diff --git a/cereal b/cereal
index 3eca747334..5766e645f2 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 3eca747334ca2138bf35d70399d58d0706a3cbd2
+Subproject commit 5766e645f2ee2a131b145fb1ea9e3b7c55a4a740
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 22ea83759a..248828e757 100755
--- a/selfdrive/car/gm/interface.py
+++ b/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()
 
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 91f1748ecb..5bfe89b31c 100644
--- a/selfdrive/controls/lib/events.py
+++ b/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"),