GM camera ACC: cancel after delay (#26197)

* add delay to GM camera ACC cancel to avoid FCW and cruise fault

* we can revert brake pressed threshold now

* bump panda

* add proper threshold

* bump

* bujmp panda

panda

@@ -1 +1 @@
-Subproject commit d51dd496cbdc8665928af40247582bc62dba1f2a
+Subproject commit 2db69bc94120a3c10f39cdedc9d83315f9ba801e

selfdrive/car/gm/carcontroller.py

@@ -10,6 +10,9 @@ from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButt
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
 
+# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
+CAMERA_CANCEL_DELAY_FRAMES = 10
+
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
@@ -20,6 +23,7 @@ class CarController:
     self.apply_brake = 0
     self.frame = 0
     self.last_button_frame = 0
+    self.cancel_counter = 0
 
     self.lka_steering_cmd_counter = 0
     self.sent_lka_steering_cmd = False
@@ -111,9 +115,13 @@ class CarController:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
     else:
+      # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
+      # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
+      self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
+
       # Stock longitudinal, integrated at camera
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
-        if CC.cruiseControl.cancel:
+        if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
           self.last_button_frame = self.frame
           can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 

selfdrive/car/gm/carstate.py

@@ -55,12 +55,7 @@ class CarState(CarStateBase):
     # 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"]
-    if self.CP.networkLocation != NetworkLocation.fwdCamera:
+    ret.brakePressed = ret.brake >= 8
-      ret.brakePressed = ret.brake >= 8
-    else:
-      # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
-      # Match ECM threshold at a standstill to allow the camera to cancel earlier
-      ret.brakePressed = ret.brake >= 20
 
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct: