1e1

opendbc_repo/opendbc/safety/modes/gm.h

@@ -395,11 +395,6 @@ static bool gm_tx_hook(const CANPacket_t *msg) {
     int button = (msg->data[5] >> 4) & 0x7U;
 
     bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
-    // Pedal-long non-ACC path: once OP controls are taken over, allow cancel spam
-    // immediately even if cruise_engaged_prev has not flipped yet.
-    if ((button == GM_BTN_CANCEL) && gm_pedal_long && !gm_has_acc && controls_allowed) {
-      allowed_btn = true;
-    }
     if (gm_hw == GM_CAM && enable_gas_interceptor && gm_bolt_2022_pedal && button == GM_BTN_CANCEL) {
       allowed_btn = true;
     }

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -391,14 +391,18 @@ class TestGmInterceptorSafety(common.GasInterceptorSafetyTest, TestGmCameraSafet
       self.assertEqual(enable, self.safety.get_controls_allowed())
 
   def test_buttons(self):
-    # Pedal-long non-ACC only allows CANCEL while controls are active.
+    # Pedal-long non-ACC only allows CANCEL when the CC-only cruise state is engaged.
     self.safety.set_controls_allowed(False)
     for btn in range(8):
       self.assertFalse(self._tx(self._button_msg(btn)))
 
     self.safety.set_controls_allowed(True)
     for btn in range(8):
-      self.assertEqual(btn == Buttons.CANCEL, self._tx(self._button_msg(btn)))
+      self.assertFalse(self._tx(self._button_msg(btn)))
+
+    for enabled in (True, False):
+      self._rx(self._pcm_status_msg(enabled))
+      self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL)))
 
   def test_disable_control_allowed_from_cruise(self):
     pass
@@ -510,7 +514,7 @@ class TestGmCcLongitudinalPandaSchedSafety(TestGmCcLongitudinalSafety):
 
     self.safety.set_controls_allowed(1)
     for btn in range(8):
-      self.assertEqual(btn == Buttons.CANCEL, self._tx(self._button_msg(btn)))
+      self.assertFalse(self._tx(self._button_msg(btn)))
 
     allowed_btns = {Buttons.UNPRESS, Buttons.RES_ACCEL, Buttons.DECEL_SET, Buttons.CANCEL}
     for enabled in (True, False):

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-96ce4808-DEBUG";
+const uint8_t gitversion[19] = "DEV-c082d60d-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-96ce4808-DEBUG
+DEV-c082d60d-DEBUG