From 6ce511cc605782c25d45c66b55f859caaf7ce516 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 7 Oct 2022 16:12:58 -0700
Subject: [PATCH] GM: use ECM brake-pressed threshold (#25970)

* This brake position value disengages stock ACC, use it to avoid controls mismatch. 2016-2017 Volt will hit this threshold and disengage, must install new design of brake pedal retaining clip, TSB 16-NA-147.

* 80 hz

* comment

* bump panda

* update refs

* bump panda

* bump panda

* bump panda

* bump panda to master

Co-authored-by: qadmus <42746943+qadmus@users.noreply.github.com>
---
 panda                                    |  2 +-
 selfdrive/car/gm/carstate.py             | 13 ++++++++-----
 selfdrive/test/process_replay/ref_commit |  2 +-
 3 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/panda b/panda
index 3334dc21f5..1303af2db2 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 3334dc21f5c55007c5a754dfd8ee5d642be3e2bb
+Subproject commit 1303af2db29a72eee180b10c6097fa5b19c29207
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 0bba1d29b8..f96a234dbd 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -40,9 +40,12 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
-    ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
-    ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10
+    # 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"] / 0xd0
+    ret.brakePressed = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] >= 8
 
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:
@@ -100,7 +103,7 @@ class CarState(CarStateBase):
   def get_can_parser(CP):
     signals = [
       # sig_name, sig_address
-      ("BrakePedalPosition", "EBCMBrakePedalPosition"),
+      ("BrakePedalPos", "ECMAcceleratorPos"),
       ("FrontLeftDoor", "BCMDoorBeltStatus"),
       ("FrontRightDoor", "BCMDoorBeltStatus"),
       ("RearLeftDoor", "BCMDoorBeltStatus"),
@@ -141,7 +144,7 @@ class CarState(CarStateBase):
       ("ASCMSteeringButton", 33),
       ("ECMEngineStatus", 100),
       ("PSCMSteeringAngle", 100),
-      ("EBCMBrakePedalPosition", 100),
+      ("ECMAcceleratorPos", 80),
     ]
 
     if CP.transmissionType == TransmissionType.direct:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 78367235e6..a89b4c2d71 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f9536e41a6a160bdaa29d42bb164b0e4033857e5
+338c24158bb28952dcd1554ea91734b4281e2fed
\ No newline at end of file