From 191b8081b2a9f3f9db0131edd270e40166570cfa Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 8 Nov 2022 20:52:35 -0800
Subject: [PATCH] GM Camera: use ECM brake pressed bit (#26400)

* GM camera: use ECM brake pressed bit

* bump panda and use more reliable bit

* bump panda

* back to ECMEngineStatus

* bump

* Update selfdrive/car/gm/carstate.py

* bump panda

* Update ref_commit
---
 panda                                    |  2 +-
 selfdrive/car/gm/carstate.py             | 14 +++++++++-----
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/panda b/panda
index 1ccdff90c5..281eb7731b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 1ccdff90c564154489a3394691a4830a4ae19027
+Subproject commit 281eb7731b4338fef049977593fdf3315adf09e9
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index af69307a2c..f4b3f88e99 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -51,12 +51,15 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
-    # that the brake is being intermittently pressed without user interaction.
-    # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold
-    # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
     ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
-    ret.brakePressed = ret.brake >= 8
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
+    else:
+      # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
+      # that the brake is being intermittently pressed without user interaction.
+      # To avoid a cruise fault we need to use a conservative brake position threshold
+      # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
+      ret.brakePressed = ret.brake >= 8
 
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:
@@ -154,6 +157,7 @@ class CarState(CarStateBase):
       ("TractionControlOn", "ESPStatus"),
       ("ParkBrake", "VehicleIgnitionAlt"),
       ("CruiseMainOn", "ECMEngineStatus"),
+      ("BrakePressed", "ECMEngineStatus"),
     ]
 
     checks = [
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 08eb063d41..da954d76a6 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-caa8fb2a046a6c2c186e66af339212a5fae6b7a4
+372a67c524342bbf15e22f0caea08d2038973281