Torque panda

panda/board/safety/safety_gm.h

@@ -10,17 +10,17 @@ const SteeringLimits GM_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 3072,
-  .min_gas = 1404,
-  .inactive_gas = 1404,
-  .max_brake = 400,
+   .max_gas = 8191,
+   .min_gas = 5500,
+   .inactive_gas = 5500,
+   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 3400,
-  .min_gas = 1514,
-  .inactive_gas = 1554,
-  .max_brake = 400,
+   .max_gas = 8848,
+   .min_gas = 5610,
+   .inactive_gas = 5650,
+   .max_brake = 400,
 };
 
 const LongitudinalLimits *gm_long_limits;
@@ -143,7 +143,7 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
 
     if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
-      brake_pressed = GET_BIT(to_push, 40U);
+      brake_pressed = GET_BIT(to_push, 40U) != 0U;
     }
 
     if (addr == 0xC9) {
@@ -242,10 +242,10 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
   // GAS/REGEN: safety check
   if (addr == 0x2CB) {
     bool apply = GET_BIT(to_send, 0U);
-    int gas_regen = ((GET_BYTE(to_send, 2) & 0x7FU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
+    int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3);
 
     bool violation = false;
-    // Allow apply bit in pre-enabled and overriding states, except for inactive gas    // Allow apply bit in pre-enabled and overriding states
+    // Allow apply bit in pre-enabled and overriding states
     violation |= !controls_allowed && apply;
     violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits);
 
@@ -324,6 +324,7 @@ static int gm_fwd_hook(int bus_num, int addr) {
 }
 
 static safety_config gm_init(uint16_t param) {
+
   if GET_FLAG(param, GM_PARAM_HW_CAM) {
     gm_hw = GM_CAM;
   } else if GET_FLAG(param, GM_PARAM_HW_SDGM) {

selfdrive/car/gm/carcontroller.py

@@ -1,5 +1,7 @@
 from typing import Tuple
 import time
+import math
+from openpilot.common.swaglog import cloudlog
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -64,13 +66,20 @@ class CarController(CarControllerBase):
     self.params = CarControllerParams(self.CP)
     self.params_ = Params()
 
+    self.mass = CP.mass
+    self.tireRadius = 0.075 * CP.wheelbase + 0.1453
+    self.frontalArea = 1.05 * CP.wheelbase + 0.0679
+    self.coeffDrag = 0.30
+    self.airDensity = 1.225
+
+
+
     self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
     # FrogPilot variables
     self.accel_g = 0.0
-
     self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4)  # runs at 25 Hz
     self.accel_g = 0.0
     self.regen_paddle_pressed = False
@@ -330,17 +339,19 @@ class CarController(CarControllerBase):
       if self.frame % 4 == 0:
         stopping = actuators.longControlState == LongCtrlState.stopping
 
-        # Pitch compensated acceleration;
-        # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
-        if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1:
-          self.pitch.update(CC.orientationNED[1])
-          self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
-          accel += self.accel_g
-          brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
-
         at_full_stop = CC.longActive and CS.out.standstill
         near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
         interceptor_gas_cmd = 0
+        # --- Regen scaling for ACC-only cars ---
+        # For ACC-only cars, simulate maximum paddle hold regen
+        if not self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR:
+          # use regen table gain to compute effective accel
+          _, press_regen_paddle = self.calc_pedal_command(actuators.accel, True, CS.out.vEgo)
+          # if simulated paddle pressed, treat as stronger regen
+          use_regen = press_regen_paddle
+        else:
+          use_regen = False
+        # --- End regen scaling insert ---
         if not CC.longActive:
           # ASCM sends max regen when not enabled
           self.apply_gas = self.params.INACTIVE_REGEN
@@ -349,9 +360,38 @@ class CarController(CarControllerBase):
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = int(min(-100 * frogpilot_toggles.stopAccel, self.params.MAX_BRAKE))
         else:
-          # Normal operation
-          self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+          if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+            accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+          else:
+            accel_due_to_pitch = 0.0
+
+          if frogpilot_toggles.sport_plus:
+            gas_max = self.params.MAX_GAS_PLUS
+            accel_max = self.params.ACCEL_MAX_PLUS
+          else:
+            gas_max = self.params.MAX_GAS
+            accel_max = self.params.ACCEL_MAX
+          
+          accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
+          torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
+          
+          scaled_torque = torque + self.params.ZERO_GAS
+          # --- Regen torque scaling for ACC-only cars ---
+          # apply full paddle regen curve when simulated regen is active
+          if use_regen:
+            min_regen = self.params.GAS_LOOKUP_V[0]  # max regen from lookup
+          else:
+            min_regen = self.params.MAX_ACC_REGEN
+          apply_gas_torque = clip(scaled_torque, min_regen, gas_max)
+          # --- End regen torque scaling ---
+          apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
+          BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
+          brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
+          self.apply_gas = int(round(apply_gas_torque))
           self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          if self.apply_brake > 0:
+            self.apply_gas = self.params.INACTIVE_REGEN
+
           # Don't allow any gas above inactive regen while stopping
           # FIXME: brakes aren't applied immediately when enabling at a stop
           if stopping:
@@ -389,7 +429,7 @@ class CarController(CarControllerBase):
           if CC.cruiseControl.resume and CS.pcm_acc_status == AccState.STANDSTILL and frogpilot_toggles.volt_sng:
             acc_engaged = False
           else:
-            acc_engaged = CC.enabled
+            acc_engaged = CC.enabled and not (self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV and self.CP.enableGasInterceptor)
 
           # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
           can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop))
@@ -422,11 +462,15 @@ class CarController(CarControllerBase):
       # TODO: integrate this with the code block below?
       if (
           (self.CP.flags & GMFlags.PEDAL_LONG.value)  # Always cancel stock CC when using pedal interceptor
-          or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled)  # Cancel stock CC if OP is not active
+          or (self.CP.flags & GMFlags.CC_LONG.value)  # Match ACC behavior for non-ACC cars
       ) and CS.out.cruiseState.enabled:
         if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
+          # Send cancel to appropriate bus based on car type (match stock longitudinal logic)
+          if self.CP.carFingerprint in SDGM_CAR:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
+          else:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
 
     else:
       # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.

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, CC_REGEN_PADDLE_CAR
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR, CAR
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -53,9 +53,6 @@ class CarState(CarStateBase):
     self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2)
 
     # Variables used for avoiding LKAS faults
-    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
-    if self.loopback_lka_steering_cmd_updated:
-      self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
 
     # Track timestamps for OEM PRNDL2 and Regen Paddle messages (used to sync spoofing timing)
     self.prndl2_ts_nanos = pt_cp.ts_nanos["ECMPRDNL2"]["PRNDL2"]
@@ -63,6 +60,9 @@ class CarState(CarStateBase):
       self.regen_paddle_ts_nanos = pt_cp.ts_nanos["EBCMRegenPaddle"]["RegenPaddle"]
     else:
       self.regen_paddle_ts_nanos = 0
+    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
+    if self.loopback_lka_steering_cmd_updated:
+      self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
       self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
@@ -96,7 +96,7 @@ class CarState(CarStateBase):
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:
       ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
-      self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic)
+      self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1 or (ret.regenBraking and GearShifter.manumatic) or (self.CP.carFingerprint in [CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC] and self.CP.enableGasInterceptor)
 
     if self.CP.enableGasInterceptor:
       ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
@@ -150,6 +150,9 @@ class CarState(CarStateBase):
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
+    if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_EUV and self.CP.enableGasInterceptor:
+      ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
+      ret.cruiseState.standstill = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] == 4
     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
@@ -163,7 +166,11 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in CC_ONLY_CAR:
       ret.accFaulted = False
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
-      ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+      # Try ASCM first for cars that might have it (like misfingerprinted Bolts), fall back to ECM
+      try:
+        ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
+      except:
+        ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
 
     if self.CP.enableBsm:
       if self.CP.carFingerprint not in SDGM_CAR:
@@ -173,7 +180,7 @@ class CarState(CarStateBase):
         ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
         ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
-
+    # FrogPilot CarState functions
     self.lkas_previously_enabled = self.lkas_enabled
     if self.CP.carFingerprint in SDGM_CAR:
       self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
@@ -206,7 +213,7 @@ class CarState(CarStateBase):
         messages += [
           ("AEBCmd", 10),
         ]
-      if CP.carFingerprint not in CC_ONLY_CAR:
+        # Include ASCMActiveCruiseControlStatus for all non-SDGM fwdCamera cars
         messages += [
           ("ASCMActiveCruiseControlStatus", 25),
         ]

selfdrive/car/gm/gmcan.py

@@ -66,7 +66,6 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
     "GasRegenFullStopActive": at_full_stop,
     "GasRegenAlwaysOne": 1,
     "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
   }
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
@@ -177,21 +176,6 @@ def create_lka_icon_command(bus, active, critical, steer):
     dat = b"\x00\x00\x00"
   return make_can_msg(0x104c006c, dat, bus)
 
-def create_prndl2_command(packer, bus, press_regen_paddle):
-  prndl2_value = 7 if press_regen_paddle else 6
-  manual_mode = 1 if press_regen_paddle else 0
-  values = {
-    "Byte0": 0x0C,
-    "Byte1": 0x0C,
-    "Byte2": 0x00,
-    "PRNDL2": prndl2_value,
-    "Byte4": 0x00,
-    "ManualMode": manual_mode,
-    "TransmissionState": 1,
-    "Byte7": 0x00
-  }
-  return packer.make_can_msg("ECMPRDNL2", bus, values)
-
 def create_regen_paddle_command(packer, bus, press_regen_paddle):
   regen_paddle_value = 2 if press_regen_paddle else 0
   values = {
@@ -205,6 +189,21 @@ def create_regen_paddle_command(packer, bus, press_regen_paddle):
   }
   return packer.make_can_msg("EBCMRegenPaddle", bus, values)
 
+def create_prndl2_command(packer, bus, press_regen_paddle):
+  prndl2_value = 5 if press_regen_paddle else 6
+  manual_mode = 1 if press_regen_paddle else 0
+  values = {
+    "Byte0": 0x0C,
+    "Byte1": 0x0C,
+    "Byte2": 0x00,
+    "PRNDL2": prndl2_value,
+    "Byte4": 0x00,
+    "ManualMode": manual_mode,
+    "TransmissionState": 1,
+    "Byte7": 0x00
+  }
+  return packer.make_can_msg("ECMPRDNL2", bus, values)
+
 def create_gm_cc_spam_command(packer, controller, CS, actuators):
   if controller.params_.get_bool("IsMetric"):
     _CV = CV.MS_TO_KPH

selfdrive/car/gm/interface.py

@@ -27,8 +27,8 @@ CAM_MSG = 0x320  # AEBCmd
 ACCELERATOR_POS_MSG = 0xbe
 
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [1.8, 1.1, 0.280, -0.045],
-  CAR.CHEVROLET_BOLT_CC: [1.8, 1.1, 0.280, -0.045],
+  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
   CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
   CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
 }
@@ -111,11 +111,14 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kiBP = [5., 35., 60.]
 
     if candidate in CAMERA_ACC_CAR:
-      ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
+      # For ACC models with pedal interceptor, behave like CC_ONLY_CAR
+      ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
       ret.networkLocation = NetworkLocation.fwdCamera
       ret.radarUnavailable = True  # no radar
-      ret.pcmCruise = True
+      # Only use pcmCruise if no pedal interceptor (bolt_cc style behavior)
+      ret.pcmCruise = not ret.enableGasInterceptor
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      # Use default minEnableSpeed for ACC models (will be overridden by pedal interceptor section if present)
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
@@ -207,9 +210,11 @@ class CarInterface(CarInterfaceBase):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       ret.lateralTuning.torque.kp = 1.0
 
-      if ret.enableGasInterceptor:
-        # ACC Bolts use pedal for full longitudinal control, not just sng
-        ret.flags |= GMFlags.PEDAL_LONG.value
+    # Enable pedal interceptor for ACC models when detected
+    if candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor:
+      # ACC models with pedal interceptor get full pedal longitudinal control
+      ret.flags |= GMFlags.PEDAL_LONG.value
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
 
     elif candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
@@ -271,7 +276,7 @@ class CarInterface(CarInterfaceBase):
       ret.stoppingControl = True
       ret.autoResumeSng = True
 
-      if candidate in CC_ONLY_CAR: #pedal interceptor tuning
+      if candidate in CC_ONLY_CAR or (candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor): #pedal interceptor tuning
         ret.flags |= GMFlags.PEDAL_LONG.value
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway

selfdrive/car/gm/values.py

@@ -38,10 +38,10 @@ class CarControllerParams:
 
   def __init__(self, CP):
     # Gas/brake lookups
-    self.ZERO_GAS = 6144  # Coasting
+    self.ZERO_GAS = 6150  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
 
-    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
+    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
       self.MAX_GAS = 7496
       self.MAX_GAS_PLUS = 8848
       self.MAX_ACC_REGEN = 5610
@@ -49,32 +49,49 @@ class CarControllerParams:
       # Camera ACC vehicles have no regen while enabled.
       # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
       self.max_regen_acceleration = 0.
+      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
 
     elif CP.carFingerprint in SDGM_CAR:
       self.MAX_GAS = 7496
       self.MAX_GAS_PLUS = 7496
-      self.MAX_ACC_REGEN = 7110
+      self.MAX_ACC_REGEN = 5610
       self.INACTIVE_REGEN = 5650
       self.max_regen_acceleration = 0.
+      self.BRAKE_SWITCH = self.ZERO_GAS
 
     else:
       self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
       self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
-      self.MAX_ACC_REGEN = 7110  # Increased for stronger regen braking
+      self.MAX_ACC_REGEN = 7110  # Max ACC regen is slightly less than max paddle regen
       self.INACTIVE_REGEN = 5500
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
-      self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1  # More aggressive regen for EVs
+      self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1
+      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
 
     self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
     self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
     self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
     self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]
 
-    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
+    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
 
+    self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
+    self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
 
+  # determined by letting Volt regen to a stop in L gear from 89mph,
+  # and by letting off gas and allowing car to creep, for determining
+  # the positive threshold values at very low speed
+  EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
+  EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
+
+  def update_ev_gas_brake_threshold(self, v_ego):
+    gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
+    self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
+    self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
+    self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
+    self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]
 
 @dataclass
 class GMCarDocs(CarDocs):
@@ -158,7 +175,7 @@ class CAR(Platforms):
       GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
       GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
     ],
-    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
+    GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
   )
   CHEVROLET_EQUINOX = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22")],
@@ -194,15 +211,15 @@ class CAR(Platforms):
     CHEVROLET_SUBURBAN.specs,
   )
   GMC_YUKON_CC = GMPlatformConfig(
-    [GMCarDocs("GMC Yukon No ACC")],
+    [GMCarDocs("GMC Yukon - No-ACC")],
     CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
   )
   CADILLAC_CT6_CC = GMPlatformConfig(
-    [GMCarDocs("Cadillac CT6 No ACC")],
+    [GMCarDocs("Cadillac CT6 - No-ACC")],
     CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
   )
   CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Trailblazer 2021-22")],
+    [GMCarDocs("Chevrolet Trailblazer 2021-22 - No-ACC")],
     CHEVROLET_TRAILBLAZER.specs,
   )
   CADILLAC_XT4 = GMPlatformConfig(
@@ -210,7 +227,7 @@ class CAR(Platforms):
     CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
   )
   CADILLAC_XT5_CC = GMPlatformConfig(
-    [GMCarDocs("Cadillac XT5 No ACC")],
+    [GMCarDocs("Cadillac XT5 - No-ACC")],
     CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
   )
   CHEVROLET_TRAVERSE = GMPlatformConfig(
@@ -222,7 +239,7 @@ class CAR(Platforms):
     CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
   )
   CHEVROLET_MALIBU_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Malibu 2023 No ACC")],
+    [GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
     CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
   )
   CHEVROLET_TRAX = GMPlatformConfig(
@@ -311,8 +328,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
 
 EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
 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_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
 # CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
+CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
 
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}