From dcb882a6905ded8d6789b07915260264a41d9a5c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 21 Oct 2022 01:14:15 -0700
Subject: [PATCH] GM: inactive gas/regen safety (#26184)

* Add INACTIVE_REGEN

* bump

* Update selfdrive/car/gm/carcontroller.py
old-commit-hash: 3a70253567cc908204b73cf5df53369b19506b7b
---
 panda                             | 2 +-
 selfdrive/car/gm/carcontroller.py | 4 ++--
 selfdrive/car/gm/values.py        | 1 +
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/panda b/panda
index fcb1a5a8e2..d51dd496cb 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit fcb1a5a8e233a8b520c42c58cf8bfaa82753ac5a
+Subproject commit d51dd496cbdc8665928af40247582bc62dba1f2a
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index dbad355c46..f28a0f7b59 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -67,8 +67,8 @@ class CarController:
       # Gas/regen, brakes, and UI commands - all at 25Hz
       if self.frame % 4 == 0:
         if not CC.longActive:
-          # Stock ECU sends max regen when not enabled
-          self.apply_gas = self.params.MAX_ACC_REGEN
+          # ASCM sends max regen when not enabled
+          self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = 0
         else:
           if self.CP.carFingerprint in EV_CAR:
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 999dabfee3..f8f9e7f043 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -30,6 +30,7 @@ class CarControllerParams:
   ZERO_GAS = 2048  # Coasting
   MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
   MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
+  INACTIVE_REGEN = 1404
 
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some