From 669143a1783e348d49a0b9219dfd67177e10d150 Mon Sep 17 00:00:00 2001
From: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
Date: Tue, 2 Jun 2026 00:07:16 -0400
Subject: [PATCH] BUICK_LACROSSE_ASCM

---
 opendbc_repo/opendbc/car/gm/fingerprints.py          | 1 +
 opendbc_repo/opendbc/car/gm/interface.py             | 4 ++--
 opendbc_repo/opendbc/car/gm/values.py                | 6 +++++-
 opendbc_repo/opendbc/car/torque_data/substitute.toml | 1 +
 selfdrive/car/car_specific.py                        | 1 +
 5 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/opendbc_repo/opendbc/car/gm/fingerprints.py b/opendbc_repo/opendbc/car/gm/fingerprints.py
index 0c048b811..76506ac0c 100644
--- a/opendbc_repo/opendbc/car/gm/fingerprints.py
+++ b/opendbc_repo/opendbc/car/gm/fingerprints.py
@@ -218,6 +218,7 @@ FINGERPRINTS.update({
   CAR.CHEVROLET_MALIBU_SDGM: FINGERPRINTS[CAR.CHEVROLET_MALIBU_CC],
   CAR.BUICK_BABYENCLAVE: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
   CAR.CHEVROLET_SILVERADO_CC: FINGERPRINTS[CAR.CHEVROLET_SILVERADO],
+  CAR.BUICK_LACROSSE_ASCM: FINGERPRINTS[CAR.BUICK_LACROSSE],
 })
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
diff --git a/opendbc_repo/opendbc/car/gm/interface.py b/opendbc_repo/opendbc/car/gm/interface.py
index 70254e8fc..582d8c884 100755
--- a/opendbc_repo/opendbc/car/gm/interface.py
+++ b/opendbc_repo/opendbc/car/gm/interface.py
@@ -410,8 +410,8 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.BUICK_LACROSSE:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    elif candidate in (CAR.BUICK_LACROSSE, CAR.BUICK_LACROSSE_ASCM):
+      CarInterfaceBase.configure_torque_tune(CAR.BUICK_LACROSSE, ret.lateralTuning)
 
     elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
diff --git a/opendbc_repo/opendbc/car/gm/values.py b/opendbc_repo/opendbc/car/gm/values.py
index 05b906f15..9f4a3970f 100644
--- a/opendbc_repo/opendbc/car/gm/values.py
+++ b/opendbc_repo/opendbc/car/gm/values.py
@@ -279,6 +279,10 @@ class CAR(Platforms):
     [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
     GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
   )
+  BUICK_LACROSSE_ASCM = GMPlatformConfig(
+    [GMCarDocs("Buick LaCrosse 2017-19 ASCM Harness")],
+    BUICK_LACROSSE.specs,
+  )
   BUICK_REGAL = GMASCMPlatformConfig(
     [GMCarDocs("Buick Regal Essence 2018")],
     GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4),
@@ -572,7 +576,7 @@ CC_REGEN_PADDLE_CAR = {
 CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 
 # ASCM-INT paths are only enabled when SASCM (0x2FF) is detected at runtime
-ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM, CAR.CADILLAC_ESCALADE_ASCM}
+ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_ASCM, CAR.CHEVROLET_MALIBU_ASCM, CAR.CADILLAC_ESCALADE_ASCM, CAR.BUICK_LACROSSE_ASCM}
 
 STEER_THRESHOLD = 1.0
 
diff --git a/opendbc_repo/opendbc/car/torque_data/substitute.toml b/opendbc_repo/opendbc/car/torque_data/substitute.toml
index 3de8a452b..f538aa6e2 100644
--- a/opendbc_repo/opendbc/car/torque_data/substitute.toml
+++ b/opendbc_repo/opendbc/car/torque_data/substitute.toml
@@ -65,6 +65,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_E" = "HONDA_CIVIC_BOSCH"
 
 "BUICK_LACROSSE" = "CHEVROLET_VOLT"
+"BUICK_LACROSSE_ASCM" = "CHEVROLET_VOLT"
 "BUICK_REGAL" = "CHEVROLET_VOLT"
 "CADILLAC_ESCALADE_ASCM" = "CADILLAC_ESCALADE"
 "CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 9b0da628d..2f5d590df 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -47,6 +47,7 @@ GM_STANDSTILL_BRAKE_CAMERA_CARS = {
   GM_CAR.CHEVROLET_VOLT_CC,
   GM_CAR.CHEVROLET_MALIBU,
   GM_CAR.CHEVROLET_MALIBU_ASCM,
+  GM_CAR.BUICK_LACROSSE_ASCM,
   GM_CAR.CHEVROLET_MALIBU_SDGM,
   GM_CAR.CHEVROLET_MALIBU_CC,
   GM_CAR.CHEVROLET_MALIBU_HYBRID_CC,