From 5338f9a5d54eecaa966a174bb7dfbba3b7beb6f7 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 26 Jan 2026 00:08:27 -0600
Subject: [PATCH] malibu buttons

---
 selfdrive/car/gm/carcontroller.py | 25 ++++++++++---------------
 selfdrive/car/gm/gmcan.py         | 15 ++++++++++-----
 2 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 6e15ae587..8e7fee6e4 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -99,6 +99,13 @@ class CarController(CarControllerBase):
     # Send CAN commands.
     can_sends = []
 
+    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
+
     # Steering (Active: 50Hz, inactive: 10Hz)
     steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
 
@@ -236,14 +243,10 @@ class CarController(CarControllerBase):
           elif (CS.out.cruiseState.enabled and 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):
             if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-              phase_map = gmcan.malibu_phase_map_for_button(CruiseButtons.DECEL_SET)
-              if phase_map and CS.steering_button_checksum in phase_map:
-                self.malibu_button_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
-              else:
-                self.malibu_button_phase = (self.malibu_button_phase + 1) % 4
               can_sends.append(gmcan.create_buttons_malibu(
                 self.packer_pt, CanBus.POWERTRAIN, CruiseButtons.DECEL_SET,
                 self.malibu_button_phase, CS.steering_button_prefix))
+              self.malibu_button_phase = (self.malibu_button_phase + 1) % 4
             else:
               can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
         if self.CP.enableGasInterceptor:
@@ -307,13 +310,9 @@ class CarController(CarControllerBase):
         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:
-            phase_map = {175: 0, 1438: 1, 2701: 2, 3964: 3}
-            if CS.steering_button_checksum in phase_map:
-              self.malibu_cancel_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
-            else:
-              self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
             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
         else:
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
@@ -329,13 +328,9 @@ class CarController(CarControllerBase):
       if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
         if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
           if self.malibu_cancel_frame % 3 == 0:
-            phase_map = {175: 0, 1438: 1, 2701: 2, 3964: 3}
-            if CS.steering_button_checksum in phase_map:
-              self.malibu_cancel_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
-            else:
-              self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
             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
         else:
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 15ca7600f..0916475bf 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -29,6 +29,13 @@ def malibu_phase_map_for_button(button):
   return {v: i for i, v in enumerate(MALIBU_BUTTON_TABLE[key])}
 
 
+def malibu_phase_map_for_acc(acc_value):
+  seq = MALIBU_BUTTON_TABLE.get(acc_value)
+  if not seq:
+    return None
+  return {v: i for i, v in enumerate(seq)}
+
+
 def create_buttons_malibu(packer, bus, button, phase, prefix=0x41):
   key = MALIBU_BUTTON_MAP.get(button, None)
   if key is None or key not in MALIBU_BUTTON_TABLE:
@@ -275,12 +282,10 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggl
     if CS.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
       phase_map = malibu_phase_map_for_button(cruiseBtn)
       if phase_map:
-        if CS.steering_button_checksum in phase_map:
-          controller.malibu_button_phase = (phase_map[CS.steering_button_checksum] + 1) % 4
-        else:
-          controller.malibu_button_phase = (controller.malibu_button_phase + 1) % 4
-        return [create_buttons_malibu(packer, CanBus.POWERTRAIN, cruiseBtn, controller.malibu_button_phase,
+        msgs = [create_buttons_malibu(packer, CanBus.POWERTRAIN, cruiseBtn, controller.malibu_button_phase,
                                       CS.steering_button_prefix)]
+        controller.malibu_button_phase = (controller.malibu_button_phase + 1) % 4
+        return msgs
     idx = (CS.buttons_counter + 1) % 4  # Need to predict the next idx for '22-23 EUV
     return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
   else: