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firestar5683
2026-03-10 22:17:59 -05:00
parent 978d57a674
commit 335e7cf74e
1 changed files with 15 additions and 8 deletions
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selfdrive/car/gm/interface.py
+15 -8
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@@ -53,7 +53,7 @@ BOLT_GEN1_CANCEL_PERSONALITY_CARS = {
CAR.CHEVROLET_BOLT_CC_2017,
CAR.CHEVROLET_BOLT_CC_2019_2021,
}
CANCEL_REMAP_DISTANCE_CARS = BOLT_GEN1_CANCEL_PERSONALITY_CARS | {CAR.CHEVROLET_MALIBU_HYBRID_CC}
CANCEL_REMAP_DISTANCE_CARS = BOLT_GEN1_CANCEL_PERSONALITY_CARS
NON_LINEAR_TORQUE_PARAMS = {
CAR.CHEVROLET_BOLT_ACC_2022_2023: {
@@ -615,7 +615,12 @@ class CarInterface(CarInterfaceBase):
bool(ret.flags & GMFlags.PEDAL_LONG.value) and
candidate in CANCEL_REMAP_DISTANCE_CARS
)
if remap_cancel_to_distance:
malibu_cancel_passthrough = (
candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC and
ret.openpilotLongitudinalControl and
bool(ret.flags & GMFlags.PEDAL_LONG.value)
)
if remap_cancel_to_distance or malibu_cancel_passthrough:
ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
return ret
@@ -649,11 +654,12 @@ class CarInterface(CarInterfaceBase):
cruise_events = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, cruise_button_map,
unpressed_btn=CruiseButtons.UNPRESS)
cancel_gap_events = []
if bolt_cancel_personality:
# Gen1 Bolt pedal-long: treat CANCEL as a distance-style button for personality cycling.
cancel_gap_events = create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons,
{CruiseButtons.CANCEL: ButtonType.gapAdjustCruise},
unpressed_btn=CruiseButtons.UNPRESS)
if bolt_cancel_personality and self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
# Gen1 Bolt pedal-long: treat CANCEL edges as a distance-style button for personality cycling.
if self.CS.prev_cruise_buttons == CruiseButtons.CANCEL:
cancel_gap_events.append(car.CarState.ButtonEvent(pressed=False, type=ButtonType.gapAdjustCruise))
if self.CS.cruise_buttons == CruiseButtons.CANCEL:
cancel_gap_events.append(car.CarState.ButtonEvent(pressed=True, type=ButtonType.gapAdjustCruise))
# Malibu pedal-long cancel can alias wheel-button bits on 0x1E1; ignore those side effects.
suppress_malibu_side_buttons = malibu_cancel_passthrough and (
@@ -664,7 +670,8 @@ class CarInterface(CarInterfaceBase):
self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}
)
lkas_events = [] if suppress_malibu_side_buttons else create_button_events(
self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}
self.CS.lkas_enabled,
self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}
)
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT: