From fa83aef8bb71ebca07634a32fe8a035b5857e1c7 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 10 Oct 2025 00:09:59 -0500
Subject: [PATCH] Pedal Panda?

---
 panda/board/safety/safety_gm.h | 52 +++++++++-------------------------
 1 file changed, 13 insertions(+), 39 deletions(-)

diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index dfa936e69..34ed7052d 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -10,16 +10,16 @@ const SteeringLimits GM_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 3072,
-  .min_gas = 1404,
-  .inactive_gas = 1404,
+  .max_gas = 7168,
+  .min_gas = 5500,
+  .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 3400,
-  .min_gas = 1514,
-  .inactive_gas = 1554,
+  .max_gas = 7496,
+  .min_gas = 5610,
+  .inactive_gas = 5650,
   .max_brake = 400,
 };
 
@@ -143,7 +143,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
 
     if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
-      brake_pressed = GET_BIT(to_push, 40U);
+      brake_pressed = GET_BIT(to_push, 40U) != 0U;
     }
 
     if (addr == 0xC9) {
@@ -172,13 +172,6 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       }
     }
 
-    // Cruise check for ACC models with pedal interceptor - block stock ACC
-    if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor) {
-      // When pedal interceptor is active on ACC models, ignore stock cruise state
-      // to prevent conflicts between pedal interceptor and stock ACC
-      cruise_engaged_prev = false;
-    }
-
     if (addr == 0xBD) {
       regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U;
     }
@@ -199,12 +192,6 @@ 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)
-  int addr = GET_ADDR(to_push);
-  if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
-    bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U;  // ACCCmdActive
-    cruise_engaged_prev = cruise_engaged;
-  }
 }
 
 static bool gm_tx_hook(const CANPacket_t *to_send) {
@@ -242,10 +229,10 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
     bool apply = GET_BIT(to_send, 0U);
-    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
 
     bool violation = false;
-    // Allow apply bit in pre-enabled and overriding states, except for inactive gas    // Allow apply bit in pre-enabled and overriding states
+    // Allow apply bit in pre-enabled and overriding states
     violation |= !controls_allowed && apply;
     violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
 
@@ -259,11 +246,6 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
 
     bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
-    // For ACC cars with pedal interceptor, allow cancel even if cruise_engaged_prev is false
-    // (since we set it to false to prevent conflicts, but still need to cancel cruise)
-    if (gm_hw == GM_CAM && enable_gas_interceptor && button == GM_BTN_CANCEL) {
-      allowed_btn = true;
-    }
     // For standard CC, allow spamming of SET / RESUME
     if (gm_cc_long) {
       allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
@@ -306,13 +288,9 @@ static int gm_fwd_hook(int bus_num, int addr) {
     }
 
     if (bus_num == 2) {
-      // block lkas message and acc messages
-      // Block 0x370 only for experimental long without pedal interceptor
+      // block lkas message and acc messages if gm_cam_long, forward all others
       bool is_lkas_msg = (addr == 0x180);
-      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
-      if (gm_cam_long && !enable_gas_interceptor) {
-        is_acc_msg = is_acc_msg || (addr == 0x370);
-      }
+      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
       bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
       if (!block_msg) {
         bus_fwd = 0;
@@ -335,19 +313,15 @@ static safety_config gm_init(uint16_t param) {
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
 
   if (gm_hw == GM_ASCM || gm_force_ascm) {
-    gm_long_limits = &GM_ASCM_LONG_LIMITS;
+      gm_long_limits = &GM_ASCM_LONG_LIMITS;
   } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
-    gm_long_limits = &GM_CAM_LONG_LIMITS;
+      gm_long_limits = &GM_CAM_LONG_LIMITS;
   } else {
   }
 
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
-  // Block ACC messages when pedal interceptor is active on ACC models
-  if (gm_hw == GM_CAM && enable_gas_interceptor) {
-    gm_cam_long = true;
-  }
   gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
   gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);