      ret.enableCruise = True
      ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this
      ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
      ret.gasMaxBP = [0.]
      ret.gasMaxV = [.5]  # half max brake
      ret.brakeMaxBP = [0.]
      ret.brakeMaxV = [1.]
      ret.openpilotLongitudinalControl = False
      ret.startAccel = 0.0
      ret.minSpeedCan = 0.3
 
</s> remove     # stock ACC by default
    ret.enableCruise = True
    ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this
 </s> add     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this </s> remove     CC.cruiseControl.cancel = not self.CP.enableCruise or (not self.enabled and CS.cruiseState.enabled)
 </s> add     CC.cruiseControl.cancel = not self.CP.pcmCruise or (not self.enabled and CS.cruiseState.enabled) </s> remove     CC.cruiseControl.speedOverride = float(speed_override if self.CP.enableCruise else 0.0)
 </s> add     CC.cruiseControl.speedOverride = float(speed_override if self.CP.pcmCruise else 0.0) </s> remove     if not self.CP.enableCruise:
 </s> add     if not self.CP.pcmCruise: </s> remove     elif self.CP.enableCruise and CS.cruiseState.enabled:
 </s> add     elif self.CP.pcmCruise and CS.cruiseState.enabled:
    ret.gasMaxV = [.5]       # half max brake
      ret.enableCruise = True
      ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this
      ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
      ret.gasMaxBP = [0.]
    ret.gasMaxV = [.5]       # half max brake
      ret.brakeMaxBP = [0.]
      ret.brakeMaxV = [1.]
      ret.openpilotLongitudinalControl = False
      ret.startAccel = 0.0
      ret.minSpeedCan = 0.3
keep keep keep keep replace keep keep keep keep keep
 rename enableCruise -> pcmCruise (#21546) 
selfdrive/car/interfaces.py