0xbe

opendbc_repo/opendbc/car/gm/interface.py

@@ -300,6 +300,9 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_ASCM_INT.value
+      if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
+        ret.flags |= GMFlags.FORCE_BRAKE_C9.value
+        ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_FORCE_BRAKE_C9.value
 
       ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
       ret.stoppingDecelRate = 1.0

opendbc_repo/opendbc/safety/modes/gm.h

@@ -697,6 +697,7 @@ static safety_config gm_init(uint16_t param) {
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
   gm_pcm_cruise = (gm_hw == GM_CAM || gm_sdgm) && !gm_cam_long && !gm_force_ascm && !gm_pedal_long;
   const bool gm_ascm_int_stock_cam = gm_ascm_int && (gm_hw == GM_CAM) && gm_pcm_cruise && !gm_cam_long && !gm_pedal_long && !gm_cc_long;
+  const bool gm_ascm_int_no_accel_pos = gm_ascm_int && (gm_hw == GM_CAM) && gm_force_brake_c9;
   gm_steer_limits = GET_FLAG(param, GM_PARAM_BOLT_2017) ? &GM_BOLT_2017_STEERING_LIMITS : &GM_STEERING_LIMITS;
 
   if ((gm_hw == GM_ASCM && !gm_sdgm) || gm_ascm_int || gm_force_ascm) {
@@ -740,7 +741,7 @@ static safety_config gm_init(uint16_t param) {
     SET_RX_CHECKS(gm_ev_rx_checks, ret);
   }
 
-  if (gm_ascm_int_stock_cam) {
+  if (gm_ascm_int_stock_cam || gm_ascm_int_no_accel_pos) {
     SET_RX_CHECKS(gm_ascm_int_stock_cam_rx_checks, ret);
   }
 

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -261,6 +261,16 @@ def test_gm_ascm_int_stock_cam_f1_rx_pinning():
   assert not safety.safety_config_valid()
 
 
+def test_gm_ascm_int_long_no_accel_pos_uses_stock_cam_rx_checks():
+  safety = libsafety_py.libsafety
+  safety.set_safety_hooks(CarParams.SafetyModel.gm, GMSafetyFlags.HW_CAM | GMSafetyFlags.HW_CAM_LONG |
+                          GMSafetyFlags.HW_ASCM_INT | GMSafetyFlags.FLAG_GM_FORCE_BRAKE_C9)
+  safety.init_tests()
+
+  _prime_gm_ascm_int_stock_cam_rx_checks(safety, 0)
+  assert safety.safety_config_valid()
+
+
 class TestGmCameraEVSafety(GmCameraAccEVRegenMixin, TestGmCameraSafety, TestGmEVSafetyBase):
   pass
 

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-62ed2217-DEBUG";
+const uint8_t gitversion[19] = "DEV-99d8bb6e-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-62ed2217-DEBUG
+DEV-99d8bb6e-DEBUG