False
@@ -66,8 +63,8 @@ class StarPilotCard:
       self.traffic_mode_enabled = not self.traffic_mode_enabled
 
   def handle_bookmark(self):
-    msg = messaging.new_message("userBookmark", valid=True)
-    self.pm.send("userBookmark", msg)
+    counter = self.params_memory.get_int("WheelButtonBookmarkCounter")
+    self.params_memory.put_int("WheelButtonBookmarkCounter", counter + 1)
 
   def handle_experimental_mode(self, sm, starpilot_toggles):
     if getattr(starpilot_toggles, "safe_mode", False):