From bba72c85c7dd210a66ab659db3111f5ef9d10660 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Wed, 11 Feb 2026 19:18:36 -0600
Subject: [PATCH] Volt?

---
 panda/board/safety/safety_gm.h | 15 +++++++++++----
 selfdrive/car/gm/carstate.py   | 12 +++++++++---
 2 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index 27b167f47..50c5cde3d 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -212,10 +212,17 @@ 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)
-  if (gm_bolt_2022_pedal && (GET_ADDR(to_push) == 0x370) && (GET_BUS(to_push) == 2U)) {
+  // Cruise check for ASCMActiveCruiseControlStatus on bus 2.
+  // Keep kaofui behavior for non-Bolt paths; Bolt pedal path keeps local tracking.
+  if ((GET_ADDR(to_push) == 0x370) && (GET_BUS(to_push) == 2U)) {
     bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U;  // ACCCmdActive
-    cruise_engaged_prev = cruise_engaged;
+    if (gm_bolt_2022_pedal) {
+      cruise_engaged_prev = cruise_engaged;
+    } else if (gm_pcm_cruise && gm_has_acc) {
+      pcm_cruise_check(cruise_engaged);
+    } else {
+      cruise_engaged_prev = cruise_engaged;
+    }
   }
 }
 
@@ -361,6 +368,7 @@ static safety_config gm_init(uint16_t param) {
 
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
+  enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
   gm_bolt_2022_pedal = GET_FLAG(param, GM_PARAM_BOLT_2022_PEDAL);
   if (gm_hw == GM_CAM && enable_gas_interceptor && gm_bolt_2022_pedal) {
@@ -369,7 +377,6 @@ static safety_config gm_init(uint16_t param) {
   gm_pcm_cruise = (((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
   gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
-  enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
   gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
   gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
 
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index e5ba43391..cf335f82f 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -99,9 +99,15 @@ class CarState(CarStateBase):
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
     if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
-      ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
+      if self.CP.carFingerprint in kaofui_state_cars:
+        ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
+      else:
+        ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
     else:
-      ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
+      if self.CP.carFingerprint in kaofui_state_cars:
+        ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
+      else:
+        ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
     if (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
@@ -109,7 +115,7 @@ class CarState(CarStateBase):
       # that the brake is being intermittently pressed without user interaction.
       # To avoid a cruise fault we need to use a conservative brake position threshold
       # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
-      analog_thresh = 0.10 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
+      analog_thresh = 0.15 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
       ret.brakePressed = ret.brake >= analog_thresh
 
     # Regen braking is braking