Update carstate.py

AHHHHHHH

frogpilot/common/frogpilot_utilities.py

@@ -174,7 +174,7 @@ def restart_processes(sm):
 
   if not any(ps.ignitionLine or ps.ignitionCan for ps in sm["pandaStates"] if ps.pandaType != log.PandaState.PandaType.unknown):
     for name in ["mapd", "ui"]:
-      get_managed_processes()[name].stop(block=False, retry=False, sig=signal.SIGKILL)
+      get_managed_processes()[name].stop(block=True, retry=True, sig=signal.SIGKILL)
 
 def run_cmd(cmd, success_message, fail_message, report=True):
   try:

frogpilot/common/frogpilot_variables.py

@@ -391,7 +391,7 @@ class FrogPilotVariables:
     self.vetting_branch = self.short_branch == "FrogPilot-Vetting"
 
     self.frogpilot_toggles.frogs_go_moo = Path("/persist/frogsgomoo.py").is_file()
-    self.frogpilot_toggles.block_user = False
+    self.frogpilot_toggles.block_user = self.development_branch and not self.frogpilot_toggles.frogs_go_moo
 
     self.frogpilot_toggles.use_konik_server = params.get_bool("UseKonikServer")
     self.frogpilot_toggles.use_konik_server |= Path("/data/openpilot/not_vetted").is_file()

launch_chffrplus.sh

@@ -7,7 +7,6 @@ fi
 source "$BASEDIR/launch_env.sh"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ONCE_FLAG_FILE="/data/openpilot/.setup_done"
 
 function agnos_init {
   # TODO: move this to agnos
@@ -32,24 +31,6 @@ function agnos_init {
   fi
 }
 
-function one_time_setup {
-  if [ ! -f "$ONCE_FLAG_FILE" ]; then
-    echo "Performing one-time setup tasks..."
-    
-    # Run once:
-    echo "Wiping old params..."
-    rm /data/params/d/DongleId
-    rm /data/params/d/StockDongleId
-    rm /cache/params/d/DongleId
-    rm /cache/params/d/StockDongleId
-    echo "Old params wiped."
-
-    touch "$ONCE_FLAG_FILE"
-  else
-    echo "One-time setup already completed. Skipping."
-  fi
-}
-
 function launch {
   # Remove orphaned git lock if it exists on boot
   [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
@@ -97,9 +78,6 @@ function launch {
     agnos_init
   fi
 
-  # Perform one-time setup tasks
-  one_time_setup
-
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 

opendbc/gm_global_a_powertrain_generated.dbc

@@ -165,7 +165,6 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM
  SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
  SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
  SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
- SG_ ACCByFive : 26|2@0+ (1,0) [0|3] "" XXX
  SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
  SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
  SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO

panda/python/__init__.py

@@ -231,13 +231,13 @@ class Panda:
 
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
-  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_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_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2

selfdrive/car/gm/carcontroller.py

@@ -1,3 +1,4 @@
+import math
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -48,6 +49,12 @@ 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'])
@@ -57,16 +64,15 @@ class CarController(CarControllerBase):
     self.accel_g = 0.0
 
   @staticmethod
-  def calc_pedal_command(accel: float, long_active: bool) -> float:
+  def calc_pedal_command(accel: float, long_active: bool, car_velocity) -> float:
     if not long_active: return 0.
 
     zero = 0.15625  # 40/256
-    if accel > 0.:
-      # Scales the accel from 0-1 to 0.156-1
-      pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
+    if accel < -0.5:
+      pedal_gas = 0
     else:
-      # if accel is negative, -0.1 -> 0.015625
-      pedal_gas = clip(zero + accel, 0., zero)  # Make brake the same size as gas, but clip to regen
+      pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
+      pedal_gas = clip((pedaloffset + accel * 0.6), 0.0, 1.0)
 
     return pedal_gas
 
@@ -121,14 +127,6 @@ 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
@@ -140,27 +138,38 @@ class CarController(CarControllerBase):
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
         else:
-          # Normal operation
-          if self.CP.carFingerprint in EV_CAR:
-            self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
-            if frogpilot_toggles.sport_plus:
-              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
-            else:
-              self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-            self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_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:
-            if frogpilot_toggles.sport_plus:
-              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
-            else:
-              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-            self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+            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
+          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:
             self.apply_gas = self.params.INACTIVE_REGEN
           if self.CP.carFingerprint in CC_ONLY_CAR:
             # gas interceptor only used for full long control on cars without ACC
-            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)
+            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
 
         if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
           # "Tap" the accelerator pedal to re-engage ACC
@@ -183,8 +192,6 @@ class CarController(CarControllerBase):
           if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
             at_full_stop = at_full_stop and stopping
             friction_brake_bus = CanBus.POWERTRAIN
-            if self.CP.carFingerprint in SDGM_CAR:
-              friction_brake_bus = CanBus.CAMERA
 
           if self.CP.autoResumeSng:
             resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
@@ -210,7 +217,7 @@ 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.networkLocation != NetworkLocation.fwdCamera:
+      if not self.CP.radarUnavailable:
         tt = self.frame * DT_CTRL
         time_and_headlights_step = 10
         if self.frame % time_and_headlights_step == 0:
@@ -245,7 +252,10 @@ class CarController(CarControllerBase):
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
         if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
           self.last_button_frame = self.frame
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
+          if self.CP.carFingerprint in SDGM_CAR:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
+          else:
+            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1

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, ASCM_INT
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -39,9 +39,14 @@ class CarState(CarStateBase):
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_distance_button = self.distance_button
-    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
-    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+    if self.CP.carFingerprint not in SDGM_CAR:
+      self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+      self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+      self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+    else:
+      self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+      self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+      self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.
     # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
@@ -71,26 +76,32 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
-    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.FORCE_BRAKE_C9.value:      ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
+    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:
+      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
     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 ["CHEVROLET_BOLT_EUV", "CHEVROLET_BOLT_CC"] 
+      )
 
     if self.CP.enableGasInterceptor:
       ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
-      threshold = 10 if self.CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
+      threshold = 12 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
       ret.gasPressed = ret.gas > threshold
     else:
       ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -107,19 +118,32 @@ 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 - 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 - 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
+      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)
 
-    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+      # 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.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
@@ -130,11 +154,12 @@ 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|ASCM_INT):
+      if self.CP.carFingerprint not in SDGM_CAR:
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      else:
+        ret.stockAeb = False
       # openpilot controls nonAdaptive when not 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:
+      if self.CP.pcmCruise:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
     if self.CP.carFingerprint in CC_ONLY_CAR:
       ret.accFaulted = False
@@ -142,11 +167,19 @@ class CarState(CarStateBase):
       ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
 
     if self.CP.enableBsm:
-      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
-      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
+      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
 
+    # FrogPilot CarState functions
     self.lkas_previously_enabled = self.lkas_enabled
-    self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
+    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.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
 
@@ -161,7 +194,16 @@ class CarState(CarStateBase):
       messages += [
         ("ASCMLKASteeringCmd", 10),
       ]
-      if CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
+      if CP.carFingerprint in SDGM_CAR:
+        messages += [
+          ("BCMTurnSignals", 1),
+          ("BCMDoorBeltStatus", 10),
+          ("BCMGeneralPlatformStatus", 10),
+          ("ASCMSteeringButton", 33),
+        ]
+        if CP.enableBsm:
+          messages.append(("BCMBlindSpotMonitor", 10))
+      else:
         messages += [
           ("AEBCmd", 10),
         ]
@@ -175,30 +217,43 @@ 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.enableBsm:
-      messages.append(("BCMBlindSpotMonitor", 10))
+    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))
 
     # 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 += [
@@ -216,14 +271,6 @@ 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

selfdrive/car/gm/fingerprints.py

@@ -26,12 +26,6 @@ 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
   }],
@@ -184,7 +178,8 @@ FINGERPRINTS = {
   CAR.CADILLAC_XT4: [
   # Cadillac XT4 w/ ACC 2023
   {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 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, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 767: 4, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 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, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8  }],
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 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, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 806: 1, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1517: 8, 1601: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 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, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 8, 1924: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1984: 8, 1988: 8, 2000: 8, 2001: 8, 2002: 8, 2016: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2024: 8, 2026: 8
+  }],
   CAR.CADILLAC_XT5_CC: [
   # TRain's 2017 XT5
   {
@@ -193,12 +188,12 @@ FINGERPRINTS = {
   CAR.CHEVROLET_TRAVERSE: [
   # Chevy Traverse w/ ACC 2023
   {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 513: 6, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 767: 4, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 603: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 5, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1346: 8, 1347: 8, 1355: 8, 1362: 8, 1417: 8, 1512: 8, 1514: 8, 1601: 8, 1602: 8, 1603: 7, 1609: 8, 1611: 8, 1613: 8, 1618: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1920: 7, 1927: 8, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2026: 8
   }],
   CAR.BUICK_BABYENCLAVE: [
   # Buick Baby Enclave w/ ACC 2020-23
   {
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 513: 6, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8
   }],
   CAR.CHEVROLET_MALIBU_CC: [
   {
@@ -208,11 +203,6 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 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, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
   }],
-  CAR.CHEVROLET_VOLT_2019: [
-  # Chevy Volt w/ ACC 2019
-  {
-    170: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 331: 3, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 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, 513: 6, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 7, 567: 5, 573: 1, 577: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 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: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1268: 2, 1273: 3, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1513: 8, 1516: 8, 1517: 8, 1601: 8, 1609: 8, 1611: 8, 1618: 8, 1613: 8, 1649: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1920: 8, 1922: 7, 1927: 7, 1930: 7, 1937: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8, 2021: 8, 2023: 8, 2025: 8, 2028: 8, 2031: 8
-  }],
 }
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {

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]

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, ASCM_INT
+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.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -112,38 +112,44 @@ class CarInterface(CarInterfaceBase):
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.kiBP = [5., 35.]
+    ret.longitudinalTuning.kiBP = [5., 35., 60.]
 
-    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]
+    if candidate in CAMERA_ACC_CAR:
+      ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
+      ret.radarUnavailable = True  # no radar
       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]
+      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
+      ret.vEgoStopping = 0.1
+      ret.vEgoStarting = 0.1
 
       ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
-      ret.stopAccel = -0.20
+      ret.stopAccel = -0.25
 
       if experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
-        if candidate in SDGM_CAR:
-          ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORCE_BRAKE_C9
-          ret.flags |= GMFlags.FORCE_BRAKE_C9.value
+
+    elif candidate in SDGM_CAR:
+      ret.longitudinalTuning.kiV = [0., 0., 0.]  # TODO: tuning
+      ret.experimentalLongitudinalAvailable = False
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.pcmCruise = True
+      ret.radarUnavailable = True
+      ret.minEnableSpeed = -1.  # engage speed is decided by ASCM
+      ret.minSteerSpeed = 30 * CV.MPH_TO_MS
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
 
     else:  # ASCM, OBD-II harness
-      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
       ret.networkLocation = NetworkLocation.gateway
       ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
@@ -152,11 +158,7 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kiV = [0.5, 0.5]
-      ret.stoppingDecelRate = 3
-      ret.vEgoStopping = 0.75
-      ret.vEgoStarting = 0.75
-      ret.stopAccel = -1.5
+      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
 
       if ret.enableGasInterceptor:
         # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
@@ -207,6 +209,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      ret.lateralTuning.torque.kp = 0.6
 
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng
@@ -237,8 +240,6 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.CADILLAC_XT4:
       ret.steerActuatorDelay = 0.2
-      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.minSteerSpeed = 30 * CV.MPH_TO_MS
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.CADILLAC_XT5_CC:
@@ -247,12 +248,12 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.CHEVROLET_TRAVERSE:
       ret.steerActuatorDelay = 0.2
-      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BUICK_BABYENCLAVE:
       ret.steerActuatorDelay = 0.2
-      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.CADILLAC_CT6_CC:
@@ -265,29 +266,28 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.CHEVROLET_TRAX:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.CHEVROLET_VOLT_2019:
-      ret.steerActuatorDelay = 0.2
-      if not ret.openpilotLongitudinalControl:
-        ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
     if ret.enableGasInterceptor:
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      ret.minEnableSpeed = -1
+      ret.pcmCruise = False
+      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
       ret.stoppingControl = True
       ret.autoResumeSng = True
 
-      if candidate in CC_ONLY_CAR:
+      if candidate in CC_ONLY_CAR: #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
-        ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-        ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
-        ret.longitudinalTuning.kf = 0.15
+        ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
+        ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
+        ret.longitudinalTuning.kf = 0.25
         ret.stoppingDecelRate = 0.8
-        ret.minEnableSpeed = -1
-        ret.pcmCruise = False
-        ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
         ret.startingState = True
+        ret.vEgoStopping = 0.25
+        ret.vEgoStarting = 0.25
 
     elif candidate in CC_ONLY_CAR:
       ret.flags |= GMFlags.CC_LONG.value
@@ -295,29 +295,24 @@ class CarInterface(CarInterfaceBase):
       ret.radarUnavailable = True
       ret.experimentalLongitudinalAvailable = False
       ret.minEnableSpeed = 24 * CV.MPH_TO_MS
-      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
       ret.pcmCruise = False
 
-      ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
-
-      if candidate != CAR.CHEVROLET_BOLT_CC:
-        ret.longitudinalTuning.kiBP = [10.7, 10.8, 28.]
-        ret.longitudinalTuning.kiV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
-      else:
+      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
+        ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
+        ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
         ret.longitudinalTuning.deadzoneBP = [0.]
         ret.longitudinalTuning.deadzoneV = [0.56]  # == 2 km/h/s, 1.25 mph/s
         ret.longitudinalActuatorDelay = 1.  # TODO: measure this
-
-        ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
-        ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
         ret.longitudinalTuning.kiBP = [0.]
         ret.longitudinalTuning.kiV = [0.1]
+        ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
 
     if candidate in CC_ONLY_CAR:
       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 | ASCM_INT):
+    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:
       ret.flags |= GMFlags.NO_CAMERA.value
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
 
@@ -353,7 +348,7 @@ class CarInterface(CarInterfaceBase):
     # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
     below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward
     if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and
-                                       self.CP.networkLocation == NetworkLocation.fwdCamera):
+                                       (self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.carFingerprint in SDGM_CAR)):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill and not (self.CP.autoResumeSng or self.disable_resumeRequired):
       events.add(EventName.resumeRequired)

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 | SDGM_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
@@ -49,6 +49,15 @@ 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 = 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.
@@ -58,15 +67,19 @@ class CarControllerParams:
       # ICE has much less engine braking force compared to regen in EVs,
       # lower threshold removes some braking deadzone
       self.max_regen_acceleration = -1. 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
@@ -118,11 +131,6 @@ 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),
@@ -167,7 +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")],
@@ -238,10 +246,6 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet TRAX 2024")],
     CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
   )
-  CHEVROLET_VOLT_2019 = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Volt 2019")],
-    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45),
-  )
 
 
 class CruiseButtons:
@@ -271,7 +275,6 @@ class GMFlags(IntFlag):
   CC_LONG = 2
   NO_CAMERA = 4
   NO_ACCELERATOR_POS_MSG = 8
-  FORCE_BRAKE_C9 = 16
 
 
 # In a Data Module, an identifier is a string used to recognize an object,
@@ -323,15 +326,13 @@ 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, CAR.CHEVROLET_VOLT_ASCM}
+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_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})

selfdrive/car/torque_data/override.toml

@@ -49,7 +49,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
 "CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
 "CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]
-"CHEVROLET_VOLT_2019" = [1.45, 1.6, 0.2]
 "VOLKSWAGEN_CADDY_MK3" = [1.2, 1.2, 0.1]
 "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]

selfdrive/car/torque_data/substitute.toml

@@ -56,7 +56,6 @@ 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"

selfdrive/controls/radard.py

@@ -79,7 +79,7 @@ class Track:
 
     # Learn if constant acceleration
     if abs(self.aLeadK) < 0.5:
-      self.aLeadTau.x = min(max(self.aLeadTau.x, 1e-2) * 1.1, _LEAD_ACCEL_TAU)
+      self.aLeadTau.x = min(max(self.aLeadTau, 1e-2) * 1.1, _LEAD_ACCEL_TAU)
     else:
       self.aLeadTau.update(0.0)
 

selfdrive/ui/soundd.py

@@ -179,6 +179,7 @@ class Soundd:
         self.update_alert(AudibleAlert.fart)
       else:
         self.update_alert(AudibleAlert.prompt)
+
       self.openpilot_crashed_played = True
     elif sm.updated['controlsState']:
       new_alert = sm['controlsState'].alertSound.raw
@@ -215,22 +216,28 @@ class Soundd:
         sm.update(0)
 
         if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
+          self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
+
           if self.frogpilot_toggles.alert_volume_control:
-            self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
             self.auto_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
             self.current_volume = 0.0
           else:
-            self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
             self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
 
         elif self.frogpilot_toggles.alert_volume_control and self.current_alert in self.volume_map:
           self.current_volume = self.volume_map[self.current_alert] / 100.0
           if self.current_volume == 1.01:
-            self.current_volume = self.auto_volume
+            if self.current_alert == AudibleAlert.startup:
+              self.current_volume = MAX_VOLUME
+            else:
+              self.current_volume = self.auto_volume
 
         elif self.current_alert in self.random_events_map:
           self.current_volume = self.random_events_map[self.current_alert]
 
+        elif self.current_alert == AudibleAlert.startup:
+          self.current_volume = MAX_VOLUME
+
         self.get_audible_alert(sm)
 
         rk.keep_time()
@@ -240,6 +247,7 @@ class Soundd:
         # Update FrogPilot parameters
         if sm['frogpilotPlan'].togglesUpdated:
           self.frogpilot_toggles = get_frogpilot_toggles()
+
           self.update_frogpilot_sounds()
 
         if self.restart_stream:
@@ -263,6 +271,7 @@ class Soundd:
       AudibleAlert.warningImmediate: self.frogpilot_toggles.warningImmediate_volume,
 
       AudibleAlert.goat: self.frogpilot_toggles.prompt_volume,
+      AudibleAlert.startup: self.frogpilot_toggles.engage_volume,
     }
 
     if self.frogpilot_toggles.sound_pack != "stock":