GM camera ACC: prevent fault when engaging at a stop (#26079)

* prevent bolt fault

* comment

* only for camera ACC

* fixup alert

* bump cereal to master

* use new name

* Update selfdrive/car/gm/interface.py

* Update selfdrive/car/gm/interface.py

* Update selfdrive/car/gm/interface.py

* only care about prevent engagement when we look at PCM

cereal

@@ -1 +1 @@
-Subproject commit 3eca747334ca2138bf35d70399d58d0706a3cbd2
+Subproject commit 5766e645f2ee2a131b145fb1ea9e3b7c55a4a740

selfdrive/car/gm/interface.py

@@ -212,7 +212,13 @@ class CarInterface(CarInterfaceBase):
     if ret.cruiseState.standstill:
       events.add(EventName.resumeRequired)
     if ret.vEgo < self.CP.minSteerSpeed:
-      events.add(car.CarEvent.EventName.belowSteerSpeed)
+      events.add(EventName.belowSteerSpeed)
+
+    if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.pcmCruise:
+      # The ECM has a higher brake pressed threshold than the camera, causing an
+      # ACC fault when you engage at a stop with your foot partially on the brake
+      if ret.vEgoRaw < 0.1 and ret.brake < 20:
+        events.add(EventName.gmAccFaultedTemp)
 
     ret.events = events.to_msg()
 

selfdrive/controls/lib/events.py

@@ -811,6 +811,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"),
   },
 
+  EventName.gmAccFaultedTemp: {
+    ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"),
+  },
+
   EventName.controlsMismatch: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),