a;oiwht

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -157,7 +157,7 @@ def should_send_adas_status(CP, is_kaofui_car):
     return True
 
   if CP.carFingerprint in ASCM_INT:
-    return CP.carFingerprint == CAR.BUICK_LACROSSE_ASCM
+    return False
 
   return CP.networkLocation != NetworkLocation.fwdCamera and CP.carFingerprint not in SDGM_CAR
 
@@ -259,7 +259,11 @@ def should_activate_auto_hold(hold_ready: bool, auto_hold_armed: bool, auto_hold
   )
 
 
-def should_neutralize_volt_long_on_driver_override(CP, gas_pressed: bool, brake_pressed: bool) -> bool:
+def should_neutralize_volt_long_on_driver_override(CP, gas_pressed: bool, brake_pressed: bool,
+                                                   gear_shifter=None) -> bool:
+  if CP.carFingerprint == CAR.CHEVROLET_VOLT_2019 and gear_shifter not in AUTO_HOLD_DRIVE_GEARS:
+    return False
+
   return (
     CP.carFingerprint in AUTO_HOLD_VOLT_CARS and
     not CP.enableGasInterceptorDEPRECATED and
@@ -821,7 +825,7 @@ class CarController(CarControllerBase):
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = max(self.apply_brake, self.volt_one_pedal_brake)
 
-        if should_neutralize_volt_long_on_driver_override(self.CP, CS.out.gasPressed, CS.out.brakePressed):
+        if should_neutralize_volt_long_on_driver_override(self.CP, CS.out.gasPressed, CS.out.brakePressed, CS.out.gearShifter):
           self.apply_gas = self.params.MAX_ACC_REGEN
           self.apply_brake = 0
 

opendbc_repo/opendbc/car/gm/interface.py

@@ -675,9 +675,6 @@ class CarInterface(CarInterfaceBase):
     if remote_start_boots_comma:
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_REMOTE_START_BOOTS_COMMA.value
 
-    if candidate == CAR.BUICK_LACROSSE_ASCM:
-      ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_LACROSSE_RADAR.value
-
     volt_stock_friction_brake_safety = (
       (gm_auto_hold or volt_one_pedal_mode) and
       candidate in {

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

@@ -154,13 +154,13 @@ def test_live_camera_path_does_not_send_pt_keepalive():
   assert get_adas_keepalive_step(cp, is_kaofui_car=True) is None
 
 
-def test_only_lacrosse_ascm_int_sends_radar_status():
+def test_ascm_int_cars_do_not_send_radar_status():
   common = {
     "networkLocation": CarParams.NetworkLocation.fwdCamera,
     "radarUnavailable": False,
   }
 
-  assert should_send_adas_status(SimpleNamespace(carFingerprint=CAR.BUICK_LACROSSE_ASCM, **common), is_kaofui_car=True)
+  assert not should_send_adas_status(SimpleNamespace(carFingerprint=CAR.BUICK_LACROSSE_ASCM, **common), is_kaofui_car=True)
   assert not should_send_adas_status(SimpleNamespace(carFingerprint=CAR.CHEVROLET_VOLT_ASCM, **common), is_kaofui_car=True)
 
 
@@ -496,6 +496,16 @@ def test_volt_driver_override_neutralization_applies_on_stock_acc_path():
   )
 
 
+def test_volt_2019_driver_override_neutralization_skips_park_but_keeps_drive():
+  CP = SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_VOLT_2019,
+    enableGasInterceptorDEPRECATED=False,
+  )
+
+  assert not should_neutralize_volt_long_on_driver_override(CP, False, True, structs.CarState.GearShifter.park)
+  assert should_neutralize_volt_long_on_driver_override(CP, False, True, structs.CarState.GearShifter.drive)
+
+
 def test_volt_driver_override_neutralization_skips_pedal_and_non_volt_paths():
   assert not should_neutralize_volt_long_on_driver_override(
     SimpleNamespace(
@@ -505,6 +515,15 @@ def test_volt_driver_override_neutralization_skips_pedal_and_non_volt_paths():
     True,
     False,
   )
+  assert should_neutralize_volt_long_on_driver_override(
+    SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
+      enableGasInterceptorDEPRECATED=False,
+    ),
+    False,
+    True,
+    structs.CarState.GearShifter.park,
+  )
   assert not should_neutralize_volt_long_on_driver_override(
     SimpleNamespace(
       carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021,

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

@@ -139,24 +139,6 @@ class TestGMInterface:
     assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
     assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.28, 0.26, 0.20, 0.16])
 
-  def test_lacrosse_radar_marker_is_not_set_on_volt_ascm(self):
-    fingerprint = _empty_fingerprint()
-    fingerprint[0][0x2FF] = 8
-
-    LacrosseInterface = interfaces[CAR.BUICK_LACROSSE_ASCM]
-    lacrosse_params = LacrosseInterface.get_params(
-      CAR.BUICK_LACROSSE_ASCM, fingerprint, [], alpha_long=True, is_release=False, docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-    VoltInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
-    volt_params = VoltInterface.get_params(
-      CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=True, is_release=False, docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-
-    assert lacrosse_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_LACROSSE_RADAR.value
-    assert not volt_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_LACROSSE_RADAR.value
-
   def test_blazer_uses_earlier_stronger_low_speed_stop_tune(self):
     CarInterface = interfaces[CAR.CHEVROLET_BLAZER]
     fingerprint = _empty_fingerprint()

opendbc_repo/opendbc/car/gm/values.py

@@ -174,8 +174,6 @@ class GMSafetyFlags(IntFlag):
   FLAG_GM_BOLT_2022_PEDAL = 4096
   FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
   FLAG_GM_PANDA_3D1_SCHED = 16384
-  # Context-specific alias: the 3D1 scheduler remains inactive on this camera-long ACC path.
-  FLAG_GM_LACROSSE_RADAR = 16384
   FLAG_GM_PANDA_PADDLE_SCHED = 32768
 
 

opendbc_repo/opendbc/safety/modes/gm.h

@@ -545,7 +545,6 @@ static safety_config gm_init(uint16_t param) {
   const uint16_t GM_PARAM_BOLT_2022_PEDAL = 4096;
   const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
   const uint16_t GM_PARAM_PANDA_3D1_SCHED = 16384;
-  const uint16_t GM_PARAM_LACROSSE_RADAR = 16384;
   const uint16_t GM_PARAM_PANDA_PADDLE_SCHED = 32768;
 
   static const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
@@ -582,11 +581,6 @@ static safety_config gm_init(uint16_t param) {
                                                {0x184, 2, 8, .check_relay = true},  // camera bus
                                                {0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
                                                {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};  // pt bus
-  static const CanMsg GM_CAM_LONG_LACROSSE_RADAR_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x315, 0, 5, .check_relay = true}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = true}, {0x3D1, 0, 8, .check_relay = false},  // pt bus
-                                                                {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false},  // obs bus
-                                                                {0x184, 2, 8, .check_relay = true},  // camera bus
-                                                                {0x200, 0, 6, .check_relay = false}, {0x1E1, 0, 7, .check_relay = false},
-                                                                {0xBD, 0, 7, .check_relay = false}, {0x1F5, 0, 8, .check_relay = false}};  // pt bus
 
   static const CanMsg GM_CAM_LONG_NO_CAMERA_TX_MSGS[] = {{0x180, 0, 4, .check_relay = false}, {0x315, 0, 5, .check_relay = false}, {0x2CB, 0, 8, .check_relay = false}, {0x370, 0, 6, .check_relay = false}, {0x3D1, 0, 8, .check_relay = false},  // pt bus
                                                          {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false},
@@ -733,7 +727,6 @@ static safety_config gm_init(uint16_t param) {
   gm_zero_u8(gm_prndl2_state.spoof_data, 8U);
 
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
-  const bool gm_lacrosse_radar = GET_FLAG(param, GM_PARAM_LACROSSE_RADAR) && gm_ascm_int && gm_cam_long;
   gm_pcm_cruise = (gm_hw == GM_CAM || gm_sdgm) && !gm_cam_long && !gm_force_ascm && !gm_pedal_long;
   const bool gm_ascm_int_stock_cam = gm_ascm_int && (gm_hw == GM_CAM) && gm_pcm_cruise && !gm_cam_long && !gm_pedal_long && !gm_cc_long;
   const bool gm_ascm_int_no_accel_pos = gm_ascm_int && (gm_hw == GM_CAM) && gm_force_brake_c9;
@@ -767,8 +760,6 @@ static safety_config gm_init(uint16_t param) {
     } else if (gm_cam_long) {
       if (gm_no_camera) {
         ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_NO_CAMERA_TX_MSGS);
-      } else if (gm_lacrosse_radar) {
-        ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_LACROSSE_RADAR_TX_MSGS);
       } else {
         ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
       }

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -307,7 +307,7 @@ def test_gm_ascm_int_long_no_accel_pos_uses_stock_cam_rx_checks():
   assert safety.safety_config_valid()
 
 
-def test_lacrosse_radar_status_tx_requires_dedicated_camera_long_marker():
+def test_ascm_int_camera_long_blocks_radar_status_tx():
   safety = libsafety_py.libsafety
   radar_status_msgs = (
     (0xA1, 7),
@@ -322,11 +322,6 @@ def test_lacrosse_radar_status_tx_requires_dedicated_camera_long_marker():
   for addr, length in radar_status_msgs:
     assert not safety.safety_tx_hook(common.make_msg(1, addr, length))
 
-  safety.set_safety_hooks(CarParams.SafetyModel.gm, ascm_int_long | GMSafetyFlags.FLAG_GM_LACROSSE_RADAR)
-  safety.init_tests()
-  for addr, length in radar_status_msgs:
-    assert safety.safety_tx_hook(common.make_msg(1, addr, length))
-
   volt_sdgm_long = GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG | GMSafetyFlags.HW_SDGM
   safety.set_safety_hooks(CarParams.SafetyModel.gm, volt_sdgm_long)
   safety.init_tests()

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-05c2a90e-DEBUG";
+const uint8_t gitversion[19] = "DEV-7a3c1ede-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-05c2a90e-DEBUG
+DEV-7a3c1ede-DEBUG