Implement TripleDipper GPS fallback

common/gps.py

@@ -1,8 +1,25 @@
+from __future__ import annotations
+
+from cereal import car
 from openpilot.common.params import Params
 
 
-def get_gps_location_service(params: Params) -> str:
+def gm_car_params_present(params: Params, CP: car.CarParams | None = None) -> bool:
-  if params.get_bool("UbloxAvailable") or params.get_bool("CarGpsAvailable"):
+  if CP is not None and getattr(CP, "brand", None):
+    return CP.brand == "gm"
+  try:
+    raw_car_params = params.get("CarParams")
+    if raw_car_params is None:
+      return False
+    with car.CarParams.from_bytes(raw_car_params) as parsed_cp:
+      return parsed_cp.brand == "gm"
+  except Exception:
+    return False
+
+
+def get_gps_location_service(params: Params, CP: car.CarParams | None = None) -> str:
+  # GM arbitrates device/PPS/OnStar through gpsLocationExternal.
+  if gm_car_params_present(params, CP) or params.get_bool("UbloxAvailable") or params.get_bool("CarGpsAvailable"):
     return "gpsLocationExternal"
   else:
     return "gpsLocation"

common/params_keys.h

@@ -18,7 +18,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"BootCount", {PERSISTENT, INT}},
     {"BluetoothAudioAddress", {PERSISTENT, STRING}},
     {"BluetoothAudioTestActive", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
-    {"BluetoothDisconnectControllersOffroad", {PERSISTENT, BOOL, "0"}},
     {"BluetoothEnabled", {PERSISTENT, BOOL, "0"}},
     {"CalibrationParams", {PERSISTENT, BYTES}},
     {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
@@ -110,7 +109,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
-    {"LongitudinalPersonalityProfiles", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
     {"NetworkMetered", {PERSISTENT, BOOL}},
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
@@ -318,7 +316,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
     {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
     {"GalaxyDeveloperMode", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
-    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
+    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_ADVANCED}},
     {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
     {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"DeviceShutdown", {PERSISTENT, INT, "6", "6", 1, SETTINGS_SIMPLE}},
@@ -465,8 +463,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
     {"LeadIndicator", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"LeadInfo", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"LeadInfo", {PERSISTENT, BOOL, "1", "0", 3}},
-    {"LeadInfoMode", {PERSISTENT, INT, "2", "2", 3}},
     {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2, SETTINGS_SIMPLE}},
     {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
     {"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},
@@ -611,7 +608,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
     {"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
-    {"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"RivianAngleControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"RivianAngleSaturated", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
     {"RivianToiRecoveryFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},

common/tests/test_params.py

@@ -5,7 +5,7 @@ import threading
 import time
 import uuid
 
-from openpilot.common.params import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName
+from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
 
 class TestParams:
   def setup_method(self):
@@ -128,31 +128,6 @@ class TestParams:
     assert self.params.get("LiveParameters") is None
     assert self.params.get("LiveParameters", return_default=True) is None
 
-  def test_longitudinal_personality_profiles_json_round_trip(self):
-    key = "LongitudinalPersonalityProfiles"
-    value = {
-      "schemaVersion": 1,
-      "enabled": False,
-      "axes": {
-        "acceleration": {
-          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
-          "value": {"unit": "m/s^2", "meaning": "maximum_requested_acceleration"},
-        },
-        "braking": {
-          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
-          "value": {"unit": "m/s^2", "meaning": "cruise_slc_deceleration_magnitude"},
-        },
-        "following": {"speed": {"unit": "mph", "values": [0, 10, 20, 30, 40, 50, 60, 70, 80, 90]}, "value": {"unit": "s", "meaning": "base_time_headway"}},
-      },
-      "profiles": {},
-    }
-    self.params.remove(key)
-
-    assert self.params.get_type(key) == ParamKeyType.JSON
-    assert self.params.get(key) is None
-    self.params.put(key, value)
-    assert self.params.get(key) == value
-
   def test_params_get_type(self):
     # json
     self.params.put("ApiCache_DriveStats", {"a": 0})

opendbc_repo/opendbc/can/dbc.py

@@ -194,7 +194,7 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
     return ChecksumState(4, 2, 3, 5, False, SignalType.HONDA_CHECKSUM, honda_checksum)
   elif dbc_name.startswith(("toyota_", "lexus_")):
     return ChecksumState(8, -1, 7, -1, False, SignalType.TOYOTA_CHECKSUM, toyota_checksum)
-  elif dbc_name.startswith(("hyundai_canfd_generated", "hyundai_radar_210_21f_generated")):
+  elif dbc_name.startswith("hyundai_canfd_generated"):
     return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
   elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
     return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -6,7 +6,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits
 from opendbc.car.gm import gmcan
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import (
-  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, GM_AUTO_HOLD_CARS, SDGM_CAR, AccState, CanBus, CarControllerParams,
+  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, SDGM_CAR, AccState, CanBus, CarControllerParams,
   CruiseButtons, GMFlags, GMSafetyFlags,
 )
 from opendbc.car.interfaces import CarControllerBase
@@ -309,7 +309,7 @@ def supports_volt_auto_hold(CP, auto_hold_enabled: bool):
     auto_hold_enabled and
     getattr(CP, "openpilotLongitudinalControl", False) and
     stock_hold_safety_ready and
-    CP.carFingerprint in GM_AUTO_HOLD_CARS
+    CP.carFingerprint in AUTO_HOLD_VOLT_CARS
   )
 
 
@@ -852,6 +852,7 @@ class CarController(CarControllerBase):
       CAR.CHEVROLET_VOLT_CC,
       CAR.CHEVROLET_MALIBU_CC,
       CAR.CHEVROLET_MALIBU_HYBRID_CC,
+      CAR.BUICK_LACROSSE,
     }
 
     if (self.CP.enableGasInterceptorDEPRECATED and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and

opendbc_repo/opendbc/car/gm/carstate.py

@@ -1,5 +1,7 @@
 import copy
 import math
+from datetime import UTC, datetime, timedelta
+from collections.abc import Mapping
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
@@ -8,12 +10,10 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gps import get_car_gps_config
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.gm.values import (
-  ALT_ACCS,
   ASCM_INT,
   CAMERA_ACC_CAR,
   CAR,
   CC_ONLY_CAR,
-  CC_REGEN_PADDLE_CAR,
   DBC,
   AccState,
   CanBus,
@@ -32,13 +32,118 @@ STANDSTILL_THRESHOLD = 10 * 0.0311
 VOLT_EBCM_BRAKE_PRESSED_THRESHOLD = 6 / 0xd0
 AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
 AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S = 1.0
-ACC_STARTUP_FAULT_GRACE_PERIOD_S = 5.0
 
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
 HARD_BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise}
 NORMAL_CRUISE_BUTTONS = (CruiseButtons.RES_ACCEL, CruiseButtons.DECEL_SET)
 
+# Optional ~10 Hz CT6 PPS GPS messages on the powertrain bus.
+PPS_GPS_MESSAGES = (
+  "PPS_ElevHdSpd_FO",
+  "PPS_PosLat_FO",
+  "PPS_PosLong_FO",
+  "PPS_Time_FO",
+  "PPS_QualMetrics_FO",
+)
+# PPS_SigAcqTime_FO is omitted: its validity bit stays 1 even during valid fixes.
+
+
+def pps_checksum_ok(data: bytes) -> bool:
+  """Validate the 11-bit checksum used by the observed PPS frames."""
+  if len(data) < 2:
+    return False
+  received = ((data[-2] & 0x07) << 8) | data[-1]
+  expected = sum(data[:-2]) + (data[-2] >> 3) + 0x4C
+  return (expected & 0x7FF) == received
+
+
+def decode_gm_pps_gps(values: Mapping[str, Mapping[str, float]], raw: Mapping[str, bytes],
+                      timestamp_nanos: int) -> dict | None:
+  """Decode one coherent PPS bundle into the existing car-GPS sample shape."""
+  if any(not pps_checksum_ok(raw.get(name, b"")) for name in PPS_GPS_MESSAGES):
+    return None
+
+  try:
+    pos_lat = values["PPS_PosLat_FO"]
+    pos_long = values["PPS_PosLong_FO"]
+    timestamp_values = values["PPS_Time_FO"]
+    quality = values["PPS_QualMetrics_FO"]
+    if (int(pos_lat.get("PPSLatV", 1)) != 0 or
+        int(pos_long.get("PPSLongV", 1)) != 0 or
+        int(quality.get("PPS2DAbsPosErrEstmtV", 1)) != 0 or
+        int(quality.get("PPSMdV", 1)) != 0 or
+        int(quality.get("PPSPstnDilPrcsV", 1)) != 0 or
+        int(timestamp_values.get("PPSTmdayV", 1)) != 0 or
+        int(timestamp_values.get("PPSCldrDayV", 1)) != 0 or
+        int(timestamp_values.get("PPSCldrYrV", 1)) != 0):
+      return None
+    # Reject mode 6 (dead reckoning only without GNSS).
+    if int(quality["PPSMd"]) == 6:
+      return None
+
+    latitude = float(pos_lat["PPSLat"]) / 3_600_000.0
+    longitude = float(pos_long["PPSLong"]) / 3_600_000.0
+    if not (math.isfinite(latitude) and math.isfinite(longitude) and
+            -90.0 <= latitude <= 90.0 and -180.0 <= longitude <= 180.0 and
+            (latitude != 0.0 or longitude != 0.0)):
+      return None
+
+    year = int(timestamp_values["PPSCldrYr"])
+    day_of_year = int(timestamp_values["PPSCldrDay"])
+    millis_of_day = int(timestamp_values["PPSTmday"])
+    if not 2014 <= year <= 2141 or day_of_year < 1 or not 0 <= millis_of_day < 86_400_000:
+      return None
+    timestamp = datetime(year, 1, 1, tzinfo=UTC) + timedelta(days=day_of_year - 1, milliseconds=millis_of_day)
+    if timestamp.year != year:
+      return None
+
+    elev = values["PPS_ElevHdSpd_FO"]
+    speed = float(elev["PPSVel"]) * CV.KPH_TO_MS
+    if int(elev.get("PPSVelV", 1)) != 0 or not math.isfinite(speed) or not 0.0 <= speed <= 200.0:
+      speed = 0.0
+    heading = float(elev["PPSHedng"])
+    if (int(elev.get("PPSHedngV", 1)) != 0 or
+        not math.isfinite(heading) or not 0.0 <= heading < 360.0):
+      heading = 0.0
+
+    altitude = float(elev["PPSElvtn"]) / 100.0
+    if int(elev.get("PPSElvtnV", 1)) != 0 or not math.isfinite(altitude):
+      altitude = 0.0
+
+    horizontal_accuracy = float(quality["PPS2DAbsPosErrEstmt"])
+    if not math.isfinite(horizontal_accuracy) or horizontal_accuracy < 0.0:
+      horizontal_accuracy = 0.0
+
+    vertical_accuracy = float(quality["PPS3DAbsPosErrEstmt"])
+    if int(quality.get("PPS3DAbsPosErrEstmtV", 1)) != 0 or not math.isfinite(vertical_accuracy) or vertical_accuracy < 0.0:
+      vertical_accuracy = 0.0
+
+    bearing_accuracy = float(quality["PPSAbsHdngErrEstmt"])
+    if int(quality.get("PPSAbsHdngErrEstmtV", 1)) != 0 or not math.isfinite(bearing_accuracy) or bearing_accuracy < 0.0:
+      bearing_accuracy = 180.0
+  except (KeyError, TypeError, ValueError, OverflowError, AttributeError):
+    return None
+
+  heading_rad = math.radians(heading)
+  return {
+    "timestamp_nanos": timestamp_nanos,
+    "latitude": latitude,
+    "longitude": longitude,
+    "altitude": altitude,
+    "speed": speed,
+    "bearingDeg": heading,
+    "horizontalAccuracy": horizontal_accuracy,
+    "unixTimestampMillis": round(timestamp.timestamp() * 1000),
+    "verticalAccuracy": vertical_accuracy,
+    "bearingAccuracyDeg": bearing_accuracy,
+    # Velocity error units are undocumented in DBC; omit conversion.
+    "speedAccuracy": 0.0,
+    "hasFix": True,
+    "satelliteCount": 0,
+    "vNED": [speed * math.cos(heading_rad), speed * math.sin(heading_rad), 0.0],
+  }
+
 
 def get_hard_cruise_buttons(steering_button_msg: dict) -> int:
   return steering_button_msg.get("ACCButtonsHard", CruiseButtons.INIT)
@@ -68,24 +173,6 @@ def update_auto_hold_drive_timers(in_drive_for_hold: bool, moving_for_hold: bool
   return auto_hold_drive_time, one_pedal_drive_time
 
 
-def update_startup_acc_fault_suppression(car_fingerprint: str, system_power_mode: int,
-                                          previous_system_power_mode: int, timer: float,
-                                          acc_state: int, friction_brake_unavailable: bool) -> tuple[float, bool]:
-  if car_fingerprint != CAR.BUICK_LACROSSE:
-    return 0.0, False
-
-  if system_power_mode == 2 and previous_system_power_mode != 2:
-    timer = ACC_STARTUP_FAULT_GRACE_PERIOD_S
-  elif system_power_mode != 2:
-    timer = 0.0
-
-  if timer <= 0.0 or acc_state != AccState.FAULTED:
-    return 0.0, False
-
-  timer = max(timer - DT_CTRL, 0.0)
-  return timer, timer > 0.0 and not friction_brake_unavailable
-
-
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
@@ -124,17 +211,19 @@ class CarState(CarStateBase):
     self.lkas_previously_enabled = 0
     self.lkas_enabled = 0
     self.pcm_acc_status = AccState.OFF
-    self.system_power_mode = 0
-    self.startup_acc_fault_suppression_timer = 0.0
     self.stock_fcw_alert = 0
     self.car_gps_config = get_car_gps_config(CP)
     self.car_gps_supported = self.car_gps_config is not None
     self.car_gps = None
+    self.onstar_gps = None
     self._car_gps_timestamp_nanos = 0
     self._prev_gps_lat = None
     self._prev_gps_lon = None
     self._last_gps_bearing = None
 
+    self.pps_gps = None
+    self._pps_gps_timestamp_nanos = 0
+
   def _update_car_gps(self, cp, v_ego: float = 0.0) -> None:
     if self.car_gps_config is None:
       return
@@ -169,12 +258,47 @@ class CarState(CarStateBase):
       else:
         self._prev_gps_lat = self._prev_gps_lon = None
 
+      self.onstar_gps = gps
       self.car_gps = gps
       self._car_gps_timestamp_nanos = timestamp_nanos
 
-  def get_car_gps(self):
+  def _update_pps_gps(self, cp) -> None:
+    """Decode a complete, checksum-valid PPS burst when one is available."""
+    timestamps = [max(cp.ts_nanos[name].values(), default=0) for name in PPS_GPS_MESSAGES]
+    if not all(timestamps):
+      return
+
+    timestamp_nanos = max(timestamps)
+    if timestamp_nanos <= self._pps_gps_timestamp_nanos:
+      return
+    if timestamp_nanos - min(timestamps) > 100_000_000:
+      return
+
+    vl = cp.vl
+    try:
+      first_id = int(vl["PPS_ElevHdSpd_FO"]["PPSElvHedngSpdBrstID"])
+      if not (first_id == int(vl["PPS_PosLat_FO"]["PPSLatBrstID"]) ==
+              int(vl["PPS_PosLong_FO"]["PPSLongBrstID"]) ==
+              int(vl["PPS_Time_FO"]["PPSTmBrstID"]) ==
+              int(vl["PPS_QualMetrics_FO"]["PPSPosQltyMtcBrstID"])):
+        return
+    except (KeyError, ValueError, TypeError, OverflowError):
+      return
+
+    values = {name: cp.vl[name] for name in PPS_GPS_MESSAGES}
+    raw = {name: cp.vl_raw[name] for name in PPS_GPS_MESSAGES}
+    self.pps_gps = decode_gm_pps_gps(values, raw, timestamp_nanos)
+    self._pps_gps_timestamp_nanos = timestamp_nanos
+
+  def get_car_gps(self) -> dict | None:
     return self.car_gps
 
+  def get_car_gps_sources(self) -> dict[str, dict | None]:
+    return {
+      "pps": self.pps_gps,
+      "onstar": self.onstar_gps,
+    }
+
   def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
     if not self.CP.pcmCruise:
       for b in buttonEvents:
@@ -260,6 +384,9 @@ class CarState(CarStateBase):
                      abs(pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"]) <= STANDSTILL_THRESHOLD
 
     self._update_car_gps(pt_cp, ret.vEgo)
+    pps_cp = can_parsers.get(Bus.adas)
+    if pps_cp is not None:
+      self._update_pps_gps(pps_cp)
 
     if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
       ret.gearShifter = self.parse_gear_shifter("T")
@@ -371,18 +498,8 @@ class CarState(CarStateBase):
 
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
-    acc_state = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
+    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
-    friction_brake_unavailable = pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1
+                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
-    self.startup_acc_fault_suppression_timer, suppress_startup_acc_fault = update_startup_acc_fault_suppression(
-      self.CP.carFingerprint,
-      int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"]),
-      self.system_power_mode,
-      self.startup_acc_fault_suppression_timer,
-      acc_state,
-      friction_brake_unavailable,
-    )
-    self.system_power_mode = int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"])
-    ret.accFaulted = (acc_state == AccState.FAULTED and not suppress_startup_acc_fault) or friction_brake_unavailable
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -619,8 +736,16 @@ class CarState(CarStateBase):
       ("ASCMLKASteeringCmd", 0),
     ]
 
-    return {
+    parsers = {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus.POWERTRAIN),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus.CAMERA),
       Bus.loopback: CANParser(DBC[CP.carFingerprint][Bus.pt], loopback_messages, CanBus.LOOPBACK),
     }
+    if getattr(CP, "brand", None) == "gm":
+      # Optional CT6 PPS parser on Bus.adas; non-PPS vehicles remain CAN-valid.
+      parsers[Bus.adas] = CANParser(
+        "cadillac_ct6_object",
+        [(name, 0) for name in PPS_GPS_MESSAGES],
+        CanBus.POWERTRAIN,
+      )
+    return parsers

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -31,8 +31,6 @@ BOLT_CC_DIRECTION_MEMORY_S = 1.5
 VOLT_CC_CARS = {
   CAR.CHEVROLET_VOLT_CC,
 }
-VOLT_CC_TARGET_DEADBAND_MPH = 5.0
-VOLT_CC_ACCEL_DEADBAND_MS2 = 0.15
 
 
 def malibu_phase_map_for_button(button):
@@ -346,15 +344,7 @@ def _create_volt_cc_spam_command(CS, actuators, ms_convert):
   speed_setpoint = int(round(CS.out.cruiseState.speed * ms_convert))
   ego_speed = CS.out.vEgo * ms_convert
 
-  v_cruise_kph = float(getattr(CS.out, "vCruise", 0.0))
+  if accel == 0.0:
-  if 0.0 < v_cruise_kph < 255.0:
-    is_metric = ms_convert == CV.MS_TO_KPH
-    target_setpoint = v_cruise_kph if is_metric else v_cruise_kph * CV.KPH_TO_MPH
-    target_deadband = VOLT_CC_TARGET_DEADBAND_MPH * (CV.MPH_TO_KPH if is_metric else 1.0)
-    if abs(target_setpoint - speed_setpoint) <= target_deadband:
-      return CruiseButtons.INIT, float("inf")
-
-  if abs(accel) <= VOLT_CC_ACCEL_DEADBAND_MS2:
     return CruiseButtons.INIT, float("inf")
 
   if accel < 0.0:

opendbc_repo/opendbc/car/gm/interface.py

@@ -15,7 +15,6 @@ from opendbc.car.gm.values import (
   CC_ONLY_CAR,
   CC_REGEN_PADDLE_CAR,
   EV_CAR,
-  GM_AUTO_HOLD_CARS,
   SDGM_CAR,
   CarControllerParams,
   CanBus,
@@ -409,7 +408,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
     ret.steerLimitTimer = 0.4
-    ret.radarTimeStepDEPRECATED = 0.15 if candidate == CAR.BUICK_LACROSSE else 0.0667
+    ret.radarTimeStepDEPRECATED = 0.0667  # GM radar runs at 15Hz instead of the standard 20Hz
     ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
     if candidate in (
@@ -441,7 +440,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.BUICK_LACROSSE, CAR.BUICK_LACROSSE_ASCM, CAR.BUICK_LACROSSE_ASCM_19US):
       CarInterfaceBase.configure_torque_tune(CAR.BUICK_LACROSSE, ret.lateralTuning)
       if candidate == CAR.BUICK_LACROSSE_ASCM_19US:
-        ret.minSteerSpeed = 28 * CV.MPH_TO_MS
+        ret.minSteerSpeed = 27 * CV.MPH_TO_MS
 
     elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
@@ -711,19 +710,18 @@ class CarInterface(CarInterfaceBase):
     if remote_start_boots_comma:
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_REMOTE_START_BOOTS_COMMA.value
 
-    gm_stock_friction_brake_safety = (
+    volt_stock_friction_brake_safety = (
       ret.openpilotLongitudinalControl and
-      (
+      (gm_auto_hold or volt_one_pedal_mode) and
-        (gm_auto_hold and candidate in GM_AUTO_HOLD_CARS) or
+      candidate in {
-        (volt_one_pedal_mode and candidate in {
+        CAR.CHEVROLET_VOLT,
-          CAR.CHEVROLET_VOLT,
+        CAR.CHEVROLET_VOLT_2019,
-          CAR.CHEVROLET_VOLT_2019,
+        CAR.CHEVROLET_VOLT_ASCM,
-          CAR.CHEVROLET_VOLT_ASCM,
+        CAR.CHEVROLET_VOLT_CAMERA,
-          CAR.CHEVROLET_VOLT_CAMERA,
+      }
-        })
-      )
     )
-    if gm_stock_friction_brake_safety:
+    if volt_stock_friction_brake_safety:
+      # Reuse the paddle-scheduler safety bit as a Volt stock friction-brake
       # marker on non-pedal paths. Auto hold and one-pedal can run while OP
       # longitudinal is configured but not currently active, so the bit must
       # be present regardless of the current long-control mode. Do not expose

opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py

@@ -431,15 +431,6 @@ def test_volt_auto_hold_requires_toggle_supported_non_cc_only_volt_and_stock_saf
     ),
     True,
   )
-  assert supports_volt_auto_hold(
-    SimpleNamespace(
-      carFingerprint=CAR.BUICK_LACROSSE,
-      openpilotLongitudinalControl=True,
-      networkLocation=CarParams.NetworkLocation.gateway,
-      safetyConfigs=stock_safety,
-    ),
-    True,
-  )
   assert not supports_volt_auto_hold(
     SimpleNamespace(
       carFingerprint=CAR.CHEVROLET_VOLT,

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -1,5 +1,6 @@
 import pytest
 import numpy as np
+from datetime import UTC, datetime
 from types import SimpleNamespace
 from parameterized import parameterized
 
@@ -10,9 +11,11 @@ from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
 from opendbc.car.gm.carstate import (
   CarState as GMCarState,
+  PPS_GPS_MESSAGES,
+  decode_gm_pps_gps,
   get_hard_cruise_buttons,
+  pps_checksum_ok,
   update_auto_hold_drive_timers,
-  update_startup_acc_fault_suppression,
 )
 from opendbc.car.gm.carcontroller import (
   VisualAlert,
@@ -100,6 +103,146 @@ class TestBoltGps:
     assert gps["verticalAccuracy"] == 10.0
     assert gps["speedAccuracy"] == 0.5
 
+
+class TestPpsGps:
+  _frames = [
+    (0x260, bytes.fromhex("10ddac000d831277"), 0),
+    (0x261, bytes.fromhex("08386fce09ca"), 0),
+    (0x262, bytes.fromhex("6d98820341de"), 0),
+    (0x264, bytes.fromhex("0018f90578b5eaac"), 0),
+    (0x265, bytes.fromhex("1a0000800a0258fd"), 0),
+  ]
+
+  def test_observed_bundle_checksum_and_conversion(self):
+    parser = CANParser("cadillac_ct6_object", [(name, 0) for name in PPS_GPS_MESSAGES], 0)
+    parser.update([(1_000_000_000, self._frames)])
+
+    assert all(pps_checksum_ok(parser.vl_raw[name]) for name in PPS_GPS_MESSAGES)
+    gps = decode_gm_pps_gps(
+      {name: parser.vl[name] for name in PPS_GPS_MESSAGES},
+      {name: parser.vl_raw[name] for name in PPS_GPS_MESSAGES},
+      1_000_000_000,
+    )
+    assert gps is not None
+    assert gps["hasFix"]
+    assert gps["latitude"] == pytest.approx(38.3101, abs=1e-4)
+    assert gps["longitude"] == pytest.approx(-85.7701, abs=1e-4)
+    assert gps["altitude"] == pytest.approx(106.9)
+    assert gps["bearingDeg"] == pytest.approx(56.748)
+    assert gps["horizontalAccuracy"] == pytest.approx(1.0)
+    assert gps["unixTimestampMillis"] == 1788655668655
+
+  @pytest.fixture
+  def bundle(self):
+    parser = CANParser("cadillac_ct6_object", [(name, 0) for name in PPS_GPS_MESSAGES], 0)
+    parser.update([(1_000_000_000, self._frames)])
+    return ({name: dict(parser.vl[name]) for name in PPS_GPS_MESSAGES},
+            {name: parser.vl_raw[name] for name in PPS_GPS_MESSAGES})
+
+  @pytest.mark.parametrize("year,day,date", [
+    (2025, 1, "2025-01-01"), (2025, 365, "2025-12-31"), (2025, 366, None),
+    (2024, 366, "2024-12-31"), (2024, 367, None), (2025, 0, None),
+  ])
+  def test_one_based_day_of_year(self, bundle, year, day, date):
+    values, raw = bundle
+    values["PPS_Time_FO"].update(PPSCldrYr=year, PPSCldrDay=day, PPSTmday=1234)
+    gps = decode_gm_pps_gps(values, raw, 1_000_000_000)
+    if date is None:
+      assert gps is None
+    else:
+      expected = int(datetime.fromisoformat(date).replace(tzinfo=UTC).timestamp() * 1000) + 1234
+      assert gps["unixTimestampMillis"] == expected
+
+  @pytest.mark.parametrize("bad_data", [b"", b"\x01"])
+  def test_checksum_short_input(self, bad_data):
+    assert not pps_checksum_ok(bad_data)
+
+  @pytest.mark.parametrize("lat,lon,valid", [(0.0, 10.0 * 3_600_000, True), (10.0 * 3_600_000, 0.0, True), (0.0, 0.0, False)])
+  def test_coordinate_axes(self, bundle, lat, lon, valid):
+    values, raw = bundle
+    values["PPS_PosLat_FO"]["PPSLat"] = lat
+    values["PPS_PosLong_FO"]["PPSLong"] = lon
+    gps = decode_gm_pps_gps(values, raw, 1_000_000_000)
+    if valid:
+      assert gps is not None
+      assert gps["hasFix"]
+    else:
+      assert gps is None
+
+  def test_get_car_gps_sources_shape(self):
+    cs = GMCarState.__new__(GMCarState)
+    cs.pps_gps = {"hasFix": True}
+    cs.onstar_gps = None
+    sources = cs.get_car_gps_sources()
+    assert sources == {"pps": {"hasFix": True}, "onstar": None}
+
+  @pytest.mark.parametrize("message,signal,value", [
+    ("PPS_PosLat_FO", "PPSLatV", 1),
+    ("PPS_PosLong_FO", "PPSLongV", 1),
+    ("PPS_QualMetrics_FO", "PPS2DAbsPosErrEstmtV", 1),
+    ("PPS_PosLat_FO", "PPSLat", float("nan")),
+    ("PPS_PosLong_FO", "PPSLong", 181 * 3_600_000),
+    ("PPS_QualMetrics_FO", "PPSMd", 6),
+    ("PPS_Time_FO", "PPSTmdayV", 1),
+  ])
+  def test_unusable_position_rejected(self, bundle, message, signal, value):
+    values, raw = bundle
+    values[message][signal] = value
+    assert decode_gm_pps_gps(values, raw, 1_000_000_000) is None
+
+  @pytest.mark.parametrize("invalidity", ["checksum", "position-validity"])
+  def test_burst_cache_and_explicit_invalidation(self, invalidity):
+    parser = CANParser("cadillac_ct6_object", [(name, 0) for name in PPS_GPS_MESSAGES], 0)
+    cs = GMCarState.__new__(GMCarState)
+    cs.pps_gps = None
+    cs._pps_gps_timestamp_nanos = 0
+    parser.update([(1_000_000_000, self._frames[:-1])])
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is None  # Incomplete startup burst.
+    parser.update([(1_000_000_000, self._frames[-1:])])
+    cs._update_pps_gps(parser)
+    good = cs.pps_gps
+    assert good is not None
+    # No complete new burst: keep its original timestamp for freshness.
+    parser.update([(2_000_000_000, self._frames[:1])])
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is good
+    parser.update([(2_100_000_000, self._frames)])
+    parser.vl["PPS_PosLat_FO"]["PPSLatBrstID"] = int(parser.vl["PPS_PosLat_FO"]["PPSLatBrstID"]) ^ 1
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is good  # A mismatched burst must not refresh the fix.
+    bad_frames = ([(addr, data[:-1] + bytes([data[-1] ^ 1]), bus) for addr, data, bus in self._frames]
+                  if invalidity == "checksum" else self._frames)
+    parser.update([(3_000_000_000, bad_frames)])
+    if invalidity == "position-validity":
+      parser.vl["PPS_PosLat_FO"]["PPSLatV"] = 1
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is None
+    parser.update([(4_000_000_000, self._frames)])
+    cs._update_pps_gps(parser)
+    assert cs.pps_gps is not None
+
+  @pytest.mark.parametrize("speed_bad,heading_bad,elevation_bad,vertical_bad,bearing_bad", [
+    (0, 0, 0, 0, 0), (1, 0, 0, 0, 0), (0, 1, 0, 0, 0), (0, 0, 1, 0, 0),
+    (0, 0, 0, 1, 0), (0, 0, 0, 0, 1), (1, 1, 1, 1, 1),
+  ], ids=["valid", "speed", "heading", "elevation", "vertical-accuracy", "bearing-accuracy", "all-invalid"])
+  def test_optional_field_fallbacks(self, bundle, speed_bad, heading_bad, elevation_bad, vertical_bad, bearing_bad):
+    values, raw = bundle
+    values["PPS_ElevHdSpd_FO"].update(PPSVel=36, PPSVelV=speed_bad, PPSHedng=90, PPSHedngV=heading_bad,
+                                     PPSElvtn=12345, PPSElvtnV=elevation_bad)
+    values["PPS_QualMetrics_FO"].update(PPS2DAbsPosErrEstmt=3.2, PPS3DAbsPosErrEstmt=4.5, PPS3DAbsPosErrEstmtV=vertical_bad,
+                                        PPSAbsHdngErrEstmt=6.0, PPSAbsHdngErrEstmtV=bearing_bad)
+    gps = decode_gm_pps_gps(values, raw, 1_000_000_000)
+    assert gps is not None
+    assert gps["hasFix"]
+    assert gps["speed"] == pytest.approx(0.0 if speed_bad else 10.0)
+    assert gps["bearingDeg"] == (0 if heading_bad else 90)
+    assert gps["altitude"] == pytest.approx(0.0 if elevation_bad else 123.45)
+    assert gps["vNED"] == pytest.approx([gps["speed"], 0, 0] if heading_bad else [0, gps["speed"], 0])
+    assert gps["horizontalAccuracy"] == pytest.approx(3.2)
+    assert gps["verticalAccuracy"] == pytest.approx(0.0 if vertical_bad else 4.5)
+    assert gps["bearingAccuracyDeg"] == pytest.approx(180.0 if bearing_bad else 6.0)
+
   def test_bolt_gps_heading_and_speed_derivation(self):
     cp = SimpleNamespace(
       brand="gm",
@@ -209,78 +352,7 @@ class TestBoltGps:
     assert all(message in parsers[Bus.pt].vl for message in CHEVROLET_BOLT_GPS_MESSAGES)
 
 
-class TestGMCarState:
-  def test_lacrosse_startup_acc_fault_is_suppressed(self):
-    timer, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
-    )
-
-    assert suppressed
-    assert timer == pytest.approx(5.0 - DT_CTRL)
-
-    timer, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_LACROSSE, 2, 2, timer, 0, False,
-    )
-
-    assert timer == 0.0
-    assert not suppressed
-
-  def test_lacrosse_persistent_acc_fault_is_reported_after_startup(self):
-    timer, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
-    )
-
-    for _ in range(int(5.0 / DT_CTRL)):
-      timer, suppressed = update_startup_acc_fault_suppression(
-        CAR.BUICK_LACROSSE, 2, 2, timer, 3, False,
-      )
-
-    assert timer == 0.0
-    assert not suppressed
-
-  def test_lacrosse_brake_unavailable_fault_is_never_suppressed(self):
-    _, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, True,
-    )
-
-    assert not suppressed
-
-  def test_startup_acc_fault_suppression_is_scoped_to_lacrosse(self):
-    _, suppressed = update_startup_acc_fault_suppression(
-      CAR.BUICK_REGAL, 2, 0, 0.0, 3, False,
-    )
-
-    assert not suppressed
-
-
 class TestGMInterface:
-  def test_lacrosse_obd_and_ascm_integrations_remain_separate(self):
-    obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
-      CAR.BUICK_LACROSSE,
-      _empty_fingerprint(),
-      [],
-      alpha_long=False,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-    ascm_params = interfaces[CAR.BUICK_LACROSSE_ASCM].get_params(
-      CAR.BUICK_LACROSSE_ASCM,
-      _empty_fingerprint(),
-      [],
-      alpha_long=False,
-      is_release=False,
-      docs=False,
-      starpilot_toggles=_test_starpilot_toggles(),
-    )
-
-    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
-    assert obd_params.openpilotLongitudinalControl
-    assert obd_params.radarTimeStepDEPRECATED == pytest.approx(0.15)
-    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
-    assert not ascm_params.openpilotLongitudinalControl
-    assert ascm_params.radarTimeStepDEPRECATED == pytest.approx(0.0667)
-
   @parameterized.expand([
     CAR.CHEVROLET_BOLT_CC_2017,
     CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -367,14 +439,6 @@ class TestGMInterface:
 
     assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)
 
-  def test_lacrosse_2019_ascm_min_steer_speed_is_28_mph(self):
-    car_model = CAR.BUICK_LACROSSE_ASCM_19US
-    CarInterface = interfaces[car_model]
-    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
-                                         starpilot_toggles=_test_starpilot_toggles())
-
-    assert car_params.minSteerSpeed == pytest.approx(28 * CV.MPH_TO_MS)
-
   @parameterized.expand([
     ("interceptor", True),
     ("ascm_int", False),
@@ -570,43 +634,6 @@ class TestGMInterface:
     assert car_params.openpilotLongitudinalControl
     assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
 
-  def test_buick_lacrosse_auto_hold_sets_stock_hold_safety_bit_with_op_long_enabled(self):
-    params = Params()
-    try:
-      params.put_bool("GMAutoHold", True)
-      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
-        CAR.BUICK_LACROSSE,
-        _empty_fingerprint(),
-        [],
-        alpha_long=False,
-        is_release=False,
-        docs=False,
-        starpilot_toggles=_test_starpilot_toggles(),
-      )
-    finally:
-      params.remove("GMAutoHold")
-
-    assert car_params.openpilotLongitudinalControl
-    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
-
-  def test_buick_lacrosse_auto_hold_is_off_when_toggle_is_disabled(self):
-    params = Params()
-    try:
-      params.put_bool("GMAutoHold", False)
-      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
-        CAR.BUICK_LACROSSE,
-        _empty_fingerprint(),
-        [],
-        alpha_long=False,
-        is_release=False,
-        docs=False,
-        starpilot_toggles=_test_starpilot_toggles(),
-      )
-    finally:
-      params.remove("GMAutoHold")
-
-    assert not car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
-
   def test_volt_auto_hold_does_not_set_stock_hold_safety_bit_with_op_long_disabled(self):
     CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
     fingerprint = _empty_fingerprint()
@@ -933,63 +960,6 @@ class TestGMCarController:
 
     assert len(msgs) == 1
 
-  def test_volt_cc_redneck_holds_when_stock_setpoint_is_within_target_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=100.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=99.0 * CV.KPH_TO_MS),
-        vCruise=100.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
-    )
-
-    assert msgs == []
-    assert controller.apply_speed == 99
-
-  def test_volt_cc_redneck_catches_up_when_target_exceeds_deadband(self):
-    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(0.5 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
-    cs = SimpleNamespace(
-      CP=SimpleNamespace(
-        carFingerprint=CAR.CHEVROLET_VOLT_CC,
-        flags=GMFlags.NO_CAMERA.value,
-        networkLocation=structs.CarParams.NetworkLocation.gateway,
-        minEnableSpeed=0.0,
-      ),
-      buttons_counter=2,
-      out=SimpleNamespace(
-        vEgo=90.0 * CV.KPH_TO_MS,
-        cruiseState=SimpleNamespace(speed=90.0 * CV.KPH_TO_MS),
-        vCruise=100.0,
-      ),
-    )
-
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
-    )
-
-    assert msgs == []
-
-    controller.frame = int(0.7 / DT_CTRL)
-    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
-    )
-
-    assert len(msgs) == 1
-    assert controller.apply_speed == 91
-
   def test_volt_cc_no_camera_redneck_spam_stays_on_powertrain_bus(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
     controller = SimpleNamespace(frame=int(0.3 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)

opendbc_repo/opendbc/car/gm/values.py

@@ -533,14 +533,6 @@ EV_CAR = {
   CAR.CHEVROLET_MALIBU_HYBRID_CC,
 }
 
-GM_AUTO_HOLD_CARS = {
-  CAR.CHEVROLET_VOLT,
-  CAR.CHEVROLET_VOLT_2019,
-  CAR.CHEVROLET_VOLT_ASCM,
-  CAR.CHEVROLET_VOLT_CAMERA,
-  CAR.BUICK_LACROSSE,
-}
-
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {
   CAR.CHEVROLET_BOLT_ACC_2022_2023,

opendbc_repo/opendbc/car/gps.py

@@ -6,8 +6,10 @@ from collections.abc import Callable, Mapping
 from typing import Any
 
 from opendbc.car.common.conversions import Conversions as CV
+from opendbc.can.dbc import DBC as DBC_FILE
+from opendbc.car import Bus
 from opendbc.car.ford.values import CAR as FORD_CAR
-from opendbc.car.gm.values import CAR as GM_CAR
+from opendbc.car.gm.values import CAR as GM_CAR, DBC as GM_DBC
 
 
 CarGpsSample = dict[str, Any]
@@ -158,8 +160,25 @@ CAR_GPS_CONFIGS: dict[str, CarGpsConfig] = {
 
 
 def get_car_gps_config(CP) -> CarGpsConfig | None:
+  cp_brand = getattr(CP, "brand", None)
   config = CAR_GPS_CONFIGS.get(CP.carFingerprint)
-  return config if config is not None and config.brand == CP.brand else None
+  if config is not None and config.brand == cp_brand:
+    return config
+
+  # Enable OnStar GPS for GM cars whose powertrain DBC defines it.
+  if cp_brand == "gm":
+    try:
+      dbc_name = GM_DBC[CP.carFingerprint][Bus.pt]
+      if "TCICOnStarGPSPosition" in DBC_FILE(dbc_name).name_to_msg:
+        return CarGpsConfig(
+          brand="gm",
+          messages=CHEVROLET_BOLT_GPS_MESSAGES,
+          decoder=parse_chevrolet_bolt_can_gps,
+        )
+    except (KeyError, OSError, TypeError, RuntimeError):
+      pass
+
+  return None
 
 
 def car_gps_available(CP) -> bool:

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -11,7 +11,7 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                        CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
+                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
                                         KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
@@ -860,13 +860,7 @@ class CarController(CarControllerBase):
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
     longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
-    lfa_status_cars = (
+    lfa_longitudinal_active = longitudinal_active if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN else self.CP.openpilotLongitudinalControl
-      CAR.HYUNDAI_IONIQ_6,
-      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
-      CAR.KIA_EV6,
-    )
-    lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
-      if self.CP.carFingerprint in lfa_status_cars else longitudinal_active
     lka_steering_long = lka_steering and lfa_longitudinal_active
     ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
@@ -998,7 +992,7 @@ class CarController(CarControllerBase):
         # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
         # and stops publishing object tracks when it disappears.
         radar_heartbeat_step = 1 if ccnc_angle_long else 4
-        if self.CP.carFingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR and self.frame % radar_heartbeat_step == 0:
+        if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % radar_heartbeat_step == 0:
           can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // radar_heartbeat_step,
                                                                             CS.out.brakePressed, CS.out.gasPressed,
                                                                             self.CP.carFingerprint))

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -8,7 +8,6 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CANFD_SECURITYACCESS_CAR, \
                                                    CANFD_ANGLE_LONGITUDINAL_CAR, \
                                                    CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
-                                                   CANFD_RADAR_ECU_KEEPALIVE_CAR, \
                                                    RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                    LEGACY_LONGITUDINAL_CAR, \
@@ -28,15 +27,6 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
 ButtonType = structs.CarState.ButtonEvent.Type
 Ecu = structs.CarParams.Ecu
 
-
-def get_communication_control_request(car_fingerprint):
-  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR:
-    return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
-                  uds.MESSAGE_TYPE.NORMAL])
-
-  return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
-                uds.MESSAGE_TYPE.NORMAL])
-
 # Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
 ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)
 
@@ -363,7 +353,14 @@ class CarInterface(CarInterfaceBase):
     params = Params()
 
     if communication_control is None:
-      communication_control = get_communication_control_request(CP.carFingerprint)
+      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
+        # Don't use 0x80 suppress bit so we can read the ECU response.
+        # Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
+        # while blocking SCC TX.
+        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
+      else:
+        # 0x80 silences response for other cars (original behavior)
+        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
 
     ecu_log(f"=== init() called: opLong={CP.openpilotLongitudinalControl}, flags=0x{CP.flags:x}, safetyParam={CP.safetyConfigs[-1].safetyParam} ===")
 

opendbc_repo/opendbc/car/hyundai/radar_interface.py

@@ -19,9 +19,6 @@ MRR30_RADAR_START_ADDR = 0x210
 MRR30_RADAR_MSG_COUNT = 16
 MRR35_RADAR_START_ADDR = 0x3A5
 MRR35_RADAR_MSG_COUNT = 32
-GV70_RADAR_START_ADDR = 0x210
-GV70_RADAR_MSG_COUNT = 16
-GV70_RADAR_DBC = "hyundai_radar_210_21f_generated"
 
 
 @dataclass(frozen=True)
@@ -33,7 +30,6 @@ class RadarTrackConfig:
   frequency: int = 50
   parser_msg_count: int | None = None
   expected_length: int | None = None
-  dbc_name: str | None = None
 
   @property
   def can_parser_msg_count(self) -> int:
@@ -51,10 +47,6 @@ RADAR_TRACK_CONFIGS = {
 
 
 def get_radar_track_config(car_fingerprint, flags: int = 0) -> RadarTrackConfig | None:
-  if car_fingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
-    return RadarTrackConfig(GV70_RADAR_START_ADDR, GV70_RADAR_MSG_COUNT, "gv70_210", bus=0,
-                            frequency=20, expected_length=32, dbc_name=GV70_RADAR_DBC)
-
   radar_dbc = DBC[car_fingerprint].get(Bus.radar)
   if car_fingerprint == CAR.GENESIS_G90 and radar_dbc == HYUNDAI_MANDO_FRONT_RADAR_DBC:
     return RadarTrackConfig(RADAR_START_ADDR, G90_RADAR_MSG_COUNT, "mando", parser_msg_count=RADAR_MSG_COUNT)
@@ -73,10 +65,6 @@ def radar_tracks_available(radar_config: RadarTrackConfig | None, fingerprint) -
   if radar_config is None:
     return False
 
-  if radar_config.radar_type == "gv70_210":
-    return all(fingerprint[radar_config.bus].get(addr) == radar_config.expected_length
-               for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count))
-
   msg_len = fingerprint[radar_config.bus].get(radar_config.start_addr)
   if msg_len is None:
     return False
@@ -90,8 +78,7 @@ def get_radar_can_parser(CP, radar_config):
 
   messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency)
               for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.can_parser_msg_count)]
-  dbc_name = radar_config.dbc_name or DBC[CP.carFingerprint][Bus.radar]
+  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
-  return CANParser(dbc_name, messages, radar_config.bus)
 
 
 class RadarInterface(RadarInterfaceBase):
@@ -236,27 +223,6 @@ class RadarInterface(RadarInterfaceBase):
             del self.pts[track_key]
         continue
 
-      if radar_type == "gv70_210":
-        for i in ("1", "2"):
-          track_key = addr * 2 + int(i) - 1
-          valid = msg[f"{i}_STATE"] in (3, 4)
-          if valid:
-            pt = self.pts.get(track_key)
-            if pt is None:
-              pt = structs.RadarData.RadarPoint()
-              pt.trackId = self.track_id
-              self.track_id += 1
-              self.pts[track_key] = pt
-            pt.measured = True
-            pt.dRel = msg[f"{i}_LONG_DIST"]
-            pt.yRel = msg[f"{i}_LAT_DIST"]
-            pt.vRel = msg[f"{i}_REL_SPEED"]
-            pt.aRel = msg[f"{i}_REL_ACCEL"]
-            pt.yvRel = msg[f"{i}_REL_LAT_SPEED"]
-          elif track_key in self.pts:
-            del self.pts[track_key]
-        continue
-
       if radar_type == "mrrevo14f":
         for i in ("1", "2"):
           track_key = addr * 2 + int(i) - 1

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -24,17 +24,16 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
                                              clear_ioniq_6_torque_when_request_inactive
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                              get_canfd_cruise_available
-from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
+from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus, hkg_can_fd_checksum
 from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
-                                             RADAR_START_ADDR, RadarInterface, get_radar_track_config, radar_tracks_available
+                                             RADAR_START_ADDR, get_radar_track_config
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, DATELESS_FUZZY_CARS, \
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
                                          LEGACY_LONGITUDINAL_CAR, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
-                                         HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, \
+                                         HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, kia_ev6_gt_line_longitudinal_tuning
-                                         CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR, kia_ev6_gt_line_longitudinal_tuning
 
 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -130,15 +129,6 @@ def get_test_toggles() -> SimpleNamespace:
 
 
 class TestHyundaiFingerprint:
-  def test_ev6_uses_stock_hda2_communication_control_path(self):
-    stock_request = bytes([0x28, 0x83, 0x01])
-    radar_keepalive_request = bytes([0x28, 0x01, 0x01])
-
-    assert CAR.KIA_EV6 in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
-    assert CAR.KIA_EV6 not in CANFD_RADAR_ECU_KEEPALIVE_CAR
-    assert get_communication_control_request(CAR.KIA_EV6) == stock_request
-    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
-
   def test_carnival_hev_low_speed_torque_rate_limits(self):
     CP = CarInterface.get_params(CAR.KIA_CARNIVAL_HEV_4TH_GEN, gen_empty_fingerprint(), [],
                                  False, False, False, None)
@@ -436,42 +426,6 @@ class TestHyundaiFingerprint:
     assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_LKA_STEERING
     assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.EV_GAS
 
-    gv70_radar_config = get_radar_track_config(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
-    assert gv70_radar_config.radar_type == "gv70_210"
-    for addr in range(gv70_radar_config.start_addr, gv70_radar_config.start_addr + gv70_radar_config.msg_count):
-      gv70_fingerprint[gv70_radar_config.bus][addr] = gv70_radar_config.expected_length
-    assert radar_tracks_available(gv70_radar_config, gv70_fingerprint)
-
-    CP = CarInterface.get_params(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, gv70_fingerprint, gv70_car_fw,
-                                 True, False, False, None)
-    assert not CP.radarUnavailable
-
-    radar = RadarInterface(CP)
-    packer = CANPacker(gv70_radar_config.dbc_name)
-    messages = []
-    for addr in range(gv70_radar_config.start_addr, gv70_radar_config.start_addr + gv70_radar_config.msg_count):
-      message = packer.make_can_msg(f"RADAR_TRACK_{addr:x}", 0, {
-        "1_STATE": 3,
-        "1_LONG_DIST": 25.0,
-        "1_LAT_DIST": 0.5,
-        "1_REL_SPEED": -2.0,
-        "1_REL_LAT_SPEED": 0.1,
-        "1_REL_ACCEL": -0.2,
-      })
-      data = bytearray(message[1])
-      checksum = hkg_can_fd_checksum(addr, None, data)
-      data[0] = checksum & 0xff
-      data[1] = (checksum >> 8) & 0xff
-      messages.append((message[0], bytes(data), message[2]))
-    radar_data = radar.update([(1, messages)])
-    assert radar_data is not None
-    assert len(radar_data.points) == 16
-    assert radar_data.points[0].dRel == pytest.approx(25.0)
-
-    other_config = get_radar_track_config(CAR.HYUNDAI_IONIQ_5)
-    assert other_config.radar_type == "mrr30"
-    assert other_config.dbc_name is None
-
     for candidate in HYUNDAI_NON_SCC_CARS:
       CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, None)
       assert bool(CP.flags & HyundaiFlags.NON_SCC)
@@ -2530,11 +2484,10 @@ class TestHyundaiFingerprint:
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
-    CP.openpilotLongitudinalControl = True
+    CP.openpilotLongitudinalControl = False
 
     controller = CarController(DBC[CP.carFingerprint], CP)
     controller.frame = 1
-    controller.long_active_ecu = True
     can_bus = CanBus(CP)
     parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
     stock_lkas = {
@@ -2576,6 +2529,7 @@ class TestHyundaiFingerprint:
     assert parser.vl["LKAS"]["STEER_MODE"] == 0
     assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 0
 
+    CP.openpilotLongitudinalControl = True
     lfa_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
     lfa_msgs = hyundaicanfd.create_steering_messages(controller.packer, CP, can_bus, True, True, 0, 0.0)
     assert [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in lfa_msgs] == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
@@ -2583,12 +2537,13 @@ class TestHyundaiFingerprint:
     assert lfa_parser.can_valid
     assert lfa_parser.vl["LFA"]["DAMP_FACTOR"] == 100
 
+    controller.long_active_ecu = True
     cc.longActive = False
     inactive_msgs = controller.create_canfd_msgs(0, True, 0.44, 0.0, 0.0, 0.0, False,
                                                  cc.hudControl, cs, cc, get_test_toggles(), lka_icon=2, lfa_icon=2)
     steering_names = [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in inactive_msgs
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
-    assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
+    assert steering_names == [("LKAS", can_bus.ACAN)]
 
     controller.frame = 1
     cc.longActive = True
@@ -2598,14 +2553,15 @@ class TestHyundaiFingerprint:
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
     assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
 
-  @pytest.mark.parametrize("car", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6])
+  def test_ioniq_6_keeps_lfa_status_when_longitudinal_is_inactive(self):
-  def test_egmp_keeps_lfa_status_when_longitudinal_is_inactive(self, car):
     CP = CarParams.new_message()
-    CP.carFingerprint = car
+    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
     CP.openpilotLongitudinalControl = True
 
     controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+    controller.long_active_ecu = False
     cc = SimpleNamespace(
       enabled=False, latActive=False, longActive=False,
       actuators=SimpleNamespace(longControlState=LongCtrlState.off),
@@ -2613,15 +2569,12 @@ class TestHyundaiFingerprint:
     )
     cs = SimpleNamespace(
       stock_lfa_msg=None, stock_lkas_msg=None,
-      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
       out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.park),
     )
 
-    controller.frame = 1
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
-    for controller.long_active_ecu in (False, True):
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
-      msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
+    assert any(addr == 0x12A for addr, _, _ in msgs)
-                                          cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
-      assert any(addr == 0x12A for addr, _, _ in msgs)
 
   def test_gv70_electrified_longitudinal_uses_hda2_scc_contract(self):
     CP = CarParams.new_message()
@@ -2755,7 +2708,7 @@ class TestHyundaiFingerprint:
     assert len([msg for msg in msgs if msg[0] == 0x110]) == expected_lkas_msgs
 
   @pytest.mark.parametrize("standstill", [False, True])
-  def test_sportage_angle_lkas_alt_publishes_inactive_status(self, standstill):
+  def test_sportage_angle_lkas_alt_keeps_inactive_status_in_drive(self, standstill):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -2764,10 +2717,44 @@ class TestHyundaiFingerprint:
 
     controller = CarController(DBC[CP.carFingerprint], CP)
     can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    stock_lkas = {
+      "CHECKSUM": 1234,
+      "COUNTER": 42,
+      "LKA_OptUsmSta": 2,
+      "LKA_MODE": 2,
+      "LKA_RcgSta": 3,
+      "LKA_AVAILABLE": 3,
+      "LKA_LHLnWrnSta": 3,
+      "LKA_RHLnWrnSta": 3,
+      "LKA_WARNING": 1,
+      "LKA_HndsoffSnd": 1,
+      "LKA_StrSnd": 1,
+      "LKA_SysIndReq": 4,
+      "LKA_ICON": 2,
+      "FCA_SYSWARN": 1,
+      "StrTqReqVal": 17,
+      "TORQUE_REQUEST": 17,
+      "ActToiSta": 3,
+      "STEER_REQ": 1,
+      "ToiFltSta": 3,
+      "LFA_BUTTON": 1,
+      "LKA_SysWrn": 15,
+      "LKA_ASSIST": 1,
+      "Damping_Gain": 0,
+      "STEER_MODE": 5,
+      "NEW_SIGNAL_2": 0,
+      "LKAS_ANGLE_ACTIVE": 2,
+      "LKA_UsmMod": 3,
+      "HAS_LANE_SAFETY": 1,
+      "ADAS_StrAnglReqVal": 12.3,
+      "ADAS_ACIAnglTqRedcGainVal": 0.42,
+      "DAMP_FACTOR": 0,
+    }
     cc = SimpleNamespace(enabled=False, latActive=False,
                          actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                          leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={},
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas,
                          out=SimpleNamespace(standstill=standstill, steeringAngleDeg=0.0,
                                              gearShifter=structs.CarState.GearShifter.drive))
 
@@ -2776,12 +2763,12 @@ class TestHyundaiFingerprint:
     lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
     assert len(lkas_msgs) == 1
 
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
     parser.update([(1, lkas_msgs)])
     assert parser.can_valid
-    assert parser.vl["LKAS_ALT"]["LKA_ICON"] == 1
+    assert parser.vl["LKAS_ALT"]["LKA_StrSnd"] == 2
     assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
     assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 0
     assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
 
   def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):

opendbc_repo/opendbc/car/hyundai/values.py

@@ -1218,9 +1218,7 @@ CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_
 CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
 CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
   CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
-  CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
 }
-CANFD_RADAR_ECU_KEEPALIVE_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR - {CAR.KIA_EV6}
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
   CAR.HYUNDAI_IONIQ,
   CAR.HYUNDAI_KONA_EV_2022,

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -77,7 +77,7 @@ class CarController(CarControllerBase):
     self.angle_bus = CanBus.angle_for_cp(CP)
     self.status_bus = CanBus.camera if CP.flags & SubaruFlags.D_PLATFORM_CAMERA else CanBus.main
 
-    if CP.flags & SubaruFlags.LKAS_ANGLE and CP.carFingerprint != CAR.SUBARU_OUTBACK_2023:
+    if CP.flags & SubaruFlags.LKAS_ANGLE:
       self.VM = VehicleModel(get_safety_CP())
 
     self.prev_close_distance = 0
@@ -302,7 +302,7 @@ class CarController(CarControllerBase):
       lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
 
-      manual_handoff = self._legacy_2025_manual_handoff(CS, CC.latActive)
+      manual_handoff = self._legacy_2025_manual_handoff(CS, lkas_available)
       lkas_active = lkas_available and not manual_handoff
 
       steer_target = self._legacy_2025_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
@@ -325,14 +325,14 @@ class CarController(CarControllerBase):
       lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
 
-      manual_handoff = self._angle_manual_handoff(CS, CC.latActive)
+      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
       lkas_active = lkas_available and not manual_handoff
 
       if lkas_active and not self.angle_lkas_active:
         self.apply_steer_last = CS.out.steeringAngleDeg
 
       steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
-      if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
+      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
         apply_steer = apply_std_steer_angle_limits(
           steer_target,
           self.apply_steer_last,
@@ -361,7 +361,7 @@ class CarController(CarControllerBase):
     lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
       getattr(CS.out, "gearShifter", structs.CarState.GearShifter.drive) == structs.CarState.GearShifter.drive and \
       not getattr(CS.out, "standstill", False)
-    manual_handoff = self._angle_manual_handoff(CS, CC.latActive)
+    manual_handoff = self._angle_manual_handoff(CS, lkas_available)
     lat_active = lkas_available and not self.driver_override and not manual_handoff
     if lat_active and not self.angle_lkas_active:
       self.apply_steer_last = CS.out.steeringAngleDeg

opendbc_repo/opendbc/car/subaru/carstate.py

@@ -85,14 +85,14 @@ class CarState(CarStateBase):
 
     if self.CP.flags & SubaruFlags.LKAS_ANGLE:
       ret.steeringAngleDeg = cp_angle.vl["Steering_2"]["Steering_Angle"]
-      steering_counter = cp_angle.vl["Steering_2"]["COUNTER"]
+      steering_updated = len(cp_angle.vl_all["Steering_2"]["Steering_Angle"]) > 0
     else:
       ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
-      steering_counter = cp.vl["Steering_Torque"].get("COUNTER", 0)
+      steering_updated = len(cp.vl_all["Steering_Torque"]["Steering_Angle"]) > 0
 
     if not (self.CP.flags & SubaruFlags.PREGLOBAL):
       # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
-      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_counter)
+      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_updated)
 
     ret.steeringTorque = cp_angle.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp_angle.vl["Steering_Torque"]["Steer_Torque_Output"]

opendbc_repo/opendbc/car/subaru/interface.py

@@ -42,7 +42,7 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
       if candidate in SUBARU_STOP_START_CARS:
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.STOP_START_BUTTON.value
-      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
+      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value
 
     ret.steerLimitTimer = 0.4

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -244,7 +244,7 @@ def test_outback_2023_uses_d_platform_bus_layout():
   assert CP.flags & SubaruFlags.D_PLATFORM
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
-  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.FIXED_ANGLE_LIMITS
+  assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
   assert CanBus.main_for_cp(CP) == CanBus.alt
   assert CanBus.angle_for_cp(CP) == CanBus.main
   assert parsers[Bus.pt].bus == CanBus.alt
@@ -546,25 +546,6 @@ def test_ascent_2023_uses_gen2_angle_bus_layout():
   assert controller.status_bus == CanBus.main
 
 
-def test_ascent_steering_rate_retains_last_can_sample():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
-  car_state = CarState(CP, None)
-  parsers = car_state.get_can_parsers(CP)
-  toggles = SimpleNamespace(subaru_sng=False)
-
-  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 1.0
-  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 1
-  car_state.update(parsers, toggles)
-
-  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 2.0
-  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 2
-  state, _ = car_state.update(parsers, toggles)
-  assert state.steeringRateDeg == pytest.approx(50.0)
-
-  state, _ = car_state.update(parsers, toggles)
-  assert state.steeringRateDeg == pytest.approx(50.0)
-
-
 def test_other_angle_platforms_keep_existing_bus_layout():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
   parsers = CarState.get_can_parsers(CP)
@@ -641,9 +622,8 @@ def test_angle_controller_blocks_low_speed_mads_engagement():
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
 
 
-@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
+def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
-def test_angle_controller_uses_fixed_angle_rate_limits(platform):
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
-  CP = CarInterface.get_non_essential_params(platform)
   controller = CarController({}, CP)
   CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-14.88))
   CS = SimpleNamespace(out=SimpleNamespace(
@@ -726,20 +706,11 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
   CS.out.steeringRateDeg = 0.0
   msg = controller.lateral_angle(CC, CS)
   parser.update([(2, [msg])])
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-
-  for i in range(8):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(3 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-
-  msg = controller.lateral_angle(CC, CS)
-  parser.update([(11, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
 
   CS.out.gearShifter = structs.CarState.GearShifter.reverse
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(12, [msg])])
+  parser.update([(3, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
 

opendbc_repo/opendbc/car/tests/routes.py

@@ -108,7 +108,6 @@ non_tested_cars = [
   TOYOTA.TOYOTA_RAV4H,
 
   # No recorded routes yet
-  VOLVO.VOLVO_V40,
   VOLVO.VOLVO_XC40_RECHARGE,
   VOLVO.VOLVO_S60_RECHARGE,
   VOLVO.POLESTAR_2,

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -145,7 +145,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
 "VOLVO_XC40_RECHARGE" = [1.5, 1.5, 0.1]
 "VOLVO_S60_RECHARGE" = [1.5, 1.5, 0.1]
-"VOLVO_V40" = [1.5, 1.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -40,8 +40,6 @@ TOYOTA_NO_LEAD_CRUISE_SIGN_FLIP_MIN_SET_SPEED_ERROR = 0.35  # m/s
 TOYOTA_RAV4_LAUNCH_PEDAL_BLEND_SPEED = 5.0  # m/s
 TOYOTA_RAV4_LAUNCH_PEDAL_SCALE = 0.11
 TOYOTA_RAV4_LOW_SPEED_PEDAL_SCALE = 0.23
-TOYOTA_AUTO_HOLD_ACCEL = -1.0
-TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES = 100
 
 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
@@ -311,24 +309,23 @@ class CarController(CarControllerBase):
 
     self.last_standstill = CS.out.standstill
 
-  def update_auto_hold_state(self, CS: structs.CarState, cancel_requested: bool = False,
+  def create_auto_brake_hold_messages(self, CS: structs.CarState, brake_hold_allowed_timer: int = 100):
-                             activation_frames: int = TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES):
+    can_sends = []
-    brake_hold_allowed = (not cancel_requested and CS.out.standstill and CS.out.cruiseState.available and
+    brake_hold_allowed = (CS.out.standstill and CS.out.cruiseState.available and
                           not CS.out.gasPressed and not CS.out.cruiseState.enabled and
                           CS.out.gearShifter not in (PARK, REVERSE))
 
     if brake_hold_allowed and not self.brake_hold_active and CS.out.brakePressed:
       self._brake_hold_counter += 1
-      self.brake_hold_active = self._brake_hold_counter > activation_frames
+      self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer
     elif not brake_hold_allowed:
       self._brake_hold_counter = 0
       self.brake_hold_active = False
 
-    return self.brake_hold_active
+    if self.frame % 2 == 0:
+      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
 
-  def reset_auto_hold_state(self):
+    return can_sends
-    self._brake_hold_counter = 0
-    self.brake_hold_active = False
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     actuators = CC.actuators
@@ -426,9 +423,10 @@ class CarController(CarControllerBase):
 
     self._update_standstill_request(CC, CS, actuators, starpilot_toggles)
     if supports_toyota_auto_hold(self.CP, getattr(starpilot_toggles, "toyota_auto_hold", False)):
-      self.update_auto_hold_state(CS, pcm_cancel_cmd)
+      can_sends.extend(self.create_auto_brake_hold_messages(CS))
-    else:
+    elif self.brake_hold_active:
-      self.reset_auto_hold_state()
+      self._brake_hold_counter = 0
+      self.brake_hold_active = False
 
     interceptor_gas_cmd = self._compute_interceptor_gas_cmd(CC, CS)
 
@@ -536,11 +534,6 @@ class CarController(CarControllerBase):
 
         pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
 
-        if self.brake_hold_active:
-          pcm_accel_cmd = TOYOTA_AUTO_HOLD_ACCEL
-          self.permit_braking = True
-          self.standstill_req = True
-
         main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
         can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
                                                         CS.acc_type, fcw_alert, self.distance_button,

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -90,6 +90,8 @@ class CarState(CarStateBase):
     self.has_can_filter = self.FPCP.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
     self.has_SDSU = self.FPCP.flags & ToyotaStarPilotFlags.SMART_DSU.value
     self.has_ZSS = self.FPCP.flags & ToyotaStarPilotFlags.ZSS.value
+    self.auto_brake_hold = bool(self.CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value)
+    self.pre_collision_2 = {}
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -225,6 +227,9 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
+    if self.auto_brake_hold:
+      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
+
     if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
       self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
@@ -309,6 +314,9 @@ class CarState(CarStateBase):
     if CP.carFingerprint in DISTANCE_BUTTON_CAR:
       pt_messages.append(("PCM_CRUISE_4", 1))
 
+    if CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value:
+      cam_messages.append(("PRE_COLLISION_2", 50))
+
     return {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),

opendbc_repo/opendbc/car/toyota/interface.py

@@ -164,8 +164,8 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.GAS_INTERCEPTOR.value
 
     toyota_auto_hold = Params(return_defaults=True).get_bool("ToyotaAutoHold")
-    if toyota_auto_hold and ret.openpilotLongitudinalControl and candidate in TOYOTA_AUTO_HOLD_CARS:
+    if toyota_auto_hold and candidate in TOYOTA_AUTO_HOLD_CARS:
-      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
+      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
       ret.flags |= ToyotaFlags.AUTO_BRAKE_HOLD.value
 
     if not ret.openpilotLongitudinalControl:

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -196,8 +196,7 @@ class TestToyotaInterfaces:
       params.put_bool("ToyotaAutoHold", True)
       car_params = CarInterface.get_params(
         candidate,
-        {bus: ({0x2FF: 8} if candidate in (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H) and bus == 0 else {})
+        {bus: {} for bus in range(8)},
-         for bus in range(8)},
         [],
         alpha_long=False,
         is_release=False,
@@ -208,13 +207,12 @@ class TestToyotaInterfaces:
       params.remove("ToyotaAutoHold")
 
     assert car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
-    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
+    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
-    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
 
     can_parsers = CarState.get_can_parsers(car_params)
     car_state = CarState(car_params, SimpleNamespace(flags=0))
     car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
-    assert "PRE_COLLISION_2" not in can_parsers[Bus.cam].vl
+    assert "PRE_COLLISION_2" in can_parsers[Bus.cam].vl
 
   @pytest.mark.parametrize("candidate", [CAR.TOYOTA_CAMRY_TSS2, CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H])
   def test_auto_hold_is_disabled_by_default(self, candidate):
@@ -231,7 +229,7 @@ class TestToyotaInterfaces:
     )
 
     assert not car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
-    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
+    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
 
   def test_prius_openpilot_long_uses_hybrid_long_defaults(self):
     car_params = CarInterface.get_params(
@@ -746,8 +744,6 @@ class TestToyotaCarController:
     controller.standstill_req = standstill_req
     controller.last_standstill = last_standstill
     controller.accel = 0.0
-    controller.brake_hold_active = False
-    controller._brake_hold_counter = 0
     return controller
 
   @staticmethod
@@ -810,6 +806,9 @@ class TestToyotaCarController:
   def test_toyota_auto_hold_latches_after_brake_press_until_gas(self):
     controller = self._make_controller()
     controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
+    controller.frame = 0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
 
     cs = SimpleNamespace(
       out=SimpleNamespace(
@@ -819,22 +818,28 @@ class TestToyotaCarController:
         brakePressed=True,
         gearShifter=structs.CarState.GearShifter.drive,
       ),
+      pre_collision_2={},
     )
 
-    controller.update_auto_hold_state(cs, activation_frames=0)
+    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
     assert controller.brake_hold_active
 
     cs.out.brakePressed = False
-    controller.update_auto_hold_state(cs, activation_frames=0)
+    controller.frame = 2
+    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
     assert controller.brake_hold_active
 
     cs.out.gasPressed = True
-    controller.update_auto_hold_state(cs, activation_frames=0)
+    controller.frame = 4
+    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
     assert not controller.brake_hold_active
 
   def test_toyota_auto_hold_does_not_trigger_without_brake_press(self):
     controller = self._make_controller()
     controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
+    controller.frame = 0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
     cs = SimpleNamespace(
       out=SimpleNamespace(
         standstill=True,
@@ -843,9 +848,10 @@ class TestToyotaCarController:
         brakePressed=False,
         gearShifter=structs.CarState.GearShifter.drive,
       ),
+      pre_collision_2={},
     )
 
-    controller.update_auto_hold_state(cs, activation_frames=0)
+    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
     assert not controller.brake_hold_active
 
   def test_prius_resume_request_releases_standstill_latch(self):
@@ -985,9 +991,12 @@ class TestToyotaCarController:
     assert parser.can_valid
     assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 1
 
-  def test_auto_hold_uses_acc_control_brake_path(self):
+  def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
     controller = self._make_controller()
     controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
+    controller.frame = 0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
     cs = SimpleNamespace(
       out=SimpleNamespace(
         standstill=True,
@@ -996,19 +1005,16 @@ class TestToyotaCarController:
         brakePressed=True,
         gearShifter=structs.CarState.GearShifter.drive,
       ),
+      pre_collision_2={},
     )
 
-    controller.update_auto_hold_state(cs, activation_frames=0)
+    can_sends = controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
-    can_sends = [toyotacan.create_accel_command(
-      controller.packer, -1.0, False, True, True, False, 1, False, 0, False,
-    )]
 
-    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("ACC_CONTROL", 0)], 0)
+    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("PRE_COLLISION_2", 0)], 0)
     parser.update([(1, can_sends)])
     assert controller.brake_hold_active
-    assert parser.vl["ACC_CONTROL"]["ACCEL_CMD"] == -1.0
+    assert parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
-    assert parser.vl["ACC_CONTROL"]["PERMIT_BRAKING"] == 1
+    assert parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 1
-    assert parser.vl["ACC_CONTROL"]["RELEASE_STANDSTILL"] == 0
 
   def test_interceptor_stop_and_go_holds_small_launch_at_standstill(self):
     controller = self._make_controller()

opendbc_repo/opendbc/car/toyota/toyotacan.py

@@ -89,6 +89,38 @@ def create_pcs_commands(packer, accel, active, mass):
   return [msg1, msg2]
 
 
+def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
+  values = {s: pre_collision_2[s] for s in [
+    "DSS1GDRV",
+    "DS1STAT2",
+    "DS1STBK2",
+    "PCSWAR",
+    "PCSALM",
+    "PCSOPR",
+    "PCSABK",
+    "PBATRGR",
+    "PPTRGR",
+    "IBTRGR",
+    "CLEXTRGR",
+    "IRLT_REQ",
+    "BRKHLD",
+    "AVSTRGR",
+    "VGRSTRGR",
+    "PREFILL",
+    "PBRTRGR",
+    "PCSDIS",
+    "PBPREPMP",
+  ] if s in pre_collision_2}
+
+  if brake_hold_active:
+    values = {
+      "DSS1GDRV": 0x3FF,
+      "PBRTRGR": frame % 730 < 727,
+    }
+
+  return packer.make_can_msg("PRE_COLLISION_2", 0, values)
+
+
 def create_acc_cancel_command(packer):
   values = {
     "GAS_RELEASED": 0,

opendbc_repo/opendbc/car/volvo/carcontroller.py

@@ -1,5 +1,3 @@
-from collections import deque
-
 import numpy as np
 
 from opendbc.can.packer import CANPacker
@@ -7,20 +5,16 @@ from opendbc.car import Bus
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.lateral import apply_std_steer_angle_limits
 from opendbc.car.volvo.helpers import LCA3CounterSync
-from opendbc.car.volvo.volvocan import (create_c1_cancel, create_c1_pscm_message, create_c1_steering_control, create_lca_message,
+from opendbc.car.volvo.volvocan import (create_lca_message, create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message,
-                                        create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message, create_lca_5_message,
+                                        create_lca_5_message, create_lca_6_message, create_lca_7_message, create_pscm_related_message)
-                                        create_lca_6_message, create_lca_7_message, create_pscm_related_message)
+from opendbc.car.volvo.values import CarControllerParams
-from opendbc.car.volvo.values import CAR, CarControllerParams, VolvoC1PlatformConfig
 
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
-    self.is_c1 = isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig)
+    self.packer = CANPacker(dbc_names[Bus.party])
-    self.packer = CANPacker(dbc_names[Bus.pt] if self.is_c1 else dbc_names[Bus.party])
     self.apply_angle_last = 0.0  # Track last applied steering angle
-    self.c1_torque_samples = deque(maxlen=CarControllerParams.C1_N_ZERO_TORQUE)
-    self.c1_recovery_until = -1
 
     self.gear_acc = 60
     self.lca_4_acc = 0  # Bresenham accumulator for 29 Hz
@@ -68,9 +62,6 @@ class CarController(CarControllerBase):
     self.lca_auth_drv_mag_filt = 0.0
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
-    if self.is_c1:
-      return self._update_c1(CC, CS)
-
     can_sends = []
     actuators = CC.actuators
 
@@ -294,50 +285,3 @@ class CarController(CarControllerBase):
     self.frame += 1
     self.last_lat_active = CC.latActive
     return new_actuators, can_sends
-
-  def _update_c1(self, CC, CS):
-    can_sends = []
-    actuators = CC.actuators
-
-    if self.frame % 2 == 0:  # stock FSM1 and PSCM1 messages are 50 Hz
-      requested_active = CC.latActive and CS.out.vEgo > self.CP.minSteerSpeed
-      recovering = requested_active and self.frame < self.c1_recovery_until
-
-      if not requested_active:
-        self.c1_torque_samples.clear()
-        self.c1_recovery_until = -1
-      elif recovering:
-        self.c1_torque_samples.clear()
-      else:
-        if self.c1_recovery_until >= 0:
-          self.c1_recovery_until = -1
-          self.c1_torque_samples.clear()
-        self.c1_torque_samples.append(CS.c1_lka_torque)
-        if (len(self.c1_torque_samples) == CarControllerParams.C1_N_ZERO_TORQUE and
-            all(torque == 0 for torque in self.c1_torque_samples)):
-          self.c1_recovery_until = self.frame + 100
-          self.c1_torque_samples.clear()
-          recovering = True
-
-      lat_active = requested_active and not recovering
-      desired_angle = float(np.clip(
-        actuators.steeringAngleDeg,
-        CS.out.steeringAngleDeg - CarControllerParams.C1_ANGLE_ERROR,
-        CS.out.steeringAngleDeg + CarControllerParams.C1_ANGLE_ERROR,
-      ))
-      apply_angle = apply_std_steer_angle_limits(
-        desired_angle, self.apply_angle_last, CS.out.vEgoRaw,
-        CS.out.steeringAngleDeg, lat_active, CarControllerParams.C1_ANGLE_LIMITS,
-      )
-
-      can_sends.append(create_c1_pscm_message(self.packer, CS.c1_msg_pscm))
-      can_sends.append(create_c1_steering_control(self.packer, apply_angle, lat_active))
-      self.apply_angle_last = apply_angle
-
-    if CC.cruiseControl.cancel and self.frame % 10 == 0:
-      can_sends.append(create_c1_cancel(self.packer))
-
-    new_actuators = actuators.as_builder()
-    new_actuators.steeringAngleDeg = self.apply_angle_last
-    self.frame += 1
-    return new_actuators, can_sends

opendbc_repo/opendbc/car/volvo/carstate.py

@@ -1,9 +1,8 @@
 from cereal import custom
-from opendbc.car import Bus, ButtonType, create_button_events, structs
+from opendbc.car import structs, Bus
 from opendbc.can.parser import CANParser
-from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.volvo.values import DBC, VolvoSPAPlatformConfig, CAR
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.volvo.values import CAR, DBC, VolvoC1PlatformConfig, VolvoSPAPlatformConfig
 
 GearShifter = structs.CarState.GearShifter
 TransmissionType = structs.CarParams.TransmissionType
@@ -17,7 +16,6 @@ STEERING_PRESSED_THRESHOLD = 2
 class CarState(CarStateBase):
   def __init__(self, CP, FPCP):
     super().__init__(CP, FPCP)
-    self.is_c1 = isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig)
     self.is_spa = isinstance(CAR(CP.carFingerprint).config, VolvoSPAPlatformConfig)
     self.gas_pressed_prev = False
     self.dispatch_lca_2_msg = False
@@ -36,22 +34,8 @@ class CarState(CarStateBase):
     self.msg_lca_4 = {}
     self.msg_lca_6 = {}
     self.msg_lca_7 = {}
-    self.c1_msg_pscm = {}
-    self.c1_lka_torque = 0
-    self.c1_button_states = {
-      "ACCOnOffBtn": False,
-      "ACCStopBtn": False,
-      "ACCSetBtn": False,
-      "ACCResumeBtn": False,
-      "ACCMinusBtn": False,
-      "TimeGapIncreaseBtn": False,
-      "TimeGapDecreaseBtn": False,
-    }
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
-    if self.is_c1:
-      return self._update_c1(can_parsers)
-
     cp_main = can_parsers[Bus.main]
     cp_pt = can_parsers[Bus.pt]
     cp_party = can_parsers[Bus.party]
@@ -153,83 +137,8 @@ class CarState(CarStateBase):
     fp_ret = custom.StarPilotCarState.new_message()
     return ret, fp_ret
 
-  def _update_c1(self, can_parsers):
-    cp = can_parsers[Bus.pt]
-    cp_cam = can_parsers[Bus.cam]
-    ret = structs.CarState()
-
-    ret.vEgoRaw = cp.vl["VehicleSpeed1"]["VehicleSpeed"] * CV.KPH_TO_MS
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.1
-
-    ret.steeringAngleDeg = cp.vl["PSCM1"]["SteeringAngleServo"]
-    ret.steeringTorque = cp.vl["PSCM1"]["LKATorque"]
-    ret.steeringPressed = False
-
-    ret.gasPressed = cp.vl["PedalandBrake"]["AccPedal"] > 5.0
-    ret.brakePressed = bool(cp.vl["PedalandBrake"]["BrakePedalActive2"] or
-                            cp.vl["PedalandBrake"]["BrakePedalActive"])
-
-    ret.gearShifter = {
-      0: GearShifter.park,
-      1: GearShifter.reverse,
-      2: GearShifter.neutral,
-      3: GearShifter.drive,
-    }.get(int(cp.vl["TCM0"]["GearShifter"]), GearShifter.unknown)
-
-    ret.cruiseState.available = bool(cp_cam.vl["FSM0"]["ACCStatusOnOff"])
-    ret.cruiseState.enabled = bool(cp_cam.vl["FSM0"]["ACCStatusActive"])
-    ret.cruiseState.speed = cp.vl["ACC"]["SpeedTargetACC"] * CV.KPH_TO_MS
-    ret.cruiseState.nonAdaptive = False
-    ret.cruiseState.standstill = ret.standstill
-
-    turn_signal = int(cp.vl["MiscCarInfo"]["TurnSignal"])
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
-      50, turn_signal == 1, turn_signal == 3)
-    ret.doorOpen = False
-    ret.seatbeltUnlatched = False
-
-    button_types = {
-      "ACCOnOffBtn": ButtonType.mainCruise,
-      "ACCStopBtn": ButtonType.cancel,
-      "ACCSetBtn": ButtonType.setCruise,
-      "ACCResumeBtn": ButtonType.resumeCruise,
-      "ACCMinusBtn": ButtonType.decelCruise,
-      "TimeGapIncreaseBtn": ButtonType.gapAdjustCruise,
-      "TimeGapDecreaseBtn": ButtonType.gapAdjustCruise,
-    }
-    button_events = []
-    for signal, button_type in button_types.items():
-      pressed = bool(cp.vl["CCButtons"][signal])
-      button_events.extend(create_button_events(pressed, self.c1_button_states[signal], {True: button_type}))
-      self.c1_button_states[signal] = pressed
-    ret.buttonEvents = button_events
-
-    self.c1_msg_pscm = cp.vl["PSCM1"]
-    self.c1_lka_torque = int(cp.vl["PSCM1"]["LKATorque"])
-
-    fp_ret = custom.StarPilotCarState.new_message()
-    return ret, fp_ret
-
   @staticmethod
   def get_can_parsers(CP):
-    if isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig):
-      return {
-        Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [
-          ("VehicleSpeed1", 50),
-          ("CCButtons", 100),
-          ("PSCM1", 50),
-          ("PedalandBrake", 100),
-          ("TCM0", 10),
-          ("ACC", 17),
-          ("MiscCarInfo", 25),
-        ], 0),
-        Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.cam], [
-          ("FSM0", 100),
-          ("FSM1", 50),
-        ], 2),
-      }
-
     return {
       Bus.main: CANParser(DBC[CP.carFingerprint][Bus.main], [], 0),
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1),

opendbc_repo/opendbc/car/volvo/fingerprints.py

@@ -3,14 +3,6 @@
 from opendbc.car.volvo.values import CAR
 
 FINGERPRINTS = {
-  CAR.VOLVO_V40: [
-    # V40 2017
-    {8: 8, 16: 8, 48: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 208: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 352: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 624: 8, 640: 8, 648: 8, 652: 8, 656: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 832: 8, 848: 8, 853: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1061: 8, 1072: 8, 1409: 8},
-    # V40 2015
-    {8: 8, 16: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 648: 8, 652: 8, 656: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 832: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1061: 8, 1072: 8, 1409: 8},
-    # V40 2014
-    {8: 8, 16: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 648: 8, 652: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1072: 8, 1409: 8},
-  ],
   CAR.VOLVO_XC40_RECHARGE: [{
     21: 8, 22: 8, 23: 8, 26: 8, 69: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 128: 8, 144: 8, 146: 8, 147: 8, 151: 8, 304: 8, 336: 8, 339: 8, 341: 8, 394: 8, 395: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 1072: 8, 1120: 8, 1302: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8
   }],

opendbc_repo/opendbc/car/volvo/interface.py

@@ -2,10 +2,11 @@ from opendbc.car import structs, get_safety_config
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.volvo.carcontroller import CarController
 from opendbc.car.volvo.carstate import CarState
-from opendbc.car.volvo.values import CAR, VolvoC1PlatformConfig, VolvoSafetyFlags, VolvoSPAPlatformConfig
+from opendbc.car.volvo.values import VolvoSPAPlatformConfig, CAR
 
 TransmissionType = structs.CarParams.TransmissionType
 
+VOLVO_FLAG_SPA = 1
 SAFETY_VOLVO = structs.CarParams.SafetyModel.volvo
 
 
@@ -17,20 +18,17 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.brand = 'volvo'
 
-    platform = CAR(candidate).config
     safety_param = 0
-    if isinstance(platform, VolvoSPAPlatformConfig):
+    if isinstance(CAR(candidate).config, VolvoSPAPlatformConfig):
-      safety_param = VolvoSafetyFlags.SPA.value
+      safety_param = VOLVO_FLAG_SPA
-    elif isinstance(platform, VolvoC1PlatformConfig):
-      safety_param = VolvoSafetyFlags.C1.value
     ret.safetyConfigs = [get_safety_config(SAFETY_VOLVO, safety_param)]
     #ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput)]
 
     ret.dashcamOnly = False
 
-    ret.steerActuatorDelay = 0.2 if isinstance(platform, VolvoC1PlatformConfig) else 0.3
+    ret.steerActuatorDelay = 0.3
     ret.steerLimitTimer = 0.1
-    ret.steerAtStandstill = not isinstance(platform, VolvoC1PlatformConfig)
+    ret.steerAtStandstill = True
 
     # Use angle-based steering control for Volvo CMA platform
     ret.steerControlType = structs.CarParams.SteerControlType.angle
@@ -41,7 +39,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.pcmCruise = True
 
-    if isinstance(platform, VolvoC1PlatformConfig):
-      ret.transmissionType = TransmissionType.automatic
-
     return ret

opendbc_repo/opendbc/car/volvo/tests/test_c1_carstate.py

@@ -1,57 +0,0 @@
-import pytest
-
-from cereal import custom
-from opendbc.can.packer import CANPacker
-from opendbc.car import Bus, ButtonType, CanData, structs
-from opendbc.car.volvo.carstate import CarState
-from opendbc.car.volvo.interface import CarInterface
-from opendbc.car.volvo.values import CAR, DBC
-
-
-def _can_data(msg):
-  address, data, bus = msg
-  return CanData(address, data, bus)
-
-
-def test_c1_carstate_decodes_vehicle_and_cruise_signals():
-  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
-  cs = CarState(cp, custom.StarPilotCarParams.new_message())
-  parsers = CarState.get_can_parsers(cp)
-  packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
-
-  messages = [
-    packer.make_can_msg("VehicleSpeed1", 0, {"VehicleSpeed": 72}),
-    packer.make_can_msg("CCButtons", 0, {"ACCStopBtn": 1, "ACCSetBtn": 1}),
-    packer.make_can_msg("PSCM1", 0, {"SteeringAngleServo": -12.5, "LKATorque": 7}),
-    packer.make_can_msg("PedalandBrake", 0, {"AccPedal": 6, "BrakePedalActive2": 1}),
-    packer.make_can_msg("TCM0", 0, {"GearShifter": 3}),
-    packer.make_can_msg("ACC", 0, {"SpeedTargetACC": 100}),
-    packer.make_can_msg("MiscCarInfo", 0, {"TurnSignal": 1}),
-    packer.make_can_msg("FSM0", 2, {"ACCStatusOnOff": 1, "ACCStatusActive": 1}),
-    packer.make_can_msg("FSM1", 2, {}),
-  ]
-  packets = [(1_000_000, [_can_data(msg) for msg in messages])]
-  for parser in parsers.values():
-    parser.update(packets)
-
-  ret, _ = cs.update(parsers, None)
-  assert ret.vEgoRaw == pytest.approx(20.0)
-  assert ret.steeringAngleDeg == pytest.approx(-12.5, abs=0.05)
-  assert ret.steeringTorque == 7
-  assert ret.gasPressed and ret.brakePressed
-  assert ret.gearShifter == structs.CarState.GearShifter.drive
-  assert ret.cruiseState.available and ret.cruiseState.enabled
-  assert ret.cruiseState.speed == pytest.approx(100 / 3.6)
-  assert ret.leftBlinker and not ret.rightBlinker
-  assert len(ret.buttonEvents) == 2
-  assert any(event.type == ButtonType.cancel and event.pressed for event in ret.buttonEvents)
-  assert any(event.type == ButtonType.setCruise and event.pressed for event in ret.buttonEvents)
-
-  release = packer.make_can_msg("CCButtons", 0, {})
-  packets = [(2_000_000, [_can_data(release)])]
-  for parser in parsers.values():
-    parser.update(packets)
-  ret, _ = cs.update(parsers, None)
-  assert len(ret.buttonEvents) == 2
-  assert any(event.type == ButtonType.cancel and not event.pressed for event in ret.buttonEvents)
-  assert any(event.type == ButtonType.setCruise and not event.pressed for event in ret.buttonEvents)

opendbc_repo/opendbc/car/volvo/tests/test_controller.py

@@ -4,8 +4,7 @@ from types import SimpleNamespace
 from opendbc.car.volvo.carcontroller import CarController
 from opendbc.car.volvo.helpers import checksum_lca_5_message
 from opendbc.car.volvo.interface import CarInterface
-from opendbc.car.volvo.values import CAR, DBC
+from opendbc.car.volvo.values import DBC
-from opendbc.car.volvo.volvocan import create_c1_checksum
 
 
 def _zero_message():
@@ -68,70 +67,3 @@ def test_controller_relays_stock_lca5_angle_when_inactive():
   if raw & (1 << 14):
     raw -= 1 << 15
   assert abs(raw * 0.05596 - 12.0) < 0.1
-
-
-def _c1_state():
-  return SimpleNamespace(
-    out=SimpleNamespace(steeringAngleDeg=10.0, vEgo=12.0, vEgoRaw=12.0),
-    c1_lka_torque=5,
-    c1_msg_pscm=_zero_message(),
-  )
-
-
-def test_c1_controller_emits_checked_steering_and_pscm_relay():
-  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
-  controller = CarController(DBC[cp.carFingerprint], cp)
-  cc = SimpleNamespace(
-    latActive=True,
-    actuators=_Actuators(),
-    cruiseControl=SimpleNamespace(cancel=False),
-  )
-
-  actuators, can_sends = controller.update(cc, _c1_state(), 0, None)
-  assert [(msg[0], msg[2]) for msg in can_sends] == [(0x125, 2), (0xD0, 0)]
-
-  fsm = can_sends[1][1]
-  assert fsm[7] & 0x3 == 3
-  assert fsm[6] == create_c1_checksum(fsm)
-  assert 0.0 < actuators.steeringAngleDeg <= 2.0
-
-
-def test_c1_controller_sends_only_cancel_button():
-  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
-  controller = CarController(DBC[cp.carFingerprint], cp)
-  cc = SimpleNamespace(
-    latActive=False,
-    actuators=_Actuators(),
-    cruiseControl=SimpleNamespace(cancel=True),
-  )
-
-  _, can_sends = controller.update(cc, _c1_state(), 0, None)
-  buttons = next(msg for msg in can_sends if msg[0] == 0x10)
-  assert buttons[2] == 0
-  assert buttons[1][7] == 0x10
-  assert buttons[1][6] == 0
-
-
-def test_c1_controller_temporarily_drops_steering_on_zero_torque_fault():
-  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
-  controller = CarController(DBC[cp.carFingerprint], cp)
-  cs = _c1_state()
-  cs.c1_lka_torque = 0
-  cc = SimpleNamespace(
-    latActive=True,
-    actuators=_Actuators(),
-    cruiseControl=SimpleNamespace(cancel=False),
-  )
-
-  directions = []
-  for _ in range(23):
-    _, can_sends = controller.update(cc, cs, 0, None)
-    directions.extend(msg[1][7] & 0x3 for msg in can_sends if msg[0] == 0xD0)
-
-  assert directions[:-1] == [3] * 11
-  assert directions[-1] == 0
-
-  while controller.frame <= 122:
-    _, can_sends = controller.update(cc, cs, 0, None)
-  fsm = next(msg for msg in can_sends if msg[0] == 0xD0)
-  assert fsm[1][7] & 0x3 == 3

opendbc_repo/opendbc/car/volvo/values.py

@@ -1,23 +1,13 @@
 from dataclasses import dataclass, field
-from enum import IntFlag
 
 from opendbc.car.structs import CarParams
 from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
 from opendbc.car.lateral import AngleSteeringLimits
-from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
 from opendbc.car.fw_query_definitions import FwQueryConfig
 
 Ecu = CarParams.Ecu
 
-# C1 support is adapted from the original dragonpilot V40 port:
-# https://github.com/dragonpilot/dragonpilot/commit/773dce507082d931236b64dca8024dce9625446f
-
-
-class VolvoSafetyFlags(IntFlag):
-  SPA = 1
-  C1 = 2
-
 
 class CarControllerParams:
   STEER_STEP = 1  # 100 Hz LCA command frequency (controlsd runs at 100 Hz)
@@ -91,19 +81,6 @@ class CarControllerParams:
     ([0., 5., 25.], [5., 2., .3]),    # rate down limits at different speeds
   )
 
-  C1_STEER_NO = 0
-  C1_STEER = 3
-  C1_N_ZERO_TORQUE = 12
-  C1_ANGLE_ERROR = 20.0
-  C1_ANGLE_DELTA_BP = [0., 8.33, 13.89, 19.44, 25., 30.55, 36.1]
-  C1_ANGLE_DELTA_UP = [2., 1.2, .25, .20, .15, .10, .10]
-  C1_ANGLE_DELTA_DOWN = [2., 1.2, .25, .20, .15, .10, .10]
-  C1_ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
-    359.9,
-    (C1_ANGLE_DELTA_BP, C1_ANGLE_DELTA_UP),
-    (C1_ANGLE_DELTA_BP, C1_ANGLE_DELTA_DOWN),
-  )
-
 
 @dataclass
 class VolvoCarDocs(CarDocs):
@@ -128,26 +105,7 @@ class VolvoSPAPlatformConfig(PlatformConfig):
   })
 
 
-@dataclass
-class VolvoC1PlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: {
-    Bus.pt: 'volvo_v40_2017_pt',
-    Bus.cam: 'volvo_v40_2017_pt',
-  })
-
-
 class CAR(Platforms):
-  VOLVO_V40 = VolvoC1PlatformConfig(
-    [VolvoCarDocs("Volvo V40 2013-19")],
-    CarSpecs(
-      mass=1610,
-      wheelbase=2.647,
-      steerRatio=14.7,
-      centerToFrontRatio=0.44,
-      minSteerSpeed=1.0 * CV.KPH_TO_MS,
-    ),
-  )
-
   VOLVO_XC40_RECHARGE = VolvoCMAPlatformConfig(
     [VolvoCarDocs("Volvo XC40 Recharge 2021-23")],
     CarSpecs(

opendbc_repo/opendbc/car/volvo/volvocan.py

@@ -2,47 +2,6 @@ from opendbc.car.volvo.helpers import (checksum_lca_2_message, checksum_2_0x69_m
                                        checksum_2_pscm_related_message, checksum_lca_5_message)
 from opendbc.car.carlog import carlog
 
-
-def create_c1_pscm_message(packer, msg_pscm: dict):
-  values = {
-    "LKATorque": 0,
-    "SteeringAngleServo": msg_pscm["SteeringAngleServo"],
-    "byte0": msg_pscm["byte0"],
-    "byte3": msg_pscm["byte3"],
-    "byte4": msg_pscm["byte4"],
-    "byte7": msg_pscm["byte7"],
-    "LKAActive": int(msg_pscm["LKAActive"]) & 0xD,
-  }
-  return packer.make_can_msg("PSCM1", 2, values)
-
-
-def create_c1_checksum(data: bytes) -> int:
-  angle_raw = ((data[4] & 0x3F) << 8) | data[5]
-  direction = data[7] & 0x3
-  checksum_sum = (data[3] + direction + angle_raw + (angle_raw >> 8)) & 0xFF
-  return checksum_sum ^ 0xFF
-
-
-def create_c1_steering_control(packer, apply_angle: float, lat_active: bool):
-  values = {
-    "SET_X_E3": 0xE3,
-    "SET_X_B4": 0xB4,
-    "SET_X_08": 0x08,
-    "TrqLim": 0,
-    "LKAAngleReq": apply_angle,
-    "LKASteerDirection": 3 if lat_active else 0,
-    "SET_X_25": 0x25,
-    "SET_X_02": 0x02,
-  }
-  data = packer.make_can_msg("FSM1", 0, values)[1]
-  values["Checksum"] = create_c1_checksum(data)
-  return packer.make_can_msg("FSM1", 0, values)
-
-
-def create_c1_cancel(packer):
-  return packer.make_can_msg("CCButtons", 0, {"ACCStopBtn": 1})
-
-
 def create_lca_message(packer, lat_active: bool, apply_angle: float, msg_lca: dict,
                        authority_pos: int = 614, authority_neg: int = -614,
                        overrides: dict | None = None):

opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc

@@ -1497,7 +1497,7 @@ BO_ 913 BCM_PO_11: 8 Vector__XXX
  SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
  SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
  SG_ LDA_BTN : 4|1@0+ (1,0) [0|1] "" XXX
- SG_ RAY_LKAS_BTN : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ RAY_LKAS_BTN : 0|2@1+ (1,0) [0|3] "" XXX
 
 BO_ 1426 LABEL11: 8 XXX
  SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX

opendbc_repo/opendbc/safety/__init__.py

@@ -11,4 +11,3 @@ class ALTERNATIVE_EXPERIENCE:
 
   ALWAYS_ON_LATERAL = 32
   GM_REMAP_CANCEL_TO_DISTANCE = 64
-  TOYOTA_AUTO_HOLD = 128

opendbc_repo/opendbc/safety/declarations.h

@@ -339,7 +339,6 @@ extern bool gm_remote_start_boots_comma;
 
 #define ALT_EXP_ALWAYS_ON_LATERAL 32
 #define ALT_EXP_GM_REMAP_CANCEL_TO_DISTANCE 64
-#define ALT_EXP_TOYOTA_AUTO_HOLD 128
 
 extern int alternative_experience;
 

opendbc_repo/opendbc/safety/modes/toyota.h

@@ -2,8 +2,6 @@
 
 #include "opendbc/safety/declarations.h"
 
-#define TOYOTA_AUTO_HOLD_ACCEL -1000  // -1.0 m/s^2 in ACC_CONTROL units
-
 // Stock longitudinal
 #define TOYOTA_BASE_TX_MSGS \
   {0x191, 0, 8, .check_relay = true}, {0x412, 0, 8, .check_relay = true}, {0x1D2, 0, 8, .check_relay = false},  /* LKAS + LTA + PCM cancel cmd */  \
@@ -279,15 +277,7 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
         // SecOC cars move accel to 0x183. Only allow inactive accel on 0x343 to match stock behavior
         violation = desired_accel != TOYOTA_LONG_LIMITS.inactive_accel;
       }
-
+      violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
-      bool toyota_auto_hold =
-        !toyota_stock_longitudinal &&
-        ((alternative_experience & ALT_EXP_TOYOTA_AUTO_HOLD) != 0) &&
-        !vehicle_moving && !gas_pressed && acc_main_on &&
-        (desired_accel == TOYOTA_AUTO_HOLD_ACCEL) &&
-        GET_BIT(msg, 30U) && !GET_BIT(msg, 31U) && !GET_BIT(msg, 24U);
-
-      violation |= !toyota_auto_hold && longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS);
 
       // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
       if (toyota_stock_longitudinal) {
@@ -404,7 +394,12 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
       tx = false;
     }
 
-    if ((msg->addr == 0x344U) && toyota_stock_longitudinal) {
+    // Auto brake hold replaces the camera AEB message only while stopped.
+    if ((msg->addr == 0x344U) && ((alternative_experience & ALT_EXP_ALLOW_AEB) != 0)) {
+      if (vehicle_moving || gas_pressed || !acc_main_on) {
+        tx = false;
+      }
+    } else if ((msg->addr == 0x344U) && toyota_stock_longitudinal) {
       tx = false;
     }
   }
@@ -571,11 +566,21 @@ static safety_config toyota_init(uint16_t param) {
   return ret;
 }
 
+static bool toyota_fwd_hook(int bus_num, int addr) {
+  bool block_msg = false;
+  if (bus_num == 2) {
+    block_msg = (addr == 0x344) && ((alternative_experience & ALT_EXP_ALLOW_AEB) != 0) &&
+                !vehicle_moving && !gas_pressed && acc_main_on;
+  }
+  return block_msg;
+}
+
 const safety_hooks toyota_hooks = {
   .init = toyota_init,
   .rx = toyota_rx_hook,
   .rx_all = toyota_rx_all_hook,
   .tx = toyota_tx_hook,
+  .fwd = toyota_fwd_hook,
   .get_checksum = toyota_get_checksum,
   .compute_checksum = toyota_compute_checksum,
   .get_quality_flag_valid = toyota_get_quality_flag_valid,

opendbc_repo/opendbc/safety/modes/volvo.h

@@ -2,11 +2,9 @@
 
 #include "opendbc/safety/declarations.h"
 
-// safetyParam: 0 = CMA (XC40 Recharge), 1 = SPA (S60 Recharge, Polestar 2),
+// safetyParam: 0 = CMA (XC40 Recharge), 1 = SPA (S60 Recharge, Polestar 2)
-// 2 = C1 (V40)
 // Polestar 2 is technically CMA, but appears to use SPA DBC for CAN 1 bus
 #define VOLVO_FLAG_SPA 1U
-#define VOLVO_FLAG_C1 2U
 
 // Volvo CAN message addresses shared between CMA and SPA
 #define VOLVO_LCA_STEER           0x58U    // TX from VCU1 to PSCM, LCA steering command (0x58)
@@ -26,15 +24,6 @@
 #define VOLVO_LCA_6               0x97U   // TX LCA_6 message
 #define VOLVO_LCA_7               0x92U   // TX LCA_7 message
 
-// C1-specific addresses (V40). The V40 powertrain bus is bus 0 and its
-// forward-camera bus is bus 2; bus 1 is unused by this port.
-#define VOLVO_C1_BUTTONS           0x10U
-#define VOLVO_C1_FSM_0             0x30U
-#define VOLVO_C1_FSM_1             0xD0U
-#define VOLVO_C1_PSCM_1            0x125U
-#define VOLVO_C1_PEDAL_AND_BRAKE   0x55U
-#define VOLVO_C1_SPEED             0x150U
-
 // CMA-specific PT bus addresses
 #define VOLVO_CMA_BUS1_SPEED          0x70U   // RX vehicle speed
 #define VOLVO_CMA_ECM_1               0x250U  // RX accelerator pedal position
@@ -55,10 +44,6 @@
 #define VOLVO_MAX_ANGLE_CAN 9650
 #define VOLVO_RELAY_ANGLE_TOLERANCE 54  // approximately 3 degrees
 
-#define VOLVO_C1_ANGLE_DEG_TO_CAN 22.753128f
-#define VOLVO_C1_MAX_ANGLE_CAN 8189
-#define VOLVO_C1_RELAY_ANGLE_TOLERANCE 2
-
 
 // CAN bus definitions for Volvo
 // Using same naming as carstate.py for consistency: main, pt, party
@@ -69,7 +54,6 @@
 // Runtime addresses set by volvo_init based on safetyParam
 static uint16_t volvo_ecm_1_addr;
 static uint16_t volvo_bus1_cruise_control_addr;
-static bool volvo_c1;
 
 static int volvo_be_15(const CANPacket_t *msg, uint8_t byte) {
   return (int)(((uint16_t)(msg->data[byte] & 0x7FU) << 8U) | msg->data[byte + 1U]);
@@ -83,21 +67,6 @@ static int volvo_lca_5_angle(const CANPacket_t *msg) {
   return to_signed(volvo_be_15(msg, 6U), 15);
 }
 
-static int volvo_c1_pscm_angle(const CANPacket_t *msg) {
-  return (int)(((uint16_t)msg->data[5] << 8U) | msg->data[6]) - 32768;
-}
-
-static int volvo_c1_fsm_angle(const CANPacket_t *msg) {
-  return (int)(((uint16_t)(msg->data[4] & 0x3FU) << 8U) | msg->data[5]) - 8192;
-}
-
-static uint8_t volvo_c1_fsm_checksum(const CANPacket_t *msg) {
-  const uint16_t angle_raw = ((uint16_t)(msg->data[4] & 0x3FU) << 8U) | msg->data[5];
-  const uint8_t direction = msg->data[7] & 0x3U;
-  const uint8_t checksum_sum = (msg->data[3] + direction + angle_raw + (angle_raw >> 8U)) & 0xFFU;
-  return checksum_sum ^ 0xFFU;
-}
-
 static const AngleSteeringLimits VOLVO_ANGLE_STEERING_LIMITS = {
   .max_angle = VOLVO_MAX_ANGLE_CAN,
   .angle_deg_to_can = VOLVO_ANGLE_DEG_TO_CAN,
@@ -112,51 +81,8 @@ static const AngleSteeringLimits VOLVO_ANGLE_STEERING_LIMITS = {
   .frequency = 50U,
 };
 
-static const AngleSteeringLimits VOLVO_C1_ANGLE_STEERING_LIMITS = {
-  .max_angle = VOLVO_C1_MAX_ANGLE_CAN,
-  .angle_deg_to_can = VOLVO_C1_ANGLE_DEG_TO_CAN,
-  .angle_rate_up_lookup = {
-    {7.0f, 17.0f, 36.0f},
-    {2.0f, 0.25f, 0.1f},
-  },
-  .angle_rate_down_lookup = {
-    {7.0f, 17.0f, 36.0f},
-    {2.0f, 0.25f, 0.1f},
-  },
-  .max_angle_error = 455,  // 20 degrees
-  .angle_error_min_speed = 0.0f,
-  .frequency = 50U,
-  .enforce_angle_error = true,
-};
-
 static void volvo_rx_hook(const CANPacket_t *msg) {
 
-  if (volvo_c1) {
-    if (msg->bus == VOLVO_MAIN_BUS) {
-      if (msg->addr == VOLVO_C1_PSCM_1) {
-        update_sample(&angle_meas, volvo_c1_pscm_angle(msg));
-      }
-
-      if (msg->addr == VOLVO_C1_SPEED) {
-        const uint16_t speed_raw = ((uint16_t)msg->data[6] << 8U) | msg->data[7];
-        const float speed = ((float)speed_raw * 0.01f) / 3.6f;
-        vehicle_moving = speed > 0.1f;
-        UPDATE_VEHICLE_SPEED(speed);
-      }
-
-      if (msg->addr == VOLVO_C1_PEDAL_AND_BRAKE) {
-        const uint16_t gas_raw = ((uint16_t)(msg->data[1] & 0x3U) << 8U) | msg->data[2];
-        gas_pressed = gas_raw > 50U;  // DBC factor 0.1: greater than 5 percent
-        brake_pressed = GET_BIT(msg, 24U) || GET_BIT(msg, 38U);
-      }
-    }
-
-    if ((msg->bus == VOLVO_PARTY_BUS) && (msg->addr == VOLVO_C1_FSM_0)) {
-      pcm_cruise_check(GET_BIT(msg, 58U));
-    }
-    return;
-  }
-
   // Main bus (bus 0) messages
   if (msg->bus == VOLVO_MAIN_BUS) {
     // Update brake pedal and cruise state from BCM2
@@ -232,33 +158,6 @@ static void volvo_rx_hook(const CANPacket_t *msg) {
 static bool volvo_tx_hook(const CANPacket_t *msg) {
   bool tx = true;
 
-  if (volvo_c1) {
-    if (msg->addr == VOLVO_C1_FSM_1) {
-      const int desired_angle = volvo_c1_fsm_angle(msg);
-      const uint8_t direction = msg->data[7] & 0x3U;
-      const bool steer_control_enabled = direction != 0U;
-      tx &= SAFETY_ABS(desired_angle) <= VOLVO_C1_MAX_ANGLE_CAN;
-      tx &= !steer_angle_cmd_checks(desired_angle, steer_control_enabled, VOLVO_C1_ANGLE_STEERING_LIMITS);
-      tx &= (direction == 0U) || (direction == 3U);
-      tx &= (msg->data[0] == 0xE3U) && (msg->data[1] == 0xB4U) && (msg->data[2] == 0x08U);
-      tx &= (msg->data[3] == 0x80U) && ((msg->data[4] & 0xC0U) == 0x80U) && ((msg->data[7] & 0xFCU) == 0x94U);
-      tx &= msg->data[6] == volvo_c1_fsm_checksum(msg);
-    }
-
-    if (msg->addr == VOLVO_C1_PSCM_1) {
-      const int relayed_angle = volvo_c1_pscm_angle(msg);
-      const int measured_max = angle_meas.max + VOLVO_C1_RELAY_ANGLE_TOLERANCE;
-      const int measured_min = angle_meas.min - VOLVO_C1_RELAY_ANGLE_TOLERANCE;
-      tx &= !safety_max_limit_check(relayed_angle, measured_max, measured_min);
-    }
-
-    // Only ACC cancel (byte 7 bit 4) may be synthesized.
-    if (msg->addr == VOLVO_C1_BUTTONS) {
-      tx &= ((msg->data[7] & 0xEFU) == 0U) && (msg->data[6] == 0U);
-    }
-    return tx;
-  }
-
   // LCA_5 carries the actual angle command used by the controller. The stock
   // LCA frame also contains an angle-shaped field, but the imported controller
   // deliberately leaves that field at the observed vehicle value.
@@ -356,22 +255,6 @@ static bool volvo_tx_hook(const CANPacket_t *msg) {
 
 static safety_config volvo_init(uint16_t param) {
   bool spa = GET_FLAG(param, VOLVO_FLAG_SPA);
-  volvo_c1 = GET_FLAG(param, VOLVO_FLAG_C1);
-
-  if (volvo_c1) {
-    static const CanMsg VOLVO_C1_TX_MSGS[] = {
-      {VOLVO_C1_FSM_1, VOLVO_MAIN_BUS, 8, .check_relay = true},
-      {VOLVO_C1_PSCM_1, VOLVO_PARTY_BUS, 8, .check_relay = true},
-      {VOLVO_C1_BUTTONS, VOLVO_MAIN_BUS, 8, .check_relay = false},
-    };
-    static RxCheck volvo_c1_rx_checks[] = {
-      {.msg = {{VOLVO_C1_PSCM_1, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
-      {.msg = {{VOLVO_C1_FSM_0, VOLVO_PARTY_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
-      {.msg = {{VOLVO_C1_PEDAL_AND_BRAKE, VOLVO_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
-      {.msg = {{VOLVO_C1_SPEED, VOLVO_MAIN_BUS, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
-    };
-    return BUILD_SAFETY_CFG(volvo_c1_rx_checks, VOLVO_C1_TX_MSGS);
-  }
 
   // Set PT bus addresses based on platform
   volvo_ecm_1_addr = spa ? VOLVO_SPA_ECM_1 : VOLVO_CMA_ECM_1;

opendbc_repo/opendbc/safety/tests/test_subaru.py

@@ -417,18 +417,6 @@ class TestSubaruDPlatformAngleSafety(TestSubaruStockLongitudinalSafetyBase, Test
     return self.packer.make_can_msg_safety("Steering_2", SUBARU_MAIN_BUS, {"Steering_Angle": angle})
 
 
-class TestSubaruDPlatformFixedAngleSafety(TestSubaruDPlatformAngleSafety):
-  FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | \
-    SubaruSafetyFlags.FIXED_ANGLE_LIMITS
-  STEER_ANGLE_MAX = 545
-  ANGLE_RATE_BP = [0., 5., 35.]
-  ANGLE_RATE_UP = [5., .8, .15]
-  ANGLE_RATE_DOWN = [5., .8, .15]
-
-  def test_rt_limits(self):
-    raise unittest.SkipTest("Breakpoint angle limits do not enforce a real-time message frequency")
-
-
 class TestSubaruDPlatformStopStartSafety(TestSubaruDPlatformAngleSafety):
   FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM | \
     SubaruSafetyFlags.STOP_START_BUTTON

opendbc_repo/opendbc/safety/tests/test_toyota.py

@@ -97,55 +97,29 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
           msg = libsafety_py.make_CANPacket(0x283, 0, bytes(dat))
           self.assertEqual(not bad and not stock_longitudinal, self._tx(msg))
 
-  def test_auto_hold_acc_control_is_narrowly_allowed_only_at_standstill(self):
+  def test_auto_brake_hold_aeb_replacement_only_at_standstill(self):
-    if (not self.LONGITUDINAL or
+    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALLOW_AEB)
-        self.safety.get_current_safety_param() & (ToyotaSafetyFlags.STOCK_LONGITUDINAL.value | ToyotaSafetyFlags.SECOC.value)):
+    hold_msg = libsafety_py.make_CANPacket(0x344, 0, b"\xfd\x80\x00\x00\x00\x00\x00\xcc")
-      raise unittest.SkipTest("Toyota Auto Hold requires non-SecOC openpilot longitudinal control")
-
-    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD)
-    hold_msg = self.packer.make_can_msg_safety("ACC_CONTROL", 0, {
-      "ACCEL_CMD": -1.0,
-      "PERMIT_BRAKING": 1,
-      "RELEASE_STANDSTILL": 0,
-      "CANCEL_REQ": 0,
-    })
 
     self._rx(self._speed_msg(0))
     self._rx(self._toggle_aol(True))
     self._rx(self._user_gas_msg(False))
-    self.safety.set_controls_allowed(False)
     self.assertTrue(self._tx(hold_msg))
-
+    self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x344))
-    self.assertFalse(self._tx(self.packer.make_can_msg_safety("ACC_CONTROL", 0, {
-      "ACCEL_CMD": -1.1,
-      "PERMIT_BRAKING": 1,
-      "RELEASE_STANDSTILL": 0,
-    })))
 
     self._rx(self._speed_msg(1.0))
     self.assertFalse(self._tx(hold_msg))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
 
     self._rx(self._speed_msg(0))
     self._rx(self._user_gas_msg(True))
     self.assertFalse(self._tx(hold_msg))
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
 
     self._rx(self._user_gas_msg(False))
     self._rx(self._toggle_aol(False))
     self.assertFalse(self._tx(hold_msg))
-
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x344))
-  def test_auto_hold_acc_control_is_blocked_without_toyota_hold_toggle(self):
-    hold_msg = self.packer.make_can_msg_safety("ACC_CONTROL", 0, {
-      "ACCEL_CMD": -1.0,
-      "PERMIT_BRAKING": 1,
-      "RELEASE_STANDSTILL": 0,
-      "CANCEL_REQ": 0,
-    })
-    self._rx(self._speed_msg(0))
-    self._rx(self._toggle_aol(True))
-    self._rx(self._user_gas_msg(False))
-    self.safety.set_controls_allowed(False)
-    self.safety.set_alternative_experience(0)
-    self.assertFalse(self._tx(hold_msg))
 
   # Only allow LTA msgs with no actuation
   def test_lta_steer_cmd(self):

opendbc_repo/opendbc/safety/tests/test_volvo.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 """
-Safety tests for Volvo C1/CMA/SPA.
+Safety tests for Volvo CMA/SPA.
 
 The safety mode lives at ``opendbc/safety/modes/volvo.h`` and is parameterized
 by ``safetyParam``:
@@ -8,13 +8,14 @@ by ``safetyParam``:
   - ``safetyParam == 0``       → CMA platform (Volvo XC40 Recharge)
   - ``safetyParam == VOLVO_FLAG_SPA`` → SPA platform (Volvo S60 Recharge,
     Polestar 2)
-  - ``safetyParam == VOLVO_FLAG_C1``  → C1 platform (Volvo V40)
 
-CMA and SPA share LCA/PSCM/etc. addresses on the main and party buses but use
+The two platforms share LCA/PSCM/etc. addresses on the main and party buses
-different PT-bus addresses and signal scales. C1 uses the V40's legacy CAN
+but use *different* PT-bus addresses and signal scales for ECM_1 and
-layout and its own safety allowlist. The tests exercise all three through the
+BUS1_CRUISE_CONTROL. Vehicle speed is read from main-bus SPEED on both, so it
-generic ``CarSafetyTest`` harness so divergence between ``carstate.py`` and
+is not platform-dependent. This test file exercises both platforms through the
-``volvo.h`` is caught before running in a car.
+same generic ``CarSafetyTest`` harness so that any future divergence between
+``carstate.py`` and ``volvo.h`` — e.g. a threshold drifting out of sync — is
+caught on a laptop instead of in the car.
 
 Companion to: ``opendbc/car/volvo/carstate.py`` (must agree on thresholds).
 """
@@ -24,16 +25,13 @@ import re
 import unittest
 
 from opendbc.car.volvo.interface import SAFETY_VOLVO
-from opendbc.car.volvo.values import VolvoSafetyFlags
-from opendbc.car.volvo.volvocan import create_c1_checksum, create_c1_steering_control
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerSafety
 
 
-# Must match the flags in opendbc/safety/modes/volvo.h
+# Must match VOLVO_FLAG_SPA in opendbc/safety/modes/volvo.h
-VOLVO_FLAG_SPA = VolvoSafetyFlags.SPA.value
+VOLVO_FLAG_SPA = 1
-VOLVO_FLAG_C1 = VolvoSafetyFlags.C1.value
 
 # Must match VOLVO_SPEED_TO_MS in volvo.h and SPEED_TO_MS in carstate.py
 VOLVO_SPEED_TO_MS = 0.003977
@@ -334,124 +332,5 @@ class TestVolvoSPA(TestVolvoSafetyBase):
       "BUS1_CRUISE_CONTROL", VOLVO_PT_BUS, values)
 
 
-class TestVolvoC1(common.CarSafetyTest, common.AngleSteeringSafetyTest):
-  TX_MSGS = [[0xD0, VOLVO_MAIN_BUS], [0x125, VOLVO_PARTY_BUS], [0x10, VOLVO_MAIN_BUS]]
-  RELAY_MALFUNCTION_ADDRS = {
-    VOLVO_MAIN_BUS: (0xD0,),
-    VOLVO_PARTY_BUS: (0x125,),
-  }
-  FWD_BLACKLISTED_ADDRS = {
-    VOLVO_MAIN_BUS: [0x125],
-    VOLVO_PARTY_BUS: [0xD0],
-  }
-  STANDSTILL_THRESHOLD = 0.1
-  GAS_PRESSED_THRESHOLD = 5.0
-
-  STEER_ANGLE_MAX = 359.9
-  STEER_ANGLE_TEST_MAX = 350.0
-  DEG_TO_CAN = 1 / 0.04395
-  ANGLE_RATE_BP = [7.0, 17.0, 36.0]
-  ANGLE_RATE_UP = [2.0, 0.25, 0.1]
-  ANGLE_RATE_DOWN = [2.0, 0.25, 0.1]
-
-  def setUp(self):
-    self.packer = CANPackerSafety("volvo_v40_2017_pt")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(SAFETY_VOLVO, VOLVO_FLAG_C1)
-    self.safety.init_tests()
-
-  def _angle_cmd_msg(self, angle: float, enabled: bool, increment_timer: bool = True):
-    values = {
-      "SET_X_E3": 0xE3,
-      "SET_X_B4": 0xB4,
-      "SET_X_08": 0x08,
-      "LKAAngleReq": angle,
-      "LKASteerDirection": 3 if enabled else 0,
-      "TrqLim": 0,
-      "SET_X_25": 0x25,
-      "SET_X_02": 0x02,
-    }
-
-    def fix_checksum(msg):
-      address, data, bus = msg
-      data = bytearray(data)
-      data[6] = create_c1_checksum(data)
-      return address, data, bus
-
-    return self.packer.make_can_msg_safety("FSM1", VOLVO_MAIN_BUS, values, fix_checksum)
-
-  def _angle_meas_msg(self, angle: float):
-    return self.packer.make_can_msg_safety(
-      "PSCM1", VOLVO_MAIN_BUS, {"SteeringAngleServo": angle})
-
-  def _speed_msg(self, speed):
-    return self.packer.make_can_msg_safety(
-      "VehicleSpeed1", VOLVO_MAIN_BUS, {"VehicleSpeed": speed * 3.6})
-
-  def _speed_msg_2(self, speed):
-    return None
-
-  def _user_brake_msg(self, brake):
-    return self.packer.make_can_msg_safety(
-      "PedalandBrake", VOLVO_MAIN_BUS, {"BrakePedalActive2": bool(brake)})
-
-  def _user_gas_msg(self, gas):
-    return self.packer.make_can_msg_safety(
-      "PedalandBrake", VOLVO_MAIN_BUS, {"AccPedal": gas})
-
-  def _pcm_status_msg(self, enable):
-    return self.packer.make_can_msg_safety(
-      "FSM0", VOLVO_PARTY_BUS, {"ACCStatusActive": bool(enable)})
-
-  def test_cancel_button_only(self):
-    allowed = self.packer.make_can_msg_safety(
-      "CCButtons", VOLVO_MAIN_BUS, {"ACCStopBtn": 1})
-    self.assertTrue(self._tx(allowed))
-
-    for signal in ("ACCOnOffBtn", "ACCSetBtn", "ACCResumeBtn", "ACCMinusBtn",
-                   "TimeGapIncreaseBtn", "TimeGapDecreaseBtn"):
-      msg = self.packer.make_can_msg_safety("CCButtons", VOLVO_MAIN_BUS, {signal: 1})
-      self.assertFalse(self._tx(msg), signal)
-
-  def test_pscm_relay_cannot_invent_angle(self):
-    for _ in range(common.MAX_SAMPLE_VALS):
-      self._rx(self._angle_meas_msg(10))
-    valid = self.packer.make_can_msg_safety(
-      "PSCM1", VOLVO_PARTY_BUS, {"SteeringAngleServo": 10})
-    invalid = self.packer.make_can_msg_safety(
-      "PSCM1", VOLVO_PARTY_BUS, {"SteeringAngleServo": 20})
-    self.assertTrue(self._tx(valid))
-    self.assertFalse(self._tx(invalid))
-
-  def test_pscm_relay_preserves_full_lock_angle(self):
-    for angle in (-720, 500):
-      for _ in range(common.MAX_SAMPLE_VALS):
-        self._rx(self._angle_meas_msg(angle))
-      relayed = self.packer.make_can_msg_safety(
-        "PSCM1", VOLVO_PARTY_BUS, {"SteeringAngleServo": angle})
-      self.assertTrue(self._tx(relayed), angle)
-
-  def test_steering_static_fields_and_checksum(self):
-    self.safety.set_controls_allowed(True)
-    self._reset_angle_measurement(0)
-    self._reset_speed_measurement(10)
-    self._set_prev_desired_angle(0)
-    valid = self._angle_cmd_msg(0, True)
-    self.assertTrue(self._tx(valid))
-
-    for byte_index in (0, 1, 2, 3, 4, 6, 7):
-      invalid = self._angle_cmd_msg(0, True)
-      invalid[0].data[byte_index] ^= 0x4 if byte_index in (4, 7) else 0x1
-      self.assertFalse(self._tx(invalid), byte_index)
-
-  def test_controller_steering_message_is_allowed(self):
-    self.safety.set_controls_allowed(True)
-    self._reset_angle_measurement(0)
-    self._reset_speed_measurement(10)
-    self._set_prev_desired_angle(0)
-    address, data, bus = create_c1_steering_control(self.packer, 0, True)
-    self.assertTrue(self._tx(libsafety_py.make_CANPacket(address, bus, data)))
-
-
 if __name__ == "__main__":
   unittest.main()

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-eedd73e5-DEBUG";
+const uint8_t gitversion[19] = "DEV-c03d06b4-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-eedd73e5-DEBUG
+DEV-c03d06b4-DEBUG

scripts/host_tool_runner.sh

@@ -284,22 +284,32 @@ ensure_host_python_extensions() {
 }
 
 sync_host_generated_headers() {
-  local capnpc="${ROOT_DIR}/.venv/bin/capnpc"
+  local capnp_bin=""
-  local capnpc_cpp
+  local candidate=""
-  capnpc_cpp="$(find "${ROOT_DIR}/.venv/lib" -path '*/capnproto/install/bin/capnpc-c++' -type f -print -quit)"
+  for candidate in "${HOST_VENV}"/lib/python*/site-packages/capnproto/install/bin; do
-  if [[ ! -x "${capnpc}" || ! -x "${capnpc_cpp}" ]]; then
+    if [[ -x "${candidate}/capnpc" ]]; then
+      capnp_bin="${candidate}"
+      break
+    fi
+  done
+
+  local capnpc_cmd="capnpc"
+  if [[ -n "${capnp_bin}" ]]; then
+    capnpc_cmd="${capnp_bin}/capnpc"
+    export PATH="${capnp_bin}:${PATH}"
+  elif ! command -v capnpc >/dev/null 2>&1; then
     return
   fi
 
   (
     cd "${WORK_DIR}"
     mkdir -p cereal/gen/cpp
-    "${capnpc}" --src-prefix=cereal \
+    "${capnpc_cmd}" --src-prefix=cereal \
       cereal/log.capnp \
       cereal/car.capnp \
       cereal/legacy.capnp \
       cereal/custom.capnp \
-      -o "${capnpc_cpp}:cereal/gen/cpp/"
+      -o c++:cereal/gen/cpp/
   )
 }
 

scripts/model_compiler.py

@@ -69,6 +69,10 @@ def build_compile_env(*, supercombo: bool = False) -> dict[str, str]:
       int(str(env.get(key)), 0)
     except (TypeError, ValueError):
       env[key] = default
+  if supercombo:
+    # Unified supercombo artifacts must use upstream compile defaults. The
+    # legacy QCOM tuning causes a reproducible HCQ timeline failure here.
+    env.pop("QCOM_PRIORITY", None)
   return env
 
 
@@ -84,14 +88,9 @@ def wait_for_external_gpu() -> None:
 
 
 def external_gpu_compile_command(command: list[str]) -> list[str]:
-  """Pin USB-GPU compilation when AGNOS exposes the isolated CPU."""
+  """Pin USB-GPU compilation to AGNOS' isolated CPU without changing host builds."""
   if sys.platform == "linux" and platform.machine() == "aarch64":
-    try:
+    return ["taskset", "-c", "7", *command]
-      available_cpus = os.sched_getaffinity(0)
-      if 7 in available_cpus:
-        return ["taskset", "-c", "7", *command]
-    except (AttributeError, OSError):
-      pass
   return command
 
 

scripts/model_release.py

@@ -19,7 +19,6 @@ import shlex
 import shutil
 import subprocess
 import sys
-import tempfile
 import urllib.error
 import urllib.parse
 import urllib.request
@@ -620,70 +619,6 @@ def update_manifest(repo: Path, info: ReleaseInfo, result: dict, manifest_versio
   return path
 
 
-def manifest_models(payload: object) -> list[dict]:
-  models = payload.get("models") if isinstance(payload, dict) else payload
-  if not isinstance(models, list) or not models:
-    raise ReleaseError("Unsupported or empty Hugging Face manifest")
-  if any(not isinstance(model, dict) or not str(model.get("id") or "").strip() for model in models):
-    raise ReleaseError("Hugging Face manifest contains an invalid model entry")
-  model_ids = [str(model["id"]).strip() for model in models]
-  if len(model_ids) != len(set(model_ids)):
-    raise ReleaseError("Hugging Face manifest contains duplicate model IDs")
-  return models
-
-
-def accelerator_artifact_map(payload: object) -> dict[tuple[str, str], dict]:
-  artifacts: dict[tuple[str, str], dict] = {}
-  for model in manifest_models(payload):
-    model_id = str(model.get("id") or "").strip()
-    model_artifacts = model.get("accelerator_artifacts")
-    if not model_id or not isinstance(model_artifacts, dict):
-      continue
-    for accelerator, metadata in model_artifacts.items():
-      if isinstance(metadata, dict):
-        artifacts[(model_id, str(accelerator))] = metadata
-  return artifacts
-
-
-def validate_manifest_update(before: object, after: object, replacing_model_id: str) -> None:
-  before_by_id = {str(model["id"]).strip(): model for model in manifest_models(before)}
-  after_by_id = {str(model["id"]).strip(): model for model in manifest_models(after)}
-  before_ids = set(before_by_id)
-  after_ids = set(after_by_id)
-  expected_ids = before_ids | {replacing_model_id}
-  if after_ids != expected_ids:
-    missing = sorted(expected_ids - after_ids)
-    unexpected = sorted(after_ids - expected_ids)
-    raise ReleaseError(
-      "Refusing to publish a manifest with an unexpected model set"
-      + (f"; missing: {', '.join(missing)}" if missing else "")
-      + (f"; unexpected: {', '.join(unexpected)}" if unexpected else "")
-    )
-
-  before_artifacts = accelerator_artifact_map(before)
-  after_artifacts = accelerator_artifact_map(after)
-  regressions = [
-    f"{model_id}:{accelerator}"
-    for (model_id, accelerator), metadata in before_artifacts.items()
-    if model_id != replacing_model_id and after_artifacts.get((model_id, accelerator)) != metadata
-  ]
-  if regressions:
-    raise ReleaseError(
-      "Refusing to publish a manifest that removes or changes existing accelerator metadata for: "
-      + ", ".join(sorted(regressions))
-    )
-
-  unrelated_changes = sorted(
-    model_id for model_id, model in before_by_id.items()
-    if model_id != replacing_model_id and after_by_id[model_id] != model
-  )
-  if unrelated_changes:
-    raise ReleaseError(
-      "Refusing to publish a manifest that changes unrelated model entries: "
-      + ", ".join(unrelated_changes)
-    )
-
-
 def find_hf() -> str:
   candidates = [shutil.which("hf"), str(Path.home() / ".local/bin/hf")]
   for candidate in candidates:
@@ -698,42 +633,15 @@ def hf_copy(source: Path, bucket: str, remote_path: str) -> None:
   run([hf, "buckets", "cp", str(source), destination, "--format", "quiet"])
 
 
-def refresh_huggingface_manifest(manifest: Path, bucket: str) -> dict:
-  remote_path = f"manifests/{manifest.name}"
-  source = f"hf://buckets/{bucket}/{remote_path}"
-  manifest.parent.mkdir(parents=True, exist_ok=True)
-  with tempfile.TemporaryDirectory(prefix=".model-release-", dir=manifest.parent) as temporary_dir:
-    candidate = Path(temporary_dir) / manifest.name
-    run([find_hf(), "buckets", "cp", source, str(candidate), "--format", "quiet"])
-    try:
-      payload = json.loads(candidate.read_text(encoding="utf-8"))
-    except (OSError, json.JSONDecodeError) as error:
-      raise ReleaseError(f"Invalid live Hugging Face manifest: {error}") from error
-    accelerator_artifact_map(payload)
-    candidate.replace(manifest)
-  return payload
-
-
-def prepare_huggingface_manifest(manifest: Path, info: ReleaseInfo, result: dict,
-                                 bucket: str, manifest_version: str) -> Path:
-  live_payload = refresh_huggingface_manifest(manifest, bucket)
-  updated_manifest = update_manifest(manifest.parent, info, result, manifest_version)
-  updated_payload = json.loads(updated_manifest.read_text(encoding="utf-8"))
-  validate_manifest_update(live_payload, updated_payload, info.model_id)
-  return updated_manifest
-
-
 def upload_huggingface(info: ReleaseInfo, result: dict, workspace: Path, bucket: str, manifest_version: str,
-                       manifest: Path, upload_onnx: bool, source: Path) -> Path:
+                       manifest: Path, upload_onnx: bool, source: Path) -> None:
   artifact_dir = Path(result["path"])
   for filename in result["files"]:
     hf_copy(artifact_dir / filename, bucket, f"models/{manifest_version}/{info.model_id}/{filename}")
   if upload_onnx:
     hf_copy(source, bucket, f"onnx/{info.model_id}/{source.name}")
-  manifest = prepare_huggingface_manifest(manifest, info, result, bucket, manifest_version)
   hf_copy(manifest, bucket, f"manifests/{manifest.name}")
   print(f"Hugging Face upload complete: {bucket}/models/{manifest_version}/{info.model_id}/")
-  return manifest
 
 
 def git_output(repo: Path, args: list[str]) -> str:
@@ -869,9 +777,9 @@ def main() -> int:
     result = remote_compile(info, source, ip, workspace, args.keep_device_files)
     resources_repo = args.resources_repo.expanduser().resolve()
     check_resources_repo(resources_repo, args.resources_branch)
-    manifest = resources_repo / f"model_names_{args.manifest_version}.json"
+    manifest = update_manifest(resources_repo, info, result, args.manifest_version)
-    manifest = upload_huggingface(info, result, workspace, args.hf_bucket, args.manifest_version,
+    upload_huggingface(info, result, workspace, args.hf_bucket, args.manifest_version,
-                                  manifest, not args.no_onnx_upload, source)
+                       manifest, not args.no_onnx_upload, source)
     push_github(info, result, resources_repo, args.manifest_version, manifest, args.resources_branch, args.force)
     print("\nRelease complete.")
     print(f"  local artifact: {result['path']}")

scripts/tests/test_model_release.py

@@ -3,20 +3,8 @@ from __future__ import annotations
 import json
 from pathlib import Path
 
-import pytest
-
 from scripts import model_release
-from scripts.model_release import (
+from scripts.model_release import parse_lfs_pointer, parse_pasted_release, runtime_file, update_manifest
-  ReleaseError,
-  parse_lfs_pointer,
-  parse_pasted_release,
-  prepare_huggingface_manifest,
-  refresh_huggingface_manifest,
-  runtime_file,
-  update_manifest,
-  upload_huggingface,
-  validate_manifest_update,
-)
 
 
 RELEASE_TEXT = """
@@ -107,138 +95,3 @@ def test_update_manifest_replaces_one_entry(tmp_path: Path):
   assert entry["artifact_size"] == 123
   assert entry["artifact_chunk_count"] == 2
   assert entry["uses_external_gpu"]
-
-
-def test_prepare_manifest_refreshes_live_copy_before_adding_model(tmp_path: Path, monkeypatch):
-  manifest = tmp_path / "model_names_v25.json"
-  manifest.write_text(json.dumps({"models": [{"id": "stale"}]}) + "\n")
-  live_payload = {
-    "models": [{
-      "id": "small-model",
-      "model_lab_eligible": True,
-      "accelerator_artifacts": {
-        "chestnut": {
-          "artifact_filename": "small-model_driving_chestnut_tinygrad.pkl",
-          "artifact_sha256": "b" * 64,
-          "execution_device": "AMD",
-        },
-      },
-    }],
-  }
-
-  def fake_refresh(path, bucket):
-    assert bucket == "StarPilot-Driving/StarPilot-Resources"
-    path.write_text(json.dumps(live_payload) + "\n")
-    return live_payload
-
-  monkeypatch.setattr(model_release, "refresh_huggingface_manifest", fake_refresh)
-  info = parse_pasted_release(RELEASE_TEXT, "bmrlnapv4", "v16")
-  prepared = prepare_huggingface_manifest(
-    manifest,
-    info,
-    {"size": 123, "sha256": "a" * 64, "chunk_count": 2},
-    "StarPilot-Driving/StarPilot-Resources",
-    "v25",
-  )
-
-  models = {entry["id"]: entry for entry in json.loads(prepared.read_text())["models"]}
-  assert set(models) == {"small-model", "bmrlnapv4"}
-  assert models["small-model"] == live_payload["models"][0]
-  assert models["bmrlnapv4"]["artifact_sha256"] == "a" * 64
-
-
-def test_manifest_guard_rejects_unrelated_accelerator_metadata_regression():
-  chestnut = {"execution_device": "AMD", "artifact_sha256": "a" * 64}
-  before = {"models": [
-    {"id": "keep", "accelerator_artifacts": {"chestnut": chestnut}},
-    {"id": "replace", "accelerator_artifacts": {"chestnut": chestnut}},
-  ]}
-  after = {"models": [{"id": "keep"}, {"id": "replace"}]}
-
-  with pytest.raises(ReleaseError, match="keep:chestnut"):
-    validate_manifest_update(before, after, "replace")
-
-  validate_manifest_update(
-    {"models": [{"id": "replace", "accelerator_artifacts": {"chestnut": chestnut}}]},
-    {"models": [{"id": "replace"}]},
-    "replace",
-  )
-
-  with pytest.raises(ReleaseError, match="unrelated model entries: keep"):
-    validate_manifest_update(
-      {"models": [{"id": "keep", "model_lab_eligible": True}]},
-      {"models": [{"id": "keep", "model_lab_eligible": False}, {"id": "replace"}]},
-      "replace",
-    )
-
-
-def test_refresh_manifest_is_atomic_and_uses_hugging_face_bucket(tmp_path: Path, monkeypatch):
-  manifest = tmp_path / "model_names_v25.json"
-  manifest.write_text(json.dumps({"models": [{"id": "stale"}]}) + "\n")
-  live_payload = {"models": [{"id": "live"}]}
-  commands = []
-
-  monkeypatch.setattr(model_release, "find_hf", lambda: "/usr/bin/hf")
-
-  def fake_run(command, **kwargs):
-    commands.append(command)
-    Path(command[4]).write_text(json.dumps(live_payload) + "\n")
-
-  monkeypatch.setattr(model_release, "run", fake_run)
-  assert refresh_huggingface_manifest(manifest, "owner/resources") == live_payload
-  assert json.loads(manifest.read_text()) == live_payload
-  assert commands[0][0:4] == [
-    "/usr/bin/hf",
-    "buckets",
-    "cp",
-    "hf://buckets/owner/resources/manifests/model_names_v25.json",
-  ]
-
-
-def test_refresh_manifest_keeps_local_copy_when_live_json_is_invalid(tmp_path: Path, monkeypatch):
-  manifest = tmp_path / "model_names_v25.json"
-  original = {"models": [{"id": "safe"}]}
-  manifest.write_text(json.dumps(original) + "\n")
-  monkeypatch.setattr(model_release, "find_hf", lambda: "/usr/bin/hf")
-  monkeypatch.setattr(model_release, "run", lambda command, **kwargs: Path(command[4]).write_text("{"))
-
-  with pytest.raises(ReleaseError, match="Invalid live Hugging Face manifest"):
-    refresh_huggingface_manifest(manifest, "owner/resources")
-  assert json.loads(manifest.read_text()) == original
-
-
-def test_upload_refreshes_manifest_after_artifacts(tmp_path: Path, monkeypatch):
-  artifact_dir = tmp_path / "artifacts"
-  artifact_dir.mkdir()
-  manifest = tmp_path / "resources" / "model_names_v25.json"
-  manifest.parent.mkdir()
-  manifest.write_text(json.dumps({"models": [{"id": "old"}]}) + "\n")
-  source = tmp_path / "model.onnx"
-  calls = []
-  info = parse_pasted_release(RELEASE_TEXT, "bmrlnapv4", "v16")
-  result = {
-    "path": str(artifact_dir),
-    "files": ["bmrlnapv4_driving_tinygrad.pkl"],
-    "size": 123,
-    "sha256": "a" * 64,
-    "chunk_count": 0,
-  }
-
-  monkeypatch.setattr(model_release, "hf_copy", lambda source, bucket, remote: calls.append(("copy", remote)))
-
-  def fake_prepare(path, release_info, release_result, bucket, version):
-    calls.append(("prepare", path.name))
-    return path
-
-  monkeypatch.setattr(model_release, "prepare_huggingface_manifest", fake_prepare)
-  returned = upload_huggingface(
-    info, result, tmp_path, "owner/resources", "v25", manifest, True, source,
-  )
-
-  assert returned == manifest
-  assert calls == [
-    ("copy", "models/v25/bmrlnapv4/bmrlnapv4_driving_tinygrad.pkl"),
-    ("copy", "onnx/bmrlnapv4/model.onnx"),
-    ("prepare", "model_names_v25.json"),
-    ("copy", "manifests/model_names_v25.json"),
-  ]

selfdrive/car/card.py

@@ -43,6 +43,8 @@ REDNECK_DECREASE_LOOKAHEAD_POINTS = 10
 SLC_SOURCE_NONE = "None"
 EventName = log.OnroadEvent.EventName
 
+GM_GPS_SOURCES = (("device", 2.0), ("pps", 1.0), ("onstar", 2.5))
+
 # forward
 carlog.addHandler(ForwardingHandler(cloudlog))
 
@@ -76,6 +78,22 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
   return can_recv, can_send
 
 
+def _gps_sample_is_healthy(sample: dict) -> bool:
+  if not sample.get("hasFix", False):
+    return False
+  try:
+    latitude = float(sample["latitude"])
+    longitude = float(sample["longitude"])
+    return (math.isfinite(latitude) and math.isfinite(longitude) and
+            -90.0 <= latitude <= 90.0 and -180.0 <= longitude <= 180.0 and
+            (latitude != 0.0 or longitude != 0.0) and
+            math.isfinite(float(sample["altitude"])) and
+            math.isfinite(float(sample["speed"])) and
+            math.isfinite(float(sample["bearingDeg"])))
+  except (KeyError, TypeError, ValueError):
+    return False
+
+
 class Car:
   CI: CarInterfaceBase
   RI: RadarInterfaceBase
@@ -85,7 +103,9 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'radarState', 'longitudinalPlan'])
+    self.sm = messaging.SubMaster([
+      'pandaStates', 'carControl', 'onroadEvents', 'radarState', 'longitudinalPlan', 'gpsLocation',
+    ])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
     self.gps_pm = None
 
@@ -93,6 +113,8 @@ class Car:
     self._last_car_gps_timestamp_nanos = 0
     self._last_car_gps_received_monotonic = 0.0
     self._last_car_gps_publish_monotonic = 0.0
+    self._gm_gps = dict.fromkeys(source for source, _ in GM_GPS_SOURCES)
+    self._gm_gps_had_fix = False
 
     self.CC_prev = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
@@ -141,8 +163,9 @@ class Car:
       self.RI = RI
 
     car_gps_supported = bool(getattr(self.CI.CS, 'car_gps_supported', False))
+    self.gm_gps_supported = self.CP.brand == "gm"
     self.params.put_bool("CarGpsAvailable", car_gps_supported)
-    if car_gps_supported:
+    if car_gps_supported or self.gm_gps_supported:
       self.gps_pm = messaging.PubMaster(['gpsLocationExternal'])
 
     aol_available = always_on_lateral_available(self.CP)
@@ -349,39 +372,80 @@ class Car:
     FPCS = self.starpilot_card.update(CS, FPCS, self.sm, self.starpilot_toggles)
     return CS, RD, FPCS
 
+  def _publish_gm_gps(self, now: float) -> None:
+    if self.sm.updated.get("gpsLocation", False):
+      self._gm_gps["device"] = (self.sm["gpsLocation"].to_dict(), now) if self.sm.valid["gpsLocation"] else None
+
+    for source, sample in self.CI.CS.get_car_gps_sources().items():
+      previous = self._gm_gps[source]
+      if sample is None:
+        self._gm_gps[source] = None
+      elif previous is None or sample["timestamp_nanos"] > previous[0]["timestamp_nanos"]:
+        self._gm_gps[source] = (sample.copy(), now)
+
+    # Device > PPS > OnStar, with each source's own freshness window.
+    selected = None
+    for source, timeout in GM_GPS_SOURCES:
+      candidate = self._gm_gps[source]
+      if candidate is not None and now - candidate[1] <= timeout and _gps_sample_is_healthy(candidate[0]):
+        selected = candidate[0]
+        break
+
+    if selected is None:
+      if not self._gm_gps_had_fix:
+        return
+    elif self._gm_gps_had_fix and (now - self._last_car_gps_publish_monotonic < 0.2):
+      return
+
+    gps_send = messaging.new_message('gpsLocationExternal', valid=selected is not None)
+    if selected is not None:
+      gps_send.gpsLocationExternal = {key: value for key, value in selected.items() if key != "timestamp_nanos"}
+      if source != "device":
+        gps_send.gpsLocationExternal.source = "car"
+    else:
+      # Clear subscribers' cached fix once, then let the service become stale.
+      gps_send.gpsLocationExternal.hasFix = False
+    assert self.gps_pm is not None
+    self.gps_pm.send('gpsLocationExternal', gps_send)
+    self._gm_gps_had_fix = selected is not None
+    self._last_car_gps_publish_monotonic = now
+
   def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None, FPCS: custom.StarPilotCarState):
     """carState and carParams publish loop"""
 
-    get_car_gps = getattr(self.CI.CS, 'get_car_gps', None)
-    car_gps = get_car_gps() if get_car_gps is not None else None
     now = time.monotonic()
-    if car_gps is not None and car_gps['timestamp_nanos'] > self._last_car_gps_timestamp_nanos:
+    if self.gm_gps_supported:
-      self._last_car_gps_timestamp_nanos = car_gps['timestamp_nanos']
+      self._publish_gm_gps(now)
-      self._last_car_gps_received_monotonic = now
+    else:
+      get_car_gps = getattr(self.CI.CS, 'get_car_gps', None)
+      car_gps = get_car_gps() if get_car_gps is not None else None
+      if car_gps is not None and car_gps['timestamp_nanos'] > self._last_car_gps_timestamp_nanos:
+        self._last_car_gps_timestamp_nanos = car_gps['timestamp_nanos']
+        self._last_car_gps_received_monotonic = now
 
-    if car_gps is not None and self._last_car_gps_received_monotonic > 0.0 and \
+      if car_gps is not None and self._last_car_gps_received_monotonic > 0.0 and \
-        now - self._last_car_gps_received_monotonic <= 2.5 and \
+          now - self._last_car_gps_received_monotonic <= 2.5 and \
-        now - self._last_car_gps_publish_monotonic >= 0.2:
+          now - self._last_car_gps_publish_monotonic >= 0.2:
-      gps_send = messaging.new_message('gpsLocationExternal', valid=True)
+        gps_send = messaging.new_message('gpsLocationExternal', valid=True)
-      gps = gps_send.gpsLocationExternal
+        gps = gps_send.gpsLocationExternal
-      gps.flags = 0
+        gps.flags = 0
-      gps.latitude = car_gps['latitude']
+        gps.latitude = car_gps['latitude']
-      gps.longitude = car_gps['longitude']
+        gps.longitude = car_gps['longitude']
-      gps.altitude = car_gps['altitude']
+        gps.altitude = car_gps['altitude']
-      gps.speed = car_gps['speed']
+        gps.speed = car_gps['speed']
-      gps.bearingDeg = car_gps['bearingDeg']
+        gps.bearingDeg = car_gps['bearingDeg']
-      gps.horizontalAccuracy = car_gps['horizontalAccuracy']
+        gps.horizontalAccuracy = car_gps['horizontalAccuracy']
-      gps.unixTimestampMillis = car_gps['unixTimestampMillis']
+        gps.unixTimestampMillis = car_gps['unixTimestampMillis']
-      gps.source = log.GpsLocationData.SensorSource.car
+        gps.source = log.GpsLocationData.SensorSource.car
-      gps.vNED = car_gps['vNED']
+        gps.vNED = car_gps['vNED']
-      gps.verticalAccuracy = car_gps['verticalAccuracy']
+        gps.verticalAccuracy = car_gps['verticalAccuracy']
-      gps.bearingAccuracyDeg = car_gps['bearingAccuracyDeg']
+        gps.bearingAccuracyDeg = car_gps['bearingAccuracyDeg']
-      gps.speedAccuracy = car_gps['speedAccuracy']
+        gps.speedAccuracy = car_gps['speedAccuracy']
-      gps.hasFix = car_gps['hasFix']
+        gps.hasFix = car_gps['hasFix']
-      gps.satelliteCount = car_gps['satelliteCount']
+        gps.satelliteCount = car_gps['satelliteCount']
-      assert self.gps_pm is not None
+        assert self.gps_pm is not None
-      self.gps_pm.send('gpsLocationExternal', gps_send)
+        self.gps_pm.send('gpsLocationExternal', gps_send)
-      self._last_car_gps_publish_monotonic = now
+        self._last_car_gps_publish_monotonic = now
 
     # carParams - logged every 50 seconds (> 1 per segment)
     if self.sm.frame % int(50. / DT_CTRL) == 0:

selfdrive/car/cruise.py

@@ -214,7 +214,7 @@ class VCruiseHelper:
 
     engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
     resume_pressed = any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents)
-    remembered_resume = resume_prev_button and self._uses_software_cruise()
+    remembered_resume = resume_prev_button and (self.gm_cc_only or self.redneck_non_pcm)
 
     if self.v_cruise_initialized and (resume_pressed or remembered_resume):
       self.v_cruise_kph = self.v_cruise_kph_last

selfdrive/car/tests/test_cruise_speed.py

@@ -313,22 +313,6 @@ class TestVCruiseHelper:
         assert V_CRUISE_MIN <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX
         assert self.v_cruise_helper.v_cruise_initialized
 
-  def test_resume_keeps_previous_software_cruise_speed(self):
-    engage_cs = car.CarState(vEgo=75 * CV.MPH_TO_MS)
-    self.v_cruise_helper.initialize_v_cruise(engage_cs, experimental_mode=False, resume_prev_button=False,
-                                             starpilot_toggles=self.starpilot_toggles)
-
-    disabled_cs = car.CarState(cruiseState={"available": True})
-    self.v_cruise_helper.update_v_cruise(disabled_cs, enabled=False, is_metric=False,
-                                         speed_limit_changed=False, starpilot_toggles=self.starpilot_toggles)
-
-    resume_cs = car.CarState(vEgo=22 * CV.MPH_TO_MS)
-    self.v_cruise_helper.initialize_v_cruise(resume_cs, experimental_mode=False, resume_prev_button=True,
-                                             starpilot_toggles=self.starpilot_toggles)
-
-    assert self.v_cruise_helper.v_cruise_kph == pytest.approx(75 * CV.MPH_TO_KPH)
-    assert self.v_cruise_helper.v_cruise_cluster_kph == pytest.approx(75 * CV.MPH_TO_KPH)
-
   def test_initialize_v_cruise_matches_speed_limit(self):
     self.reset_cruise_speed_state()
     self.starpilot_toggles.set_speed_limit = True
@@ -499,33 +483,39 @@ class TestVCruiseHelper:
     assert self.v_cruise_helper.v_cruise_kph == pytest.approx(initial_v_cruise_kph + IMPERIAL_INCREMENT)
 
   @pytest.mark.parametrize("openpilot_longitudinal", [False, True])
-  def test_pcm_cruise_always_tracks_pcm_speed(self, openpilot_longitudinal):
+  def test_pcm_cruise_uses_pcm_speed(self, openpilot_longitudinal):
     CP = car.CarParams(pcmCruise=True, openpilotLongitudinalControl=openpilot_longitudinal)
     helper = VCruiseHelper(CP)
     toggles = SimpleNamespace(cruise_increase=5, cruise_increase_long=1, set_speed_limit=False)
+    pcm_speed_kph = 72.0
+    pcm_cluster_speed_kph = 71.0
 
     helper.initialize_v_cruise(car.CarState(vEgo=40 * CV.KPH_TO_MS), False, False, toggles)
     assert not helper.v_cruise_initialized
 
-    samples = (
+    cs = car.CarState(
-      (72.0, 71.0, None),
+      cruiseState={
-      (25.0, 25.0, {"type": ButtonType.decelCruise, "pressed": True}),
+        "available": True,
-      (65.0, 65.0, {"type": ButtonType.decelCruise, "pressed": False}),
+        "speed": pcm_speed_kph * CV.KPH_TO_MS,
-      (90.0, 90.0, {"type": ButtonType.accelCruise, "pressed": True}),
+        "speedCluster": pcm_cluster_speed_kph * CV.KPH_TO_MS,
-      (5.0, 5.0, {"type": ButtonType.accelCruise, "pressed": False}),
+      },
     )
-    for pcm_speed_kph, pcm_cluster_speed_kph, button_event in samples:
+
-      cs = car.CarState(
+    helper.update_v_cruise(cs, True, True, False, toggles)
-        cruiseState={
+    assert helper.v_cruise_kph == pytest.approx(pcm_speed_kph)
-          "available": True,
+    assert helper.v_cruise_cluster_kph == pytest.approx(pcm_cluster_speed_kph)
-          "speed": pcm_speed_kph * CV.KPH_TO_MS,
+
-          "speedCluster": pcm_cluster_speed_kph * CV.KPH_TO_MS,
+    next_pcm_speed_kph = 74.0
-        },
+    next_cs = car.CarState(
-        buttonEvents=[] if button_event is None else [button_event],
+      cruiseState={
-      )
+        "available": True,
-      helper.update_v_cruise(cs, True, True, False, toggles)
+        "speed": next_pcm_speed_kph * CV.KPH_TO_MS,
-      assert helper.v_cruise_kph == pytest.approx(pcm_speed_kph)
+        "speedCluster": next_pcm_speed_kph * CV.KPH_TO_MS,
-      assert helper.v_cruise_cluster_kph == pytest.approx(pcm_cluster_speed_kph)
+      },
+      buttonEvents=[{"type": ButtonType.accelCruise, "pressed": False}],
+    )
+    helper.update_v_cruise(next_cs, True, True, False, toggles)
+    assert helper.v_cruise_kph == pytest.approx(next_pcm_speed_kph)
 
 
 class TestVCruiseHelperRedneck:

selfdrive/car/tests/test_gm_gps.py

@@ -0,0 +1,169 @@
+from types import SimpleNamespace
+
+import pytest
+
+from cereal import messaging
+from openpilot.selfdrive.car.card import Car, GM_GPS_SOURCES
+
+
+def sample():
+  gps = messaging.new_message("gpsLocation", valid=True).gpsLocation
+  gps.hasFix = True
+  gps.latitude = 38.3
+  gps.longitude = -85.7
+  gps.source = "ublox"
+  return dict(gps.to_dict(), timestamp_nanos=1)
+
+
+@pytest.fixture
+def selector():
+  card = Car.__new__(Car)
+  card._gm_gps = dict.fromkeys(source for source, _ in GM_GPS_SOURCES)
+  card._gm_gps_had_fix = False
+  card._last_car_gps_publish_monotonic = 0.0
+  card.gps_pm = SimpleNamespace(sent=[])
+  card.gps_pm.send = lambda service, message: card.gps_pm.sent.append((service, message))
+  card.sm = SimpleNamespace(updated={"gpsLocation": False})
+  card.CI = SimpleNamespace(CS=SimpleNamespace(get_car_gps_sources=dict))
+  return card
+
+
+@pytest.mark.parametrize("states,winner", [
+  (("good", None, None), "device"),
+  (("bad", "good", None), "pps"),
+  (("stale", "good", None), "pps"),
+  (("bad", "bad", "good"), "onstar"),
+  (("good", "good", "good"), "device"),
+  (("bad", "stale", None), None),
+  (("stale", "stale", "good"), "onstar"),
+  (("bad", "bad", "bad"), None),
+  (("stale", "stale", "stale"), None),
+])
+def test_priority(selector, states, winner):
+  for index, ((source, timeout), state) in enumerate(zip(GM_GPS_SOURCES, states, strict=True)):
+    if state is not None:
+      fix = sample() | {"latitude": 38.0 + index, "hasFix": state != "bad"}
+      selector._gm_gps[source] = (fix, 10.0 - timeout - 0.01 if state == "stale" else 10.0)
+  selector._publish_gm_gps(10.0)
+  if winner is None:
+    assert not selector.gps_pm.sent
+  else:
+    assert selector.gps_pm.sent[-1][1].gpsLocationExternal.latitude == selector._gm_gps[winner][0]["latitude"]
+
+
+@pytest.mark.parametrize("source,timeout", [("device", 2.0), ("pps", 1.0), ("onstar", 2.5)])
+def test_freshness_and_recovery(selector, source, timeout):
+  selector._gm_gps[source] = (sample(), 10.0)
+  selector._publish_gm_gps(10.0 + timeout)
+  assert selector.gps_pm.sent[-1][1].valid
+  selector._publish_gm_gps(10.01 + timeout)
+  assert not selector.gps_pm.sent[-1][1].valid
+  selector._gm_gps[source] = (sample(), 20.0)
+  selector._publish_gm_gps(20.0)
+  assert selector.gps_pm.sent[-1][1].valid
+
+
+@pytest.mark.parametrize("source", ["device", "pps"])
+def test_upward_recovery(selector, source):
+  selector._gm_gps["onstar"] = (sample() | {"latitude": 40.0}, 10.0)
+  selector._publish_gm_gps(10.0)
+  assert selector.gps_pm.sent[-1][1].gpsLocationExternal.latitude == 40.0
+  selector._gm_gps[source] = (sample(), 10.21)
+  selector._publish_gm_gps(10.21)
+  assert selector.gps_pm.sent[-1][1].gpsLocationExternal.latitude == 38.3
+
+
+@pytest.mark.parametrize("changes,expected", [
+  ({"latitude": float("nan")}, False), ({"longitude": float("inf")}, False),
+  ({"latitude": 91}, False), ({"longitude": -181}, False), ({"longitude": 181}, False),
+  ({"latitude": 0, "longitude": 0}, False), ({"speed": float("nan")}, False),
+  ({"latitude": 0, "longitude": 10}, True), ({"latitude": 10, "longitude": 0}, True),
+  ({"horizontalAccuracy": 500.0}, True),
+])
+def test_health(selector, changes, expected):
+  selector._gm_gps = {source: (sample() | {"latitude": 40.0}, 10.0) for source, _ in GM_GPS_SOURCES}
+  selector._gm_gps["device"] = (sample() | changes, 10.0)
+  selector._publish_gm_gps(10.0)
+  gps = selector.gps_pm.sent[-1][1].gpsLocationExternal
+  assert gps.latitude == (selector._gm_gps["device"][0]["latitude"] if expected else 40.0)
+  assert gps.source == ("ublox" if expected else "car")
+
+
+@pytest.mark.parametrize("source", [source for source, _ in GM_GPS_SOURCES])
+def test_selected_fix_fields_are_preserved(selector, source):
+  fix = sample() | {"altitude": 123.0, "speed": 10.0, "vNED": [0.0, 10.0, 0.0], "bearingDeg": 90.0,
+                    "horizontalAccuracy": 3.0, "verticalAccuracy": 5.0, "bearingAccuracyDeg": 2.0}
+  if source == "device":
+    selector._gm_gps[source] = (fix, 10.0)
+  else:
+    selector.CI.CS.get_car_gps_sources = lambda: {source: fix}
+  selector._publish_gm_gps(10.0)
+  service, message = selector.gps_pm.sent[-1]
+  assert service == "gpsLocationExternal"
+  assert message.valid
+  expected = {key: value for key, value in fix.items() if key != "timestamp_nanos"}
+  expected["source"] = "ublox" if source == "device" else "car"
+  assert message.gpsLocationExternal.to_dict() == expected
+
+
+@pytest.mark.parametrize("source", ["pps", "onstar"])
+def test_can_cache_freshness_and_explicit_invalidation(selector, source):
+  sources = {"pps": sample(), "onstar": sample() | {"latitude": 40.0}}
+  selector.CI.CS.get_car_gps_sources = lambda: sources
+  selector._publish_gm_gps(10.0)
+  for timestamp in (1, 0):
+    sources[source] = sources[source] | {"timestamp_nanos": timestamp}
+    selector._publish_gm_gps(10.5)
+    assert selector._gm_gps[source][1] == 10.0
+  sources[source] = sources[source] | {"timestamp_nanos": 2}
+  selector._publish_gm_gps(10.6)
+  assert selector._gm_gps[source][1] == 10.6
+  sources[source] = None
+  selector._publish_gm_gps(10.9)
+  assert selector._gm_gps[source] is None
+  assert selector.gps_pm.sent[-1][1].gpsLocationExternal.latitude == (40.0 if source == "pps" else 38.3)
+
+
+def test_no_source_publication_transition(selector):
+  selector._publish_gm_gps(10.0)
+  assert not selector.gps_pm.sent
+  selector._gm_gps["device"] = (sample(), 10.0)
+  selector._publish_gm_gps(10.0)
+  valid = selector.gps_pm.sent[-1][1]
+  assert valid.valid and valid.gpsLocationExternal.hasFix
+  assert valid.gpsLocationExternal.latitude == 38.3
+  selector._publish_gm_gps(10.1)
+  assert len(selector.gps_pm.sent) == 1
+  selector._publish_gm_gps(12.1)
+  invalid = selector.gps_pm.sent[-1][1]
+  assert not invalid.valid and not invalid.gpsLocationExternal.hasFix
+  for now in (12.12, 12.13, 12.14):
+    selector._publish_gm_gps(now)
+  assert len(selector.gps_pm.sent) == 2
+  selector._gm_gps["device"] = (sample(), 12.15)
+  selector._publish_gm_gps(12.15)  # Recovery bypasses the 200 ms healthy cadence.
+  assert len(selector.gps_pm.sent) == 3
+  assert selector.gps_pm.sent[-1][1].gpsLocationExternal.hasFix
+  for now in (15.0, 20.0, 30.0):
+    selector._publish_gm_gps(now)
+  assert len(selector.gps_pm.sent) == 4  # One more loss marker, then sustained silence.
+
+
+def test_device_updates_honor_event_validity(selector):
+  message = messaging.new_message("gpsLocation", valid=True)
+  message.gpsLocation = {key: value for key, value in sample().items() if key != "timestamp_nanos"}
+  class DeviceMessages(dict):
+    updated = {"gpsLocation": True}
+    valid = {"gpsLocation": True}
+  selector.sm = DeviceMessages(gpsLocation=message.gpsLocation)
+  selector._publish_gm_gps(10.0)
+  assert selector.gps_pm.sent[-1][1].valid
+  selector.sm.updated["gpsLocation"] = False
+  selector._publish_gm_gps(10.05)
+  assert selector._gm_gps["device"][1] == 10.0
+  selector.sm.updated["gpsLocation"] = True
+  selector.sm.valid["gpsLocation"] = False
+  selector._publish_gm_gps(10.1)
+  assert selector._gm_gps["device"] is None
+  assert len(selector.gps_pm.sent) == 2  # Loss bypasses the healthy cadence too.
+  assert not selector.gps_pm.sent[-1][1].gpsLocationExternal.hasFix