Malibu Checksum

selfdrive/car/gm/carcontroller.py

@@ -57,6 +57,7 @@ class CarController(CarControllerBase):
     self.coeffDrag = 0.30
     self.airDensity = 1.225
     self.params_ = Params()
+    self.malibu_cancel_phase = 0
 
     self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@@ -229,7 +230,10 @@ class CarController(CarControllerBase):
             # Using extend instead of append since the message is only sent intermittently
             can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, frogpilot_toggles))
           elif CC.enabled and self.frame % 52 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise:
-            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
+            if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+              can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, 0, CruiseButtons.DECEL_SET))
+            else:
+              can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
         if self.CP.enableGasInterceptor:
           can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
         if self.CP.carFingerprint not in CC_ONLY_CAR:
@@ -288,9 +292,15 @@ class CarController(CarControllerBase):
           (self.CP.flags & GMFlags.PEDAL_LONG.value)  # Always cancel stock CC when using pedal interceptor
           or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled)  # Cancel stock CC if OP is not active
       ) and CS.out.cruiseState.enabled:
-        if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
+        cancel_interval = 0.03 if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC else 0.04
+        if (self.frame - self.last_button_frame) * DT_CTRL > cancel_interval:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
+          if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+            # Match the car's 33 Hz button cadence to keep checksum phase aligned.
+            self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
+            can_sends.append(gmcan.create_buttons_malibu_cancel(CanBus.POWERTRAIN, self.malibu_cancel_phase))
+          else:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
 
     else:
       # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
@@ -301,7 +311,10 @@ class CarController(CarControllerBase):
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
           self.last_button_frame = self.frame
-          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:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, 0, CruiseButtons.CANCEL))
+          else:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1

selfdrive/car/gm/gmcan.py

@@ -24,6 +24,19 @@ def create_buttons(packer, bus, idx, button):
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
 
+def create_buttons_malibu_cancel(bus, phase):
+  # Malibu Hybrid CC cancel frames use a 4-value pattern in the last 2 bytes.
+  data = bytearray(7)
+  data[3] = 0x01  # ACCAlwaysOne
+  data[4] = 0x00
+  # Observed cancel payloads (bus 0/130): 00 00 00 01 00 60 AF / 65 9E / 6A 8D / 6F 7C
+  cancel_bytes = (0x60, 0xAF, 0x65, 0x9E, 0x6A, 0x8D, 0x6F, 0x7C)
+  idx = (phase % 4) * 2
+  data[5] = cancel_bytes[idx]
+  data[6] = cancel_bytes[idx + 1]
+  return make_can_msg(0x1e1, bytes(data), bus)
+
+
 def create_pscm_status(packer, bus, pscm_status):
   values = {s: pscm_status[s] for s in [
     "HandsOffSWDetectionMode",