Buttons

opendbc/gm_global_a_powertrain_generated.dbc

@@ -171,6 +171,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
  SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCHiddenBit : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO

opendbc/gm_global_a_powertrain_volt.dbc

@@ -165,6 +165,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
  SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCHiddenBit : 30|1@0+ (1,0) [0|1] "" XXX
  SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO

selfdrive/car/gm/carcontroller.py

@@ -304,7 +304,8 @@ class CarController(CarControllerBase):
               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))
+            can_sends.append(gmcan.create_buttons_malibu_cancel(
+              CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
           self.malibu_cancel_frame += 1
         else:
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
@@ -325,7 +326,8 @@ class CarController(CarControllerBase):
               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))
+            can_sends.append(gmcan.create_buttons_malibu_cancel(
+              CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
           self.malibu_cancel_frame += 1
         else:
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:

selfdrive/car/gm/carstate.py

@@ -27,6 +27,7 @@ class CarState(CarStateBase):
     self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
     self.steering_button_checksum = 0
+    self.steering_button_prefix = 0x01
 
     self.prev_distance_button = 0
     self.distance_button = 0
@@ -44,6 +45,9 @@ class CarState(CarStateBase):
     self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
     self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.steering_button_checksum = pt_cp.vl["ASCMSteeringButton"]["SteeringButtonChecksum"]
+    acc_always_one = pt_cp.vl["ASCMSteeringButton"]["ACCAlwaysOne"]
+    acc_hidden_bit = pt_cp.vl["ASCMSteeringButton"].get("ACCHiddenBit", 0)
+    self.steering_button_prefix = (int(acc_always_one) & 1) | ((int(acc_hidden_bit) & 1) << 6)
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.
     # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)

selfdrive/car/gm/gmcan.py

@@ -24,10 +24,10 @@ def create_buttons(packer, bus, idx, button):
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
 
-def create_buttons_malibu_cancel(bus, phase):
+def create_buttons_malibu_cancel(bus, phase, prefix=0x41):
   # Malibu Hybrid CC cancel frames use a 4-value pattern in the last 2 bytes.
   data = bytearray(7)
-  data[3] = 0x41  # ACCAlwaysOne
+  data[3] = prefix & 0xFF
   data[4] = 0x00
   cancel_bytes = (0x60, 0xAF, 0x65, 0x9E, 0x6A, 0x8D, 0x6F, 0x7C)
   idx = (phase % 4) * 2