From 9aef7e06588c2b8938b0ce5d8a774eb5f9eeaba5 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 1 Jun 2025 16:57:04 -0500
Subject: [PATCH] Mochi's ASCM|SASCM Port

---
 panda/board/obj/bootstub.panda.bin        | Bin 14876 -> 14876 bytes
 panda/board/obj/bootstub.panda_h7.bin     | Bin 16944 -> 16944 bytes
 panda/board/obj/panda.bin.signed          | Bin 60872 -> 60824 bytes
 panda/board/obj/panda_h7.bin.signed       | Bin 69648 -> 69600 bytes
 panda/python/__init__.py                  |  14 +--
 selfdrive/car/gm/carcontroller.py         |   2 +-
 selfdrive/car/gm/carstate.py              | 113 ++++++++--------------
 selfdrive/car/gm/fingerprints.py          |   6 ++
 selfdrive/car/gm/interface.py             |  11 ++-
 selfdrive/car/gm/values.py                |  11 ++-
 selfdrive/car/torque_data/substitute.toml |   1 +
 11 files changed, 70 insertions(+), 88 deletions(-)

diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin
index fd8883743112cc9c1b7b108ac26ac657d9e5d1ef..b1e0b3f7409f820118f9ff9bc2c9b418d2956e61 100755
GIT binary patch
delta 21
ccmbPJGN)w2En|+<WMczM3xnj%kBqI@0Asxf9RL6T

delta 21
ccmbPJGN)w2En|-4G?S!6V@u=BkBqI@0A?i!O#lD@

diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin
index 32cb15414c1a616d66f4ab9bc421482d678e760b..8af5f4a7b182d5993c76c7e8036b682b425b5f4c 100755
GIT binary patch
delta 23
dcmdnc!ngs5X4!D0CL0@AS{Nj6US!k93IJ(K2uuI~

delta 23
dcmdnc!ngs5X4!Bgr<o)r8e1A~US!k93IJ=f2z&ql

diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed
index 1a4b14d89d67e174edb8df9a7b99b07da15d7ae7..96690e612b9e99f118f8aa73fbf64ea764c560c0 100644
GIT binary patch
delta 6390
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diff --git a/panda/python/__init__.py b/panda/python/__init__.py
index 9339bfcf8..1d4a9b4ed 100644
--- a/panda/python/__init__.py
+++ b/panda/python/__init__.py
@@ -231,13 +231,13 @@ class Panda:
 
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
-  FLAG_GM_HW_SDGM = 4
-  FLAG_GM_CC_LONG = 8
-  FLAG_GM_HW_ASCM_LONG = 16
-  FLAG_GM_NO_CAMERA = 32
-  FLAG_GM_NO_ACC = 64
-  FLAG_GM_PEDAL_LONG = 128  # TODO: This can be inferred
-  FLAG_GM_GAS_INTERCEPTOR = 256
+  FLAG_GM_CC_LONG = 4
+  FLAG_GM_HW_ASCM_LONG = 8
+  FLAG_GM_NO_CAMERA = 16
+  FLAG_GM_NO_ACC = 32
+  FLAG_GM_PEDAL_LONG = 64  # TODO: This can be inferred
+  FLAG_GM_GAS_INTERCEPTOR = 128
+  FLAG_GM_ASCM_INT = 256
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index df38ba08f..929d95591 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -210,7 +210,7 @@ class CarController(CarControllerBase):
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)
-      if not self.CP.radarUnavailable and self.CP.carFingerprint not in SDGM_CAR:
+      if not self.CP.radarUnavailable and self.CP.networkLocation != NetworkLocation.fwdCamera:
         tt = self.frame * DT_CTRL
         time_and_headlights_step = 10
         if self.frame % time_and_headlights_step == 0:
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 9d7ae9d4b..08f8f1f40 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, ASCM_INT
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -71,16 +71,16 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
-      ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
-    else:
-      ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.FORCE_BRAKE_C9.value:      ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
       # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
       # that the brake is being intermittently pressed without user interaction.
       # To avoid a cruise fault we need to use a conservative brake position threshold
       # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
+      if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
+        ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
+      else:
+        ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
       ret.brakePressed = ret.brake >= 8
 
     # Regen braking is braking
@@ -107,32 +107,19 @@ class CarState(CarStateBase):
     ret.steerFaultTemporary = self.lkas_status == 2
     ret.steerFaultPermanent = self.lkas_status == 3
 
-    if self.CP.carFingerprint not in SDGM_CAR:
-      # 1 - open, 0 - closed
-      ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
-      # 1 - latched
-      ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-      ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-      ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+    # 1 - open, 0 - closed
+    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
-      ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
-    else:
-      # 1 - open, 0 - closed
-      ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
-                      cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-                      cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                      cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
+    # 1 - latched
+    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-      # 1 - latched
-      ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-      ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-      ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
-
-      ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -143,12 +130,11 @@ class CarState(CarStateBase):
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       if self.CP.carFingerprint not in CC_ONLY_CAR:
         ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-      if self.CP.carFingerprint not in SDGM_CAR:
+      if self.CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
-      else:
-        ret.stockAeb = False
       # openpilot controls nonAdaptive when not pcmCruise
-      if self.CP.pcmCruise:
+      # 2016-2018 Volt won't identify non-adaptive cruise state since switchable cruise state was not introduced till 2019 model year / SDGM Global AAdd commentMore actions
+      if self.CP.pcmCruise and self.CP.carFingerprint not in ASCM_INT:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
     if self.CP.carFingerprint in CC_ONLY_CAR:
       ret.accFaulted = False
@@ -156,18 +142,11 @@ class CarState(CarStateBase):
       ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
 
     if self.CP.enableBsm:
-      if self.CP.carFingerprint not in SDGM_CAR:
-        ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
-        ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
-      else:
-        ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
-        ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
     self.lkas_previously_enabled = self.lkas_enabled
-    if self.CP.carFingerprint in SDGM_CAR:
-      self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
-    else:
-      self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+    self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
 
     self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
 
@@ -182,16 +161,7 @@ class CarState(CarStateBase):
       messages += [
         ("ASCMLKASteeringCmd", 10),
       ]
-      if CP.carFingerprint in SDGM_CAR:
-        messages += [
-          ("BCMTurnSignals", 1),
-          ("BCMDoorBeltStatus", 10),
-          ("BCMGeneralPlatformStatus", 10),
-          ("ASCMSteeringButton", 33),
-        ]
-        if CP.enableBsm:
-          messages.append(("BCMBlindSpotMonitor", 10))
-      else:
+      if CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
         messages += [
           ("AEBCmd", 10),
         ]
@@ -205,43 +175,30 @@ class CarState(CarStateBase):
   @staticmethod
   def get_can_parser(CP, FPCP):
     messages = [
+      ("BCMTurnSignals", 1),
+      ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
+      ("BCMDoorBeltStatus", 10),
+      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),
+      ("AcceleratorPedal2", 33),
+      ("ASCMSteeringButton", 33),
+      ("ECMEngineStatus", 100),
       ("PSCMSteeringAngle", 100),
-      ("ECMAcceleratorPos", 80),
       ("SportMode", 0),
     ]
 
-    if CP.carFingerprint in SDGM_CAR:
-      messages += [
-        ("ECMPRDNL2", 40),
-        ("AcceleratorPedal2", 40),
-        ("ECMEngineStatus", 80),
-      ]
-    else:
-      messages += [
-        ("ECMPRDNL2", 10),
-        ("AcceleratorPedal2", 33),
-        ("ECMEngineStatus", 100),
-        ("BCMTurnSignals", 1),
-        ("BCMDoorBeltStatus", 10),
-        ("BCMGeneralPlatformStatus", 10),
-        ("ASCMSteeringButton", 33),
-      ]
-      if CP.enableBsm:
-        messages.append(("BCMBlindSpotMonitor", 10))
+    if CP.enableBsm:
+      messages.append(("BCMBlindSpotMonitor", 10))
 
     # Used to read back last counter sent to PT by camera
     if CP.networkLocation == NetworkLocation.fwdCamera:
       messages += [
         ("ASCMLKASteeringCmd", 0),
       ]
-      if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
-        messages.remove(("ECMAcceleratorPos", 80))
-        messages.append(("EBCMBrakePedalPosition", 100))
 
     if CP.transmissionType == TransmissionType.direct:
       messages += [
@@ -259,6 +216,14 @@ class CarState(CarStateBase):
         ("GAS_SENSOR", 50),
       ]
 
+    if CP.networkLocation != NetworkLocation.fwdCamera:
+      messages += [
+        ("ECMAcceleratorPos", 80),
+      ]
+      if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
+        messages.remove(("ECMAcceleratorPos", 80))
+        messages.append(("EBCMBrakePedalPosition", 100))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
 
   @staticmethod
diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py
index e0b14ba52..015238d96 100644
--- a/selfdrive/car/gm/fingerprints.py
+++ b/selfdrive/car/gm/fingerprints.py
@@ -26,6 +26,12 @@ FINGERPRINTS = {
   {
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2017: 8, 2020: 8, 2025: 8, 2028: 8
   }],
+  CAR.CHEVROLET_VOLT_ASCM: [
+  # Causes errors with normal OBD install
+  #   {
+  #   189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1922: 7, 1930: 7Add commentMore actions
+  # }
+  ],
   CAR.BUICK_LACROSSE: [{
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
   }],
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index cead6743b..93814ce15 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -8,7 +8,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -114,14 +114,17 @@ class CarInterface(CarInterfaceBase):
 
     ret.longitudinalTuning.kiBP = [5., 35.]
 
-    if candidate in (CAMERA_ACC_CAR | SDGM_CAR):
-      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | SDGM_CAR) or 0x2FF in fingerprint[CanBus.POWERTRAIN]
+    if candidate in (CAMERA_ACC_CAR | SDGM_CAR | ASCM_INT):
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | SDGM_CAR | ASCM_INT) or 0x2FF in fingerprint[CanBus.POWERTRAIN]
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
       ret.pcmCruise = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+      if candidate in ASCM_INT:
+        ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_ASCM_INT
 
       # Tuning for experimental long
       ret.longitudinalTuning.kiV = [1.0, 1.0]
@@ -314,7 +317,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
 
     # Exception for flashed cars, or cars whose camera was removed
-    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
+    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in (SDGM_CAR | ASCM_INT):
       ret.flags |= GMFlags.NO_CAMERA.value
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
 
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 9c0306bf6..187f3d305 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -41,7 +41,7 @@ class CarControllerParams:
     self.ZERO_GAS = 6144  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
-    if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR:
+    if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
       self.MAX_GAS = 7496
       self.MAX_GAS_PLUS = 8848
       self.MAX_ACC_REGEN = 5610
@@ -118,6 +118,11 @@ class CAR(Platforms):
     GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
     dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
   )
+  CHEVROLET_VOLT_ASCM = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Volt 2017-18 w/ ASCM Harness", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ")],
+    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
+    dbc_dict=dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
+  )
   CADILLAC_ATS = GMASCMPlatformConfig(
     [GMCarDocs("Cadillac ATS Premium Performance 2018")],
     GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3),
@@ -318,13 +323,15 @@ FW_QUERY_CONFIG = FwQueryConfig(
   extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )
 
-EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
+EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_VOLT_ASCM}
 CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
 # CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
 
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
 
+ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM}
+
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX}
 CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
index 1525bf114..6f6c6ceeb 100644
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -56,6 +56,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
 "CADILLAC_ATS" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
+"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
 "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
 "CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"