paddle state machine

opendbc_repo/opendbc/safety/modes/gm.h

@@ -460,10 +460,10 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_bd_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_bd_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
-      if (scheduler_ready) {
-        tx = false;
-      }
+      // Always buffer external paddle feeds and let panda emit them on the stock-aligned schedule.
+      // Allowing an unsynced apply frame through causes a visible on/off/on stutter when the stock
+      // off frame lands before the scheduler has taken ownership.
+      tx = false;
     }
   }
 
@@ -485,10 +485,7 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
           gm_prndl2_state.next_tx_us = now_us + GM_PADDLE_TX_OFFSET_US;
         }
       }
-      bool scheduler_ready = gm_periodic_scheduler_ready(&gm_prndl2_state, now_us, GM_PADDLE_STALE_US, GM_PADDLE_FEED_STALE_US);
-      if (scheduler_ready) {
-        tx = false;
-      }
+      tx = false;
     }
   }
 

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -460,13 +460,21 @@ class TestGmCcLongitudinalPandaSchedSafety(TestGmCcLongitudinalSafety):
     self.assertTrue(self._tx(self._pcm_status_msg(True)))
     self.assertTrue(self._tx(self._pcm_status_msg(False)))
 
+  def test_paddle_feed_apply_frames_buffered_before_stock_sync(self):
+    paddle_apply = common.make_msg(0, 0xBD, 7, bytes([0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]))
+    prndl_apply = common.make_msg(0, 0x1F5, 8, bytes([0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00]))
+
+    self.safety.set_controls_allowed(True)
+    self.assertFalse(self._tx(paddle_apply))
+    self.assertFalse(self._tx(prndl_apply))
+
   def test_paddle_feed_apply_frames_blocked_after_stock_sync(self):
     paddle_apply = common.make_msg(0, 0xBD, 7, bytes([0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]))
     prndl_apply = common.make_msg(0, 0x1F5, 8, bytes([0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00]))
 
     self.safety.set_controls_allowed(True)
-    self.assertTrue(self._tx(paddle_apply))
-    self.assertTrue(self._tx(prndl_apply))
+    self.assertFalse(self._tx(paddle_apply))
+    self.assertFalse(self._tx(prndl_apply))
 
     self._rx(paddle_apply)
     self._rx(prndl_apply)

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-054e97b0-DEBUG";
+const uint8_t gitversion[19] = "DEV-f1feaa2c-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-054e97b0-DEBUG
+DEV-f1feaa2c-DEBUG