BlazeIt

selfdrive/car/gm/carstate.py

@@ -76,7 +76,7 @@ class CarState(CarStateBase):
     else:
       ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
 
-    if (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (self.CP.networkLocation == NetworkLocation.fwdCamera):
+    if (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
       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

selfdrive/car/gm/fingerprints.py

@@ -201,6 +201,9 @@ FINGERPRINTS = {
   CAR.CADILLAC_XT6: [
   #{}
   ],
+  CAR.CHEVROLET_BLAZER: [{
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 289: 8, 298: 8, 304: 3, 309: 8, 313: 8, 322: 7, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 532: 6, 560: 8, 562: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1296: 4
+  }],
   CAR.CHEVROLET_TRAVERSE: [
   # Chevy Traverse w/ ACC 2023
   {

selfdrive/car/gm/interface.py

@@ -264,7 +264,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate in (CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_MALIBU_SDGM):
+    elif candidate in (CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM):
       ret.steerActuatorDelay = 0.2
       if not ret.openpilotLongitudinalControl:
         ret.minEnableSpeed = -1.  # engage speed is decided by pcm

selfdrive/car/gm/values.py

@@ -231,6 +231,10 @@ class CAR(Platforms):
     [GMCarDocs("Cadillac XT5 - No-ACC")],
     CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
   )
+  CHEVROLET_BLAZER = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Blazer 2019-2025", "Driver Assist Package")],
+    CarSpecs(mass=1850, wheelbase=3.10, steerRatio=17.9, centerToFrontRatio=0.4),
+  )
   CHEVROLET_TRAVERSE = GMPlatformConfig(
     [GMCarDocs("Chevrolet Traverse 2023", "Driver Assist Package")],
     CarSpecs(mass=1955, wheelbase=3.07, steerRatio=17.9, centerToFrontRatio=0.4),
@@ -349,12 +353,12 @@ CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUIN
 # 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.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_MALIBU_SDGM, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
+SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CADILLAC_XT6, CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.BUICK_BABYENCLAVE, CAR.CHEVROLET_VOLT_2019}
 
 ASCM_INT = {CAR.CHEVROLET_VOLT_ASCM, CAR.GMC_ACADIA_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, CAR.CHEVROLET_VOLT_CAMERA}
+CAMERA_ACC_CAR = {CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_BLAZER}
 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, CAR.CHEVROLET_MALIBU_HYBRID_CC})
 # CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 

selfdrive/car/torque_data/override.toml

@@ -48,6 +48,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
 "CHEVROLET_MALIBU_HYBRID_CC" = [1.85, 1.85, 0.075]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
+"CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
 "CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
 "CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]