pedal

Revert "pedal"

This reverts commit 164a4ac9ff39c244b23d118f38bedb097867fa2e.

f

selfdrive/car/gm/carcontroller.py

@@ -440,11 +440,10 @@ class CarController(CarControllerBase):
       # TODO: integrate this with the code block below?
       if (
           (self.CP.flags & GMFlags.PEDAL_LONG.value)  # Always cancel stock CC when using pedal interceptor
-          or (self.CP.flags & GMFlags.CC_LONG.value)  # Match ACC behavior for non-ACC cars
+          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:
           self.last_button_frame = self.frame
-          # Always send cancel on POWERTRAIN bus for pedal/CC-long paths
           can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
 
     else:

selfdrive/car/gm/carstate.py

@@ -165,9 +165,9 @@ class CarState(CarStateBase):
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
       # Try ASCM first for cars that might have it (like misfingerprinted Bolts), fall back to ECM
       try:
-        ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
-      except:
         ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+      except:
+        ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
 
     if self.CP.enableBsm:
       if self.CP.carFingerprint not in SDGM_CAR: