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malibu

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firestar5683
2026-03-10 13:31:06 -05:00
parent 9364ffd6a8
commit d4d426f94e
1 changed files with 4 additions and 1 deletions
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panda/board/safety/safety_gm.h
+4 -1
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@@ -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;
}