From 66fbf8b21f735127784ee2b26acdc1fbd789aa06 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Tue, 27 Jan 2026 22:26:51 -0600
Subject: [PATCH] phase sync

---
 selfdrive/car/gm/carcontroller.py | 3 +--
 selfdrive/car/gm/gmcan.py         | 8 ++++----
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 6ccb86d43..8e7fee6e4 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -102,8 +102,7 @@ class CarController(CarControllerBase):
     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:
-        # Malibu appears to need a larger lead to stay in phase with the camera.
-        phase = (phase_map[CS.steering_button_checksum] + 2) % 4
+        phase = (phase_map[CS.steering_button_checksum] + 1) % 4
         self.malibu_cancel_phase = phase
         self.malibu_button_phase = phase
 
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 0916475bf..78b02a2a5 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -8,10 +8,10 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
 
 
 MALIBU_BUTTON_TABLE = {
-  0: [0x15EE, 0x1FCC, 0x2FBC, 0x25DE],
-  1: [0x6F7C, 0x659E, 0x55AE, 0x5F8C],
-  4: [0x1ADD, 0x10FF, 0x2ACD, 0x20EF],
-  5: [0x60AF, 0x6A8D, 0x50BF, 0x5A9D],
+  0: [0x1FCC, 0x2FBC, 0x25DE, 0x15EE],
+  1: [0x659E, 0x55AE, 0x5F8C, 0x6F7C],
+  4: [0x10FF, 0x2ACD, 0x20EF, 0x1ADD],
+  5: [0x6A8D, 0x50BF, 0x5A9D, 0x60AF],
 }
 
 MALIBU_BUTTON_MAP = {