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malibu

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firestar5683
2026-03-10 13:31:06 -05:00
parent fd4b85b19e
commit c596c000aa
2 changed files with 11 additions and 7 deletions
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panda/board/safety/safety_gm.h
+4 -1
View File
@@ -263,6 +263,9 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
// ACC steering wheel buttons (GM_CAM is tied to the PCM)
if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long)) {
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
// Malibu Hybrid pedal-long observed format uses byte3 bit0 set (typically 0x01/0x41) on ASCMSteeringButton.
// Don't treat that physical CANCEL frame as OP disengage.
bool malibu_cancel_passthrough = gm_bolt_2022_pedal && gm_pedal_long && ((GET_BYTE(to_push, 3) & 0x1U) != 0U);
// enter controls on falling edge of set or rising edge of resume (avoids fault)
bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
@@ -272,7 +275,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
}
// exit controls on cancel press
if (button == GM_BTN_CANCEL) {
if ((button == GM_BTN_CANCEL) && !malibu_cancel_passthrough) {
controls_allowed = false;
}
selfdrive/car/gm/interface.py
+7 -6
View File
@@ -609,9 +609,15 @@ class CarInterface(CarInterfaceBase):
ret, fp_ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback, frogpilot_toggles)
# Don't add event if transitioning from INIT, unless it's to an actual button
cruise_button_map = BUTTONS_DICT
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and self.CP.openpilotLongitudinalControl:
# Malibu Hybrid only: keep all wheel-button functionality, but don't map CANCEL
# to ButtonType.cancel so OP long isn't disengaged by the physical cancel button.
cruise_button_map = {k: v for k, v in BUTTONS_DICT.items() if k != CruiseButtons.CANCEL}
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, cruise_button_map,
unpressed_btn=CruiseButtons.UNPRESS),
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
{1: ButtonType.gapAdjustCruise}),
@@ -619,11 +625,6 @@ class CarInterface(CarInterfaceBase):
{1: FrogPilotButtonType.lkas}),
]
# Malibu Hybrid only: allow physical CANCEL to cancel stock cruise without disabling OP long.
# Brake still disengages through normal common-event handling.
if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and self.CP.openpilotLongitudinalControl:
ret.buttonEvents = [b for b in ret.buttonEvents if b.type != ButtonType.cancel]
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],