From 9b530d520c912f0c658c184440af1339a3ab8bc5 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 27 May 2026 21:37:23 -0500
Subject: [PATCH] XT5

---
 opendbc_repo/opendbc/car/gm/interface.py      |  2 +-
 opendbc_repo/opendbc/car/gm/tests/test_gm.py  | 24 +++++++++++++++++++
 opendbc_repo/opendbc/car/gm/values.py         |  7 +++++-
 opendbc_repo/opendbc/car/hyundai/interface.py |  5 +++-
 .../opendbc/car/hyundai/tests/test_hyundai.py | 16 ++++++++++++-
 opendbc_repo/opendbc/car/tests/routes.py      |  1 +
 .../opendbc/car/torque_data/substitute.toml   |  1 +
 7 files changed, 52 insertions(+), 4 deletions(-)

diff --git a/opendbc_repo/opendbc/car/gm/interface.py b/opendbc_repo/opendbc/car/gm/interface.py
index e0ad84630..dacec0508 100755
--- a/opendbc_repo/opendbc/car/gm/interface.py
+++ b/opendbc_repo/opendbc/car/gm/interface.py
@@ -489,7 +489,7 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.CADILLAC_XT5_CC:
+    elif candidate in (CAR.CADILLAC_XT5, CAR.CADILLAC_XT5_CC):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
diff --git a/opendbc_repo/opendbc/car/gm/tests/test_gm.py b/opendbc_repo/opendbc/car/gm/tests/test_gm.py
index af979c5b7..56c7d1de4 100644
--- a/opendbc_repo/opendbc/car/gm/tests/test_gm.py
+++ b/opendbc_repo/opendbc/car/gm/tests/test_gm.py
@@ -163,6 +163,30 @@ class TestGMInterface:
     assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL.value
 
+  def test_cadillac_xt5_sdgm_sascm_gates_alpha_long(self):
+    CarInterface = interfaces[CAR.CADILLAC_XT5]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0xBE] = 6
+
+    stock_params = CarInterface.get_params(CAR.CADILLAC_XT5, fingerprint, [], alpha_long=True, is_release=False,
+                                           docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert stock_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert stock_params.pcmCruise
+    assert stock_params.alphaLongitudinalAvailable is False
+    assert stock_params.openpilotLongitudinalControl is False
+    assert stock_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_SDGM.value
+
+    fingerprint[0][0x2FF] = 8
+    sascm_params = CarInterface.get_params(CAR.CADILLAC_XT5, fingerprint, [], alpha_long=True, is_release=False,
+                                           docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert sascm_params.flags & GMFlags.SASCM.value
+    assert sascm_params.alphaLongitudinalAvailable
+    assert sascm_params.openpilotLongitudinalControl
+    assert not sascm_params.pcmCruise
+    assert sascm_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM_LONG.value
+
 
 class TestGMCarController:
   def test_dash_speed_spoof_respects_live_stock_acc_toggles(self):
diff --git a/opendbc_repo/opendbc/car/gm/values.py b/opendbc_repo/opendbc/car/gm/values.py
index b1d64c50e..b86e62ad2 100644
--- a/opendbc_repo/opendbc/car/gm/values.py
+++ b/opendbc_repo/opendbc/car/gm/values.py
@@ -353,6 +353,10 @@ class CAR(Platforms):
     [GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
     GMCarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
   )
+  CADILLAC_XT5 = GMSDGMPlatformConfig(
+    [GMCarDocs("Cadillac XT5 2022", "Driver Assist Package")],
+    CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
+  )
   CADILLAC_XT6 = GMPlatformConfig(
     [GMCarDocs("Cadillac XT6 2020", "Driver Assist Package")],
     GMCarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.5, centerToFrontRatio=0.4),
@@ -383,7 +387,7 @@ class CAR(Platforms):
   )
   CADILLAC_XT5_CC = GMPlatformConfig(
     [GMCarDocs("Cadillac XT5 - No-ACC")],
-    CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
+    CADILLAC_XT5.specs,
   )
   CHEVROLET_EQUINOX_CC = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
@@ -527,6 +531,7 @@ ALT_ACCS = {CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {
   CAR.CADILLAC_XT4,
+  CAR.CADILLAC_XT5,
   CAR.CADILLAC_XT6,
   CAR.CHEVROLET_TRAVERSE,
   CAR.CHEVROLET_BLAZER,
diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py
index 85f38ef6b..09a038b0e 100644
--- a/opendbc_repo/opendbc/car/hyundai/interface.py
+++ b/opendbc_repo/opendbc/car/hyundai/interface.py
@@ -6,6 +6,7 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_SECURITYACCESS_CAR, \
                                                    CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
+                                                   HyundaiStarPilotSafetyFlags, \
                                                    hyundai_cancel_button_enables_cruise
 from opendbc.car.hyundai.radar_interface import get_radar_track_config
 from opendbc.car.interfaces import CarInterfaceBase, ACCEL_MIN
@@ -144,7 +145,9 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & HyundaiFlags.CAMERA_SCC:
         ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
 
-      # These cars have the LFA button on the steering wheel
+      # These cars expose an LKAS/LFA steering-wheel button that StarPilot can customize.
+      if 0x391 in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
+        ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
       if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_CANFD_BLENDED.value
       if hyundai_cancel_button_enables_cruise(candidate):
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index cdaa5c00c..9daa8fbba 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -18,7 +18,8 @@ from opendbc.car.hyundai.radar_interface import MRR30_RADAR_START_ADDR, MRR35_RA
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
-                                         CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, Buttons
+                                         CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
+                                         HyundaiStarPilotSafetyFlags, Buttons
 
 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -229,6 +230,19 @@ class TestHyundaiFingerprint:
     assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_CANFD_BLENDED
     assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANCEL_BTN_ENABLE
 
+  def test_hyundai_lkas_button_sets_starpilot_safety_flag(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+
+    sonata = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False, None)
+    assert sonata.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+
+    sonata_without_lda = CarInterface.get_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], False, False, False, None)
+    assert not (sonata_without_lda.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON)
+
+    palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
+    assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+
   def test_non_scc_flag_quirks(self):
     elantra_hev = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
     assert elantra_hev.flags & HyundaiFlags.HYBRID
diff --git a/opendbc_repo/opendbc/car/tests/routes.py b/opendbc_repo/opendbc/car/tests/routes.py
index 7883e69ea..51ebd5d6b 100644
--- a/opendbc_repo/opendbc/car/tests/routes.py
+++ b/opendbc_repo/opendbc/car/tests/routes.py
@@ -22,6 +22,7 @@ non_tested_cars = [
   MOCK.MOCK,
   GM.CADILLAC_ATS,
   GM.CADILLAC_ESCALADE_ASCM,
+  GM.CADILLAC_XT5,
   GM.HOLDEN_ASTRA,
   GM.CHEVROLET_MALIBU,
   HYUNDAI.GENESIS_G90,
diff --git a/opendbc_repo/opendbc/car/torque_data/substitute.toml b/opendbc_repo/opendbc/car/torque_data/substitute.toml
index f4096289b..866841c61 100644
--- a/opendbc_repo/opendbc/car/torque_data/substitute.toml
+++ b/opendbc_repo/opendbc/car/torque_data/substitute.toml
@@ -109,6 +109,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "SUBARU_ASCENT" = "SUBARU_FORESTER"
 
 "CADILLAC_CT6_CC" = "CHEVROLET_VOLT"
+"CADILLAC_XT5" = "GMC_ACADIA"
 "CADILLAC_XT5_CC" = "GMC_ACADIA"
 "BUICK_BABYENCLAVE" = "GMC_ACADIA"
 "CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"