From 67ad32c0f5c2fb274511749444e42a72f567dec0 Mon Sep 17 00:00:00 2001
From: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
Date: Tue, 3 Feb 2026 01:14:14 -0500
Subject: [PATCH] Dash Parity Gen2 ACC Pedal_Long

Revert "Dash Parity Gen2 ACC Pedal_Long"

This reverts commit beeea0514c98bf06f7e3ade8e850f5e49363c6c8.

Reapply "Dash Parity Gen2 ACC Pedal_Long"

This reverts commit 060ec8f5feda491c501677c3f6cc6ad76776d694.
---
 panda/board/safety/safety_gm.h    | 31 ++++++++++++++++++++++++++++++-
 selfdrive/car/gm/carcontroller.py |  5 +++++
 2 files changed, 35 insertions(+), 1 deletion(-)

diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index cef67afadd..84832d3683 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -172,6 +172,13 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       }
     }
 
+    // Cruise check for ACC models with pedal interceptor - block stock ACC
+    if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor) {
+      // When pedal interceptor is active on ACC models, ignore stock cruise state
+      // to prevent conflicts between pedal interceptor and stock ACC
+      cruise_engaged_prev = false;
+    }
+
     if (addr == 0xBD) {
       regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
     }
@@ -192,6 +199,12 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
     generic_rx_checks(stock_ecu_detected);
   }
+  // Cruise check for Gen2 Bolt (ASCMActiveCruiseControlStatus on bus 2)
+  int addr = GET_ADDR(to_push);
+  if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
+    bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U;  // ACCCmdActive
+    cruise_engaged_prev = cruise_engaged;
+  }
 }
 
 static bool gm_tx_hook(const CANPacket_t *to_send) {
@@ -246,6 +259,11 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
 
     bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
+    // For ACC cars with pedal interceptor, allow cancel even if cruise_engaged_prev is false
+    // (since we set it to false to prevent conflicts, but still need to cancel cruise)
+    if (gm_hw == GM_CAM && enable_gas_interceptor && button == GM_BTN_CANCEL) {
+      allowed_btn = true;
+    }
     // For standard CC, allow spamming of SET / RESUME
     if (gm_cc_long) {
       allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
@@ -272,6 +290,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
       tx = false;
     }
   }
+
   return tx;
 }
 
@@ -291,7 +310,14 @@ static int gm_fwd_hook(int bus_num, int addr) {
       // block lkas message and acc messages if gm_cam_long, forward all others
       bool is_lkas_msg = (addr == 0x180);
       bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
-      bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long) || (addr == 0x184);
+      bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+
+      // Block camera 0x370 when using pedal longitudinal (dashboard control)
+      // This is separate from gm_cam_long to avoid blocking 0x315/0x2CB
+      if (gm_pedal_long && (addr == 0x370)) {
+        block_msg = true;
+      }
+
       if (!block_msg) {
         bus_fwd = 0;
       }
@@ -333,6 +359,9 @@ static safety_config gm_init(uint16_t param) {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS);
     } else if (gm_cam_long) {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
+    } else if (gm_pedal_long) {
+      // Pedal long needs 0x370 for dashboard control
+      ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS);
     } else {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
     }
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index f7b8d4641b..732385f890 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -381,6 +381,11 @@ class CarController(CarControllerBase):
             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))
+          # Dashboard display for PEDAL_LONG (matches BOLT_EUV behavior)
+          if self.CP.flags & GMFlags.PEDAL_LONG.value:
+            send_fcw = hud_alert == VisualAlert.fcw
+            can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
+                                                                hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
         if self.CP.carFingerprint not in CC_ONLY_CAR:
           friction_brake_bus = CanBus.CHASSIS
           # GM Camera exceptions