Honda

Revert "no sascm"

This reverts commit 147e752007c6a4f80eec551934bc1cf86510e6dc.

Update interface.py

common/params.cc

@@ -247,6 +247,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"BlacklistedModels", PERSISTENT},
     {"BlindSpotMetrics", PERSISTENT},
     {"BlindSpotPath", PERSISTENT},
+    {"BootLogo", PERSISTENT},
     {"BorderMetrics", PERSISTENT},
     {"CalibratedLateralAcceleration", PERSISTENT},
     {"CalibrationProgress", PERSISTENT},
@@ -272,6 +273,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CEStatus", CLEAR_ON_OFFROAD_TRANSITION},
     {"CEStoppedLead", PERSISTENT},
     {"ClusterOffset", PERSISTENT},
+    {"BootLogoToDownload", CLEAR_ON_MANAGER_START},
     {"ColorToDownload", CLEAR_ON_MANAGER_START},
     {"Compass", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
@@ -310,6 +312,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisengageVolume", PERSISTENT},
     {"DoToggleReset", PERSISTENT},
     {"DoToggleResetStock", PERSISTENT},
+    {"DownloadableBootLogos", PERSISTENT},
     {"DownloadableColors", PERSISTENT},
     {"DownloadableDistanceIcons", PERSISTENT},
     {"DownloadableIcons", PERSISTENT},
@@ -323,6 +326,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"EngageVolume", PERSISTENT},
     {"ExperimentalGMTune", PERSISTENT},
     {"EVTuning", PERSISTENT},
+    {"TruckTuning", PERSISTENT},
     {"Fahrenheit", PERSISTENT},
     {"FavoriteDestinations", PERSISTENT | DONT_LOG},
     {"FlashPanda", CLEAR_ON_MANAGER_START},
@@ -469,6 +473,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RoadEdgesWidth", PERSISTENT},
     {"RoadName", CLEAR_ON_MANAGER_START},
     {"RoadNameUI", PERSISTENT},
+    {"RedPanda", PERSISTENT},
+    {"RemoteStartBootsComma", PERSISTENT},
     {"RotatingWheel", PERSISTENT},
     {"ScreenBrightness", PERSISTENT},
     {"ScreenBrightnessOnroad", PERSISTENT},

frogpilot/assets/download_functions.py

@@ -29,13 +29,15 @@ def check_github_rate_limit():
     print(f"Error checking GitHub rate limit: {error}")
     return False
 
-def download_file(cancel_param, destination, progress_param, url, download_param, params_memory):
+def download_file(cancel_param, destination, progress_param, url, download_param, params_memory, allow_unknown_size=False, suppress_errors=False):
   try:
     destination.parent.mkdir(parents=True, exist_ok=True)
 
-    total_size = get_remote_file_size(url)
+    total_size = get_remote_file_size(url, suppress_errors=suppress_errors or allow_unknown_size)
-    if total_size == 0:
+    if total_size == 0 and not allow_unknown_size:
       if not url.endswith(".gif"):
+        if suppress_errors:
+          return
         handle_error(None, "Download invalid...", "Download invalid...", download_param, progress_param, params_memory)
       return
 
@@ -56,24 +58,30 @@ def download_file(cancel_param, destination, progress_param, url, download_param
             temp_file.write(chunk)
             downloaded_size += len(chunk)
 
-            progress = (downloaded_size / total_size) * 100
+            if total_size > 0:
-            if progress != 100:
+              progress = (downloaded_size / total_size) * 100
-              params_memory.put(progress_param, f"{progress:.0f}%")
+              if progress != 100:
-            else:
+                params_memory.put(progress_param, f"{progress:.0f}%")
+              else:
+                params_memory.put(progress_param, "Verifying authenticity...")
+            elif downloaded_size > 0:
               params_memory.put(progress_param, "Verifying authenticity...")
 
         temp_file_path.rename(destination)
 
   except Exception as error:
+    if suppress_errors:
+      return
     handle_request_error(error, destination, download_param, progress_param, params_memory)
 
-def get_remote_file_size(url):
+def get_remote_file_size(url, suppress_errors=False):
   try:
     response = requests.head(url, headers={"Accept-Encoding": "identity"}, timeout=10)
     response.raise_for_status()
     return int(response.headers.get("Content-Length", 0))
   except Exception as error:
-    handle_request_error(error, None, None, None, None)
+    if not suppress_errors:
+      handle_request_error(error, None, None, None, None)
     return 0
 
 def get_repository_url():
@@ -104,8 +112,17 @@ def handle_request_error(error, destination, download_param, progress_param, par
   error_message = error_map.get(type(error), "Unexpected error")
   handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param, params_memory)
 
-def verify_download(file_path, url):
+def verify_download(file_path, url, allow_unknown_size=False):
-  remote_file_size = get_remote_file_size(url)
+  remote_file_size = get_remote_file_size(url, suppress_errors=allow_unknown_size)
+
+  if remote_file_size == 0 and allow_unknown_size:
+    if not file_path.is_file():
+      print(f"File not found: {file_path}")
+      return False
+    if file_path.stat().st_size == 0:
+      print(f"File is empty: {file_path}")
+      return False
+    return True
 
   if remote_file_size == 0:
     print(f"Error fetching remote size for {file_path}")

frogpilot/assets/nnff_models/CHEVROLET_MALIBU_CC.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/nnff_models/CHEVROLET_MALIBU_HYBRID_CC.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/nnff_models/CHEVROLET_VOLT_2019.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/nnff_models/CHEVROLET_VOLT_ASCM.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/nnff_models/CHEVROLET_VOLT_CAMERA.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/nnff_models/CHEVROLET_VOLT_CC.json

@@ -0,0 +1 @@
+{"input_std":[[9.342214],[1.5915664],[0.60113484],[0.048193663],[1.5680411],[1.57577],[1.5836853],[1.5711677],[1.5445132],[1.5007596],[1.4529978],[0.047915205],[0.04800539],[0.04808892],[0.04822398],[0.04817677],[0.047881734],[0.047405947]],"model_test_loss":0.019342588260769844,"input_size":18,"current_date_and_time":"2023-08-05_06-09-11","input_mean":[[22.757933],[-0.016342578],[-0.001405228],[-0.014619173],[-0.018091483],[-0.018382493],[-0.019270267],[-0.018759886],[-0.019559544],[-0.017848592],[-0.020014366],[-0.014564899],[-0.01457757],[-0.014600966],[-0.014757987],[-0.014915743],[-0.015121007],[-0.015359475]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.045577038],[-2.8160777],[-0.21418032],[2.9552083],[-0.06852827],[0.029141279],[-0.053249933]],"dense_1_W":[[0.0010664682,1.3813498,-8.153277,-0.009101015,-0.1484779,1.0008405,-1.5930991,-1.195274,0.6136762,0.3560462,-0.30077773,0.93531257,0.14550218,-0.40074933,-0.21716364,0.13834935,-0.0658936,-0.49427196],[-0.7338253,-0.037501235,-0.49922377,-1.0526338,-0.46141604,-1.3649396,0.7309814,-0.91667104,0.044683233,-0.18628967,-0.20878822,-0.2678598,0.48446324,0.51164204,0.09547851,0.41491362,-0.4524314,0.16594785],[-0.0032175342,3.5451593,-0.11421584,-0.2511033,0.27893174,0.6384996,0.80790603,1.3835542,1.8000495,2.249461,1.4026878,0.7851167,-0.35052946,0.041820426,-0.39790183,0.45703772,-0.30459648,0.18287674],[0.72289664,-0.77138704,-0.5025135,-0.49323097,-0.39893976,-0.8779149,0.6848096,-0.58729875,-0.16643623,-0.14427555,-0.15013328,-0.11467142,-0.27280045,0.48508415,0.52080667,-0.0029569597,-0.28170735,0.06367212],[0.00014026981,-2.0353239,0.0060915067,0.4794941,1.1882906,-1.512865,0.80642134,-0.26044324,-0.56213886,-0.365122,0.55078083,-0.34897435,-0.32031298,0.46106994,0.37792024,-0.14116105,0.15597256,-0.32811671],[0.0011494387,1.9060265,8.3941965,-0.3078165,-0.9530427,0.6589645,-1.2487054,-0.541133,0.13451256,0.2805466,-0.33187166,0.9900705,0.2821258,-0.51270896,-0.5130031,-0.28222615,0.042734932,0.27233443],[-0.0014444552,-1.0933362,0.003359957,-0.15052961,0.37165833,1.7087307,-1.4971043,0.673802,-0.108465396,-0.088505454,0.21561684,0.6252258,-0.15019403,-0.34727478,0.08958758,-0.1723621,-0.25557828,0.29778987]],"activation":"σ"},{"dense_2_W":[[0.20810607,-0.13481373,-0.15003344,-0.6067625,-0.31937903,-0.37380016,0.4666911],[0.71834767,0.15669753,-0.11389502,0.27131546,-0.060118295,0.039282244,0.52961355],[-0.27200606,0.43380752,-0.106262706,-0.49363258,0.35659012,-0.01706296,-1.0807354],[-0.79583454,-0.66428274,-0.42157334,-0.52979547,-0.2803004,-0.57637554,0.084149174],[0.1230394,-0.57023287,0.28639448,-0.506744,-0.9920808,0.7510901,0.8584937],[-0.41256845,0.35423175,0.13009231,0.5198333,0.7576573,-0.7053181,-0.3390053],[-0.15090485,0.33375353,-0.64164793,0.57386595,0.25700107,-0.15245672,-0.49020413],[-0.50120676,0.5210849,-0.3282951,0.4276323,1.0257447,-1.0398436,-0.8911315],[0.11402861,-0.41491523,0.247507,-0.39776865,-0.6089287,0.20646147,0.6692102],[0.09411492,0.31819808,0.41330767,0.024243973,0.2314893,0.08529045,0.14911193],[0.5179265,0.20473345,-0.36762783,-0.009045922,-0.19436747,-0.548099,-0.08656279],[-0.69121784,-0.14201449,0.3887621,0.10787631,1.0371574,-0.64747447,-0.73437464],[-0.07860244,-0.597764,0.019551078,0.010199122,-0.7493642,0.66619915,0.121666186]],"activation":"σ","dense_2_b":[[-0.04259814],[-0.053309314],[-0.28045595],[-0.23801634],[0.00944943],[-0.109921046],[-0.037457183],[0.24627604],[-0.0069056284],[-0.04725389],[-0.03361769],[0.044101644],[-0.0009850285]]},{"dense_3_W":[[-0.19631335,-0.47722518,-0.019853225,-0.29363275,-0.625923,0.35145283,0.62401354,0.14337404,-0.25707108,-0.51310915,0.2565006,0.61742216,-0.07952821],[0.5868974,-0.36786363,-0.0177682,-0.45121866,0.68608487,-0.55178356,-0.35236016,-0.7226455,-0.015394288,-0.10650332,0.5391039,0.17791761,0.34196886],[0.16821232,-0.35580373,0.26906335,0.41736925,-0.6979869,0.41801625,0.34707317,0.7784011,-0.10002936,0.32485273,-0.3644285,0.49092358,-0.43872768]],"activation":"identity","dense_3_b":[[-0.019481273],[0.031026587],[-0.03595322]]},{"dense_4_W":[[-0.72340566,0.21244061,-0.67248434]],"dense_4_b":[[0.026229527]],"activation":"identity"}]}

frogpilot/assets/theme_manager.py

@@ -37,6 +37,7 @@ HOLIDAY_SLUGS = {
 }
 
 THEME_COMPONENT_PARAMS = {
+  "boot_logos": "BootLogoToDownload",
   "colors": "ColorToDownload",
   "distance_icons": "DistanceIconToDownload",
   "icons": "IconToDownload",
@@ -93,8 +94,16 @@ class ThemeManager:
     steering_wheel_save_path.parent.mkdir(parents=True, exist_ok=True)
     shutil.copy2(steering_wheel_image_path, steering_wheel_save_path)
 
+    default_boot_logo_path = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
+    boot_logo_save_path = THEME_SAVE_PATH / "bootlogos/starpilot.png"
+    boot_logo_save_path.parent.mkdir(parents=True, exist_ok=True)
+    if not boot_logo_save_path.exists():
+      shutil.copy2(default_boot_logo_path, boot_logo_save_path)
+
   def download_theme(self, theme_component, theme_name, asset_param, frogpilot_toggles):
     self.downloading_theme = True
+    allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
+    name_candidates = [theme_name]
 
     repo_url = get_repository_url()
     if not repo_url:
@@ -102,7 +111,12 @@ class ThemeManager:
       self.downloading_theme = False
       return
 
-    if theme_component == "distance_icons":
+    if theme_component == "boot_logos":
+      download_link = f"{repo_url}/Themes/bootlogo"
+      download_path = THEME_SAVE_PATH / "bootlogos" / theme_name
+      extensions = [".png", ".jpg", ".jpeg"]
+      name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
+    elif theme_component == "distance_icons":
       download_link = f"{repo_url}/Distance-Icons/{theme_name}"
       download_path = THEME_SAVE_PATH / "theme_packs" / theme_name / theme_component
       extensions = [".zip"]
@@ -117,37 +131,40 @@ class ThemeManager:
 
     for extension in extensions:
       theme_path = download_path.with_suffix(extension)
-      theme_url = download_link + extension
+      theme_urls = [f"{download_link}/{candidate}{extension}" for candidate in name_candidates]
+      if theme_component != "boot_logos":
+        theme_urls = [download_link + extension]
 
-      delete_file(theme_path)
+      for theme_url in theme_urls:
-
-      print(f"Downloading theme from GitHub: {theme_name}")
-      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
-
-      if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
         delete_file(theme_path)
-        handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
 
-        self.downloading_theme = False
+        print(f"Downloading theme from GitHub: {theme_name}")
-        return
+        download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)
 
-      if verify_download(theme_path, theme_url):
+        if params_memory.get_bool(CANCEL_DOWNLOAD_PARAM):
-        print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
+          delete_file(theme_path)
-        self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
+          handle_error(None, "Download cancelled...", "Download cancelled...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
 
-        if extension == ".zip":
+          self.downloading_theme = False
-          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+          return
-          extract_zip(theme_path, download_path)
 
-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+        if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
-        params_memory.remove(asset_param)
+          print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
+          self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
 
-        self.downloading_theme = False
+          if extension == ".zip":
+            params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+            extract_zip(theme_path, download_path)
 
-        self.update_themes(frogpilot_toggles)
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-        return
+          params_memory.remove(asset_param)
-      elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
+
-        return
+          self.downloading_theme = False
+
+          self.update_themes(frogpilot_toggles)
+          return
+        elif self.handle_verification_failure(extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
+          return
 
     handle_error(download_path, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
     self.downloading_theme = False
@@ -158,7 +175,7 @@ class ThemeManager:
 
     repo_encoded = quote_plus(RESOURCES_REPO)
 
-    assets = {"themes": {}, "wheels": []}
+    assets = {"boot_logos": [], "themes": {}, "wheels": []}
     try:
       def list_files(branch):
         if is_github:
@@ -234,6 +251,20 @@ class ThemeManager:
         theme_name, sub_path = item["path"].split("/", 1)
         theme_path = sub_path.lower()
 
+        if theme_name.lower() == "bootlogo":
+          if Path(sub_path).suffix.lower() not in (".png", ".jpg", ".jpeg"):
+            continue
+
+          assets["boot_logos"].append(sub_path)
+          logo_name = Path(sub_path).stem
+          local_files = list((THEME_SAVE_PATH / "bootlogos").glob(f"{logo_name}.*"))
+          if local_files and expected_size > 0:
+            local_size = self.theme_sizes.get("boot_logos", {}).get(logo_name)
+            if local_size != expected_size:
+              print(f"boot logo {logo_name} is outdated, redownloading...")
+              self.download_theme("boot_logos", logo_name, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
+          continue
+
         for key in ("colors", "icons", "signals", "sounds"):
           if key in theme_path:
             assets["themes"].setdefault(theme_name, set()).add(key)
@@ -246,6 +277,7 @@ class ThemeManager:
                 self.download_theme(key, theme_name, THEME_COMPONENT_PARAMS[key], frogpilot_toggles)
             break
 
+      assets["boot_logos"].sort()
       assets["themes"] = {key: sorted(list(value)) for key, value in assets["themes"].items()}
       assets["wheels"].sort()
       return assets
@@ -265,7 +297,7 @@ class ThemeManager:
     parts = base.replace("_", "-").split("-")
     capitalized_parts = [part.capitalize() for part in parts if part]
 
-    if len(capitalized_parts) > 1 and component != "steering_wheels":
+    if len(capitalized_parts) > 1 and component not in {"boot_logos", "steering_wheels"}:
       display = f"{capitalized_parts[0]} ({' '.join(capitalized_parts[1:])})"
     else:
       display = " ".join(capitalized_parts)
@@ -321,37 +353,44 @@ class ThemeManager:
     }
 
   def handle_verification_failure(self, extension, theme_component, theme_name, asset_param, theme_path, download_path, frogpilot_toggles):
-    if theme_component == "distance_icons":
+    allow_unknown_size = theme_component in {"boot_logos", "steering_wheels"}
+    if theme_component == "boot_logos":
+      download_link = f"{GITLAB_URL}/Themes/bootlogo"
+      name_candidates = list(dict.fromkeys([theme_name, theme_name.replace("_", "-"), theme_name.replace("-", "_")]))
+    elif theme_component == "distance_icons":
       download_link = f"{GITLAB_URL}/Distance-Icons/{theme_name}"
+      name_candidates = [theme_name]
     elif theme_component == "steering_wheels":
       download_link = f"{GITLAB_URL}/Steering-Wheels/{theme_name}"
+      name_candidates = [theme_name]
     else:
       download_link = f"{GITLAB_URL}/Themes/{theme_name}/{theme_component}"
+      name_candidates = [theme_name]
 
-    delete_file(theme_path)
+    for candidate in name_candidates:
+      delete_file(theme_path)
 
-    theme_url = download_link + extension
+      theme_url = f"{download_link}/{candidate}{extension}" if theme_component == "boot_logos" else download_link + extension
-    print(f"Downloading theme from GitLab: {theme_name}")
+      print(f"Downloading theme from GitLab: {theme_name}")
-    download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory)
+      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, asset_param, params_memory, allow_unknown_size=allow_unknown_size, suppress_errors=allow_unknown_size)
 
-    if verify_download(theme_path, theme_url):
+      if verify_download(theme_path, theme_url, allow_unknown_size=allow_unknown_size):
-      print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
+        print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
-      self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
+        self.update_theme_size(theme_component, theme_name, theme_path.stat().st_size)
 
-      if extension == ".zip":
+        if extension == ".zip":
-        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
-        extract_zip(theme_path, download_path)
+          extract_zip(theme_path, download_path)
 
-      params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-      params_memory.remove(asset_param)
+        params_memory.remove(asset_param)
 
-      self.downloading_theme = False
+        self.downloading_theme = False
 
-      self.update_themes(frogpilot_toggles)
+        self.update_themes(frogpilot_toggles)
-      return True
+        return True
 
-    handle_error(None, "Download failed...", "Download failed...", asset_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
+    # Let the caller continue trying alternate extensions before surfacing failure.
-    self.downloading_theme = False
     return False
 
   @staticmethod
@@ -415,6 +454,8 @@ class ThemeManager:
     return random.choice(candidates) if candidates else "stock"
 
   def update_active_theme(self, time_validated, frogpilot_toggles, boot_run=False, randomize_theme=False):
+    boot_logo = getattr(frogpilot_toggles, "boot_logo", "stock")
+
     if time_validated and frogpilot_toggles.holiday_themes:
       self.holiday_theme = self.update_holiday()
     else:
@@ -422,6 +463,7 @@ class ThemeManager:
 
     if self.holiday_theme != "stock":
       asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
         "color_scheme": ("colors", self.holiday_theme),
         "distance_icons": ("distance_icons", self.holiday_theme),
         "icon_pack": ("icons", self.holiday_theme),
@@ -434,6 +476,7 @@ class ThemeManager:
       selected_theme = self.randomize_theme_asset(available_themes)
 
       asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
         "color_scheme": ("colors", selected_theme.replace("-animated", "")),
         "distance_icons": ("distance_icons", self.randomize_distance_icons(available_themes, selected_theme.replace("-animated", ""))),
         "icon_pack": ("icons", selected_theme),
@@ -444,6 +487,7 @@ class ThemeManager:
 
     elif not frogpilot_toggles.random_themes:
       asset_mappings = {
+        "boot_logo": ("boot_logo", boot_logo),
         "color_scheme": ("colors", frogpilot_toggles.color_scheme),
         "distance_icons": ("distance_icons", frogpilot_toggles.distance_icons),
         "icon_pack": ("icons", frogpilot_toggles.icon_pack),
@@ -458,7 +502,9 @@ class ThemeManager:
       for asset, (asset_type, current_value) in asset_mappings.items():
         print(f"Updating {asset}: {asset_type} with value {current_value}")
 
-        if asset_type == "wheel_image":
+        if asset_type == "boot_logo":
+          self.update_boot_logo(current_value)
+        elif asset_type == "wheel_image":
           self.update_wheel_image(current_value, boot_run=boot_run)
         else:
           self.update_theme_asset(asset_type, current_value, boot_run=boot_run)
@@ -499,9 +545,16 @@ class ThemeManager:
     save_location.symlink_to(asset_location, target_is_directory=True)
     print(f"Linked {save_location} to {asset_location}")
 
-  def update_theme_params(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
+  def update_theme_params(self, downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
     def update_param(key, assets, subfolder):
-      if subfolder == "steering_wheels":
+      if subfolder == "boot_logos":
+        themes_path = THEME_SAVE_PATH / "bootlogos"
+        existing_assets = {item.stem.lower() for item in themes_path.glob("*") if item.is_file()}
+        pending_assets = [asset for asset in assets if asset.lower() not in existing_assets]
+        params.put(key, ",".join(sorted(set(pending_assets))))
+        print(f"{key} updated successfully")
+        return
+      elif subfolder == "steering_wheels":
         themes_path = THEME_SAVE_PATH / subfolder
         existing_assets = {self.format_name(item.name, "steering_wheels") for item in themes_path.glob("*") if item.is_file()}
       else:
@@ -511,6 +564,7 @@ class ThemeManager:
       params.put(key, ",".join(sorted(set(assets) - existing_assets)))
       print(f"{key} updated successfully")
 
+    update_param("DownloadableBootLogos", downloadable_boot_logos, "boot_logos")
     update_param("DownloadableColors", downloadable_colors, "colors")
     update_param("DownloadableDistanceIcons", downloadable_distance_icons, "distance_icons")
     update_param("DownloadableIcons", downloadable_icons, "icons")
@@ -529,12 +583,20 @@ class ThemeManager:
         theme_name = self.format_name(theme_dir.name, "theme_packs")
         downloaded_themes[theme_name] = sorted(components)
 
+    (THEME_SAVE_PATH / "bootlogos").mkdir(parents=True, exist_ok=True)
+
+    downloaded_boot_logos = []
+    for boot_logo_file in (THEME_SAVE_PATH / "bootlogos").iterdir():
+      if boot_logo_file.is_file():
+        downloaded_boot_logos.append(self.format_name(boot_logo_file.name, "boot_logos"))
+
     downloaded_wheels = []
     for wheel_file in (THEME_SAVE_PATH / "steering_wheels").iterdir():
       if wheel_file.is_file():
         downloaded_wheels.append(self.format_name(wheel_file.name, "steering_wheels"))
 
     params.put("ThemesDownloaded", json.dumps({
+      "boot_logos": sorted(downloaded_boot_logos),
       "themes": {key: downloaded_themes[key] for key in sorted(downloaded_themes)},
       "steering_wheels": sorted(downloaded_wheels)
     }))
@@ -542,7 +604,9 @@ class ThemeManager:
     print("ThemesDownloaded updated successfully")
 
   def update_theme_size(self, theme_component, theme_name, file_size):
-    if theme_component == "steering_wheels":
+    if theme_component == "boot_logos":
+      key = "boot_logos"
+    elif theme_component == "steering_wheels":
       key = "wheels"
     else:
       key = "themes"
@@ -550,7 +614,7 @@ class ThemeManager:
     if key not in self.theme_sizes:
       self.theme_sizes[key] = {}
 
-    if key == "wheels":
+    if key in {"boot_logos", "wheels"}:
       self.theme_sizes[key][theme_name] = file_size
     else:
       if theme_name not in self.theme_sizes[key]:
@@ -572,6 +636,7 @@ class ThemeManager:
     if not assets:
       return
 
+    downloadable_boot_logos = []
     downloadable_colors = []
     downloadable_distance_icons = []
     downloadable_icons = []
@@ -593,8 +658,10 @@ class ThemeManager:
       if "sounds" in available_assets:
         downloadable_sounds.append(theme_name)
 
+    downloadable_boot_logos = [Path(boot_logo).stem for boot_logo in assets["boot_logos"]]
     downloadable_wheels = [self.format_name(wheel, "steering_wheels") for wheel in assets["wheels"]]
 
+    print(f"Downloadable Boot Logos: {downloadable_boot_logos}")
     print(f"Downloadable Colors: {downloadable_colors}")
     print(f"Downloadable Icons: {downloadable_icons}")
     print(f"Downloadable Signals: {downloadable_signals}")
@@ -605,7 +672,21 @@ class ThemeManager:
     if boot_run:
       self.validate_themes(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles)
 
-    self.update_theme_params(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
+    self.update_theme_params(downloadable_boot_logos, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
+
+  @staticmethod
+  def update_boot_logo(image):
+    boot_logo_location = Path(__file__).parent / "other_images/frogpilot_boot_logo.png"
+    image_name = image.replace(" ", "_").lower()
+    source_file = next((file for file in (THEME_SAVE_PATH / "bootlogos").glob("*") if file.is_file() and file.stem.lower() == image_name), boot_logo_location)
+
+    # Avoid SameFileError when the selected/fallback source is already the active boot logo.
+    if source_file.resolve() == boot_logo_location.resolve():
+      print(f"Boot logo unchanged: {boot_logo_location}")
+      return
+
+    shutil.copy2(source_file, boot_logo_location)
+    print(f"Copied {source_file} to {boot_logo_location}")
 
   def update_wheel_image(self, image, boot_run=False, random_event=False):
     wheel_save_location = ACTIVE_THEME_PATH / "steering_wheel"
@@ -641,6 +722,15 @@ class ThemeManager:
   def validate_themes(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels, frogpilot_toggles):
     downloaded_data = json.loads(params.get("ThemesDownloaded") or "{}")
 
+    boot_logos_path = THEME_SAVE_PATH / "bootlogos"
+    for display_name in downloaded_data.get("boot_logos", []):
+      file_stem = display_name.replace(" ", "_").lower()
+      matching_files = list(boot_logos_path.glob(f"{file_stem}.*"))
+      if not matching_files:
+        print(f"Missing boot logo '{display_name}'. Downloading...")
+        self.download_theme("boot_logos", file_stem, THEME_COMPONENT_PARAMS["boot_logos"], frogpilot_toggles)
+        self.update_active_theme(True, frogpilot_toggles)
+
     for display_name, components in downloaded_data.get("themes", {}).items():
       raw_name = display_name.lower().replace(" ", "_").replace("(", "").replace(")", "")
       theme_folder_name = raw_name.replace("_animated", "-animated")

frogpilot/common/frogpilot_utilities.py

@@ -2,6 +2,7 @@
 import json
 import math
 import numpy as np
+import os
 import requests
 import shutil
 import subprocess
@@ -22,7 +23,7 @@ from opendbc.can.parser import CANParser
 from openpilot.common.realtime import DT_DMON, DT_HW
 from openpilot.selfdrive.car.toyota.carcontroller import LOCK_CMD
 from openpilot.system.hardware import HARDWARE
-from panda import Panda
+from panda import Panda, FW_PATH
 
 from openpilot.frogpilot.common.frogpilot_variables import EARTH_RADIUS, KONIK_PATH, MAPD_PATH, MAPS_PATH, params, params_cache, params_memory
 
@@ -151,11 +152,21 @@ def extract_zip(zip_file, extract_path):
   print(f"Extraction completed: {zip_file} has been removed")
 
 def flash_panda():
+  remote_start = params.get_bool("RemoteStartBootsComma")
   for serial in Panda.list():
     try:
       panda = Panda(serial)
+      flash_fn = None
+      if remote_start:
+        app_fn = panda.get_mcu_type().config.app_fn
+        remote_fn = "panda_h7_remote.bin.signed" if app_fn == "panda_h7.bin.signed" else "panda_remote.bin.signed"
+        candidate = os.path.join(FW_PATH, remote_fn)
+        if os.path.isfile(candidate):
+          flash_fn = candidate
+        else:
+          print(f"Remote-start panda firmware missing: {candidate}. Falling back to default firmware.")
       panda.reset(enter_bootstub=True)
-      panda.flash()
+      panda.flash(fn=flash_fn)
       panda.close()
     except Exception as exception:
       print(f"Error flashing Panda {serial}: {exception}")

frogpilot/common/frogpilot_variables.py

@@ -133,6 +133,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("AdvancedLateralTune", "1", 2, "0"),
   ("AdvancedLongitudinalTune", "0", 3, "0"),
   ("EVTuning", "", 3, "0"),
+  ("TruckTuning", "0", 3, "0"),
   ("AggressiveFollow", "1.25", 2, "1.25"),
   ("AggressiveFollowHigh", "1.25", 2, "1.25"),
   ("AggressiveJerkAcceleration", "50", 3, "50"),
@@ -159,6 +160,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("BlacklistedModels", "", 2, ""),
   ("BlindSpotMetrics", "1", 3, "0"),
   ("BlindSpotPath", "1", 1, "0"),
+  ("BootLogo", "starpilot", 0, "stock"),
   ("BorderMetrics", "1", 3, "0"),
   ("CalibratedLateralAcceleration", str(DEFAULT_LATERAL_ACCELERATION), 2, str(DEFAULT_LATERAL_ACCELERATION)),
   ("CalibrationProgress", "0", 3, "0"),
@@ -237,6 +239,8 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("FullMap", "0", 2, "0"),
   ("GasRegenCmd", "1", 2, "0"),
   ("GMPedalLongitudinal", "1", 2, "1"),
+  ("RedPanda", "0", 3, "0"),
+  ("RemoteStartBootsComma", "0", 3, "0"),
   ("GithubSshKeys", "", 0, ""),
   ("GithubUsername", "", 0, ""),
   ("GoatScream", "0", 1, "0"),
@@ -620,19 +624,34 @@ class FrogPilotVariables:
     toggle.steer_offset = np.clip(params.get_float("SteerOffset"), -0.2, 0.2) if advanced_lateral_tuning and tuning_level >= level["SteerOffset"] and toggle.car_make == "gm" else 0.0
     toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
     toggle.steerKp = [[0], [np.clip(params.get_float("SteerKP"), steerKp * 0.5, steerKp * 1.5) if advanced_lateral_tuning and is_torque_car and tuning_level >= level["SteerKP"] else steerKp]]
-    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.75, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
+    toggle.latAccelFactor = np.clip(params.get_float("SteerLatAccel"), latAccelFactor * 0.5, latAccelFactor * 1.25) if advanced_lateral_tuning and tuning_level >= level["SteerLatAccel"] else latAccelFactor
     toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
-    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.5, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
+    toggle.steerRatio = np.clip(params.get_float("SteerRatio"), steerRatio * 0.25, steerRatio * 1.5) if advanced_lateral_tuning and tuning_level >= level["SteerRatio"] else steerRatio
     toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
 
     advanced_longitudinal_tuning = params.get_bool("AdvancedLongitudinalTune") if tuning_level >= level["AdvancedLongitudinalTune"] else default.get_bool("AdvancedLongitudinalTune")
-    ev_vehicle = toggle.car_make == "gm" and toggle.car_model != "CHEVROLET_VOLT" and CP.carFingerprint in GM_EV_CAR or toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR
+    gm_ev_vehicle = toggle.car_make == "gm" and CP.carFingerprint in GM_EV_CAR
+    gm_ev_vehicle &= not (toggle.car_model.startswith("CHEVROLET_VOLT") and not toggle.car_model.endswith("_CC"))
+    gm_ev_vehicle &= toggle.car_model != "CHEVROLET_MALIBU_HYBRID_CC"
+    ev_vehicle = gm_ev_vehicle or (toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR)
     ev_vehicle |= CP.transmissionType == TransmissionType.direct
 
     if params.get("EVTuning") == b"":
       params.put_bool("EVTuning", ev_vehicle)
 
-    toggle.ev_tuning = params.get_bool("EVTuning") if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
+    if params.get("TruckTuning") == b"":
+      params.put_bool("TruckTuning", False)
+
+    ev_tuning_param = params.get_bool("EVTuning")
+    truck_tuning_param = params.get_bool("TruckTuning")
+
+    # Enforce exclusivity between EV and Truck tuning.
+    if truck_tuning_param and ev_tuning_param:
+      ev_tuning_param = False
+      params.put_bool("EVTuning", False)
+
+    toggle.ev_tuning = ev_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["EVTuning"] else ev_vehicle
+    toggle.truck_tuning = truck_tuning_param if advanced_longitudinal_tuning and tuning_level >= level["TruckTuning"] else False
     toggle.longitudinalActuatorDelay = np.clip(params.get_float("LongitudinalActuatorDelay"), 0, 1) if advanced_longitudinal_tuning and tuning_level >= level["LongitudinalActuatorDelay"] else longitudinalActuatorDelay
     toggle.startAccel = np.clip(params.get_float("StartAccel"), 0, 4) if advanced_longitudinal_tuning and tuning_level >= level["StartAccel"] else startAccel
     toggle.stopAccel = np.clip(params.get_float("StopAccel"), -4, 0) if advanced_longitudinal_tuning and tuning_level >= level["StopAccel"] else stopAccel
@@ -808,6 +827,9 @@ class FrogPilotVariables:
     toggle.vEgoStarting = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStarting
     toggle.vEgoStopping = 0.15 if toggle.experimental_gm_tune else toggle.vEgoStopping
 
+    toggle.red_panda = toggle.car_make == "gm" and (params.get_bool("RedPanda") if tuning_level >= level["RedPanda"] else default.get_bool("RedPanda"))
+    toggle.remote_start_boots_comma = toggle.car_make == "gm" and (params.get_bool("RemoteStartBootsComma") if tuning_level >= level["RemoteStartBootsComma"] else default.get_bool("RemoteStartBootsComma"))
+
     toggle.force_fingerprint = (params.get_bool("ForceFingerprint") if tuning_level >= level["ForceFingerprint"] else default.get_bool("ForceFingerprint")) and toggle.car_model is not None
 
     toggle.frogsgomoo_tweak = toggle.openpilot_longitudinal and toggle.car_make == "toyota" and (params.get_bool("FrogsGoMoosTweak") if tuning_level >= level["FrogsGoMoosTweak"] else default.get_bool("FrogsGoMoosTweak"))
@@ -917,6 +939,7 @@ class FrogPilotVariables:
       toggle.old_long_api |= toggle.openpilot_longitudinal and toggle.car_make == "hyundai" and not (params.get_bool("NewLongAPI") if tuning_level >= level["NewLongAPI"] else default.get_bool("NewLongAPI"))
 
     personalize_openpilot = params.get_bool("PersonalizeOpenpilot") if tuning_level >= level["PersonalizeOpenpilot"] else default.get_bool("PersonalizeOpenpilot")
+    toggle.boot_logo = params.get("BootLogo", encoding="utf-8") or "starpilot"
     toggle.color_scheme = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomColors", encoding="utf-8") if personalize_openpilot else "stock"
     toggle.distance_icons = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomDistanceIcons", encoding="utf-8") if personalize_openpilot else "stock"
     toggle.icon_pack = toggle.current_holiday_theme if toggle.current_holiday_theme != "stock" else params.get("CustomIcons", encoding="utf-8") if personalize_openpilot else "stock"
@@ -1006,7 +1029,14 @@ class FrogPilotVariables:
     toggle.lock_doors = toyota_doors and (params.get_bool("LockDoors") if tuning_level >= level["LockDoors"] else default.get_bool("LockDoors"))
     toggle.unlock_doors = toyota_doors and (params.get_bool("UnlockDoors") if tuning_level >= level["UnlockDoors"] else default.get_bool("UnlockDoors"))
 
-    toggle.volt_sng = toggle.car_model == "CHEVROLET_VOLT" and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
+    volt_models = {
+      "CHEVROLET_VOLT",
+      "CHEVROLET_VOLT_2019",
+      "CHEVROLET_VOLT_ASCM",
+      "CHEVROLET_VOLT_CAMERA",
+    }
+
+    toggle.volt_sng = toggle.car_model in volt_models and (params.get_bool("VoltSNG") if tuning_level >= level["VoltSNG"] else default.get_bool("VoltSNG"))
 
     toggle.gm_pedal_longitudinal = params.get_bool("GMPedalLongitudinal") if tuning_level >= level["GMPedalLongitudinal"] else default.get_bool("GMPedalLongitudinal")
 

frogpilot/controls/lib/frogpilot_acceleration.py

@@ -47,26 +47,53 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
 
                        # MPH = [0.0,  11,  22,  34,  45,  56,  89]
 A_CRUISE_MAX_BP_CUSTOM =       [0.0,  5., 10., 15., 20., 25., 40.]
-A_CRUISE_MAX_VALS_ECO_EV =     [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+A_CRUISE_MAX_VALS_ECO_EV =     [1.0, 1.0, 1.0, 1.0, 1.12, 1.12, 1.45]
-A_CRUISE_MAX_VALS_SPORT_EV =   [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
+A_CRUISE_MAX_VALS_STANDARD_EV = [1.15, 1.15, 1.15, 1.15, 1.30, 1.30, 1.72]
+A_CRUISE_MAX_VALS_SPORT_EV =   [1.25, 1.25, 1.25, 1.25, 1.45, 1.5, 2.0]
+A_CRUISE_MAX_VALS_SPORT_PLUS_EV = [1.35, 1.35, 1.35, 1.35, 1.60, 1.60, 2.10]
 A_CRUISE_MAX_VALS_ECO_GAS =    [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
 A_CRUISE_MAX_VALS_SPORT_GAS =  [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
+A_CRUISE_MAX_VALS_ECO_TRUCK =       [3.00, 1.05, 0.60, 0.50, 0.50, 0.45, 0.35]
+A_CRUISE_MAX_VALS_STANDARD_TRUCK =  [6.00, 1.10, 0.70, 0.60, 0.55, 0.45, 0.35]
+A_CRUISE_MAX_VALS_SPORT_TRUCK =     [6.00, 1.15, 0.75, 0.70, 0.60, 0.50, 0.40]
+A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK = [6.00, 1.30, 0.90, 0.80, 0.70, 0.60, 0.45]
 
-def get_max_accel_eco(v_ego, ev_tuning=True):
+def get_max_accel_eco(v_ego, ev_tuning=True, truck_tuning=False):
-  cruise_vals = A_CRUISE_MAX_VALS_ECO_EV if ev_tuning else A_CRUISE_MAX_VALS_ECO_GAS
+  if ev_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_EV
+  elif truck_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_TRUCK
+  else:
+    cruise_vals = A_CRUISE_MAX_VALS_ECO_GAS
   return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
 
-def get_max_accel_sport(v_ego, ev_tuning=True):
+def get_max_accel_sport(v_ego, ev_tuning=True, truck_tuning=False):
-  cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV if ev_tuning else A_CRUISE_MAX_VALS_SPORT_GAS
+  if ev_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_EV
+  elif truck_tuning:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_TRUCK
+  else:
+    cruise_vals = A_CRUISE_MAX_VALS_SPORT_GAS
   return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, cruise_vals))
 
+def get_max_accel_standard(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_EV))
+  if truck_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_STANDARD_TRUCK))
+  return get_max_accel(v_ego)
+
 def get_max_accel_low_speeds(max_accel, v_cruise):
   return float(akima_interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel]))
 
 def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
   return float(akima_interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel]))
 
-def get_max_allowed_accel(v_ego):
+def get_max_allowed_accel(v_ego, ev_tuning=True, truck_tuning=False):
+  if ev_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_EV))
+  if truck_tuning:
+    return float(akima_interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS_TRUCK))
   return float(akima_interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0]))  # ISO 15622:2018
 
 class FrogPilotAcceleration:
@@ -80,26 +107,27 @@ class FrogPilotAcceleration:
     eco_gear = sm["frogpilotCarState"].ecoGear
     sport_gear = sm["frogpilotCarState"].sportGear
     ev_tuning = frogpilot_toggles.ev_tuning
+    truck_tuning = frogpilot_toggles.truck_tuning
 
     if sm["frogpilotCarState"].trafficModeEnabled:
-      self.max_accel = get_max_accel(v_ego)
+      self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
     elif frogpilot_toggles.map_acceleration and (eco_gear or sport_gear):
       if eco_gear:
-        self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
       else:
         if frogpilot_toggles.acceleration_profile == 2:
-          self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
+          self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
         else:
-          self.max_accel = get_max_allowed_accel(v_ego)
+          self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
     else:
       if frogpilot_toggles.acceleration_profile == 1:
-        self.max_accel = get_max_accel_eco(v_ego, ev_tuning)
+        self.max_accel = get_max_accel_eco(v_ego, ev_tuning, truck_tuning)
       elif frogpilot_toggles.acceleration_profile == 2:
-        self.max_accel = get_max_accel_sport(v_ego, ev_tuning)
+        self.max_accel = get_max_accel_sport(v_ego, ev_tuning, truck_tuning)
       elif frogpilot_toggles.acceleration_profile == 3:
-        self.max_accel = get_max_allowed_accel(v_ego)
+        self.max_accel = get_max_allowed_accel(v_ego, ev_tuning, truck_tuning)
       else:
-        self.max_accel = get_max_accel(v_ego)
+        self.max_accel = get_max_accel_standard(v_ego, ev_tuning, truck_tuning)
 
     if frogpilot_toggles.human_acceleration:
       self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel)

frogpilot/ui/qt/offroad/frogpilot_settings.cc

@@ -273,7 +273,10 @@ void FrogPilotSettingsWindow::updateVariables() {
     hasSNG = hasOpenpilotLongitudinal && CP.getAutoResumeSng();
     hasZSS = frogpilot_toggles.value("has_zss").toBool();
     isAngleCar = CP.getSteerControlType() == cereal::CarParams::SteerControlType::ANGLE;
-    isBolt = carFingerprint == "CHEVROLET_BOLT_CC" || carFingerprint == "CHEVROLET_BOLT_EUV";
+    isBolt = carFingerprint == "CHEVROLET_BOLT_ACC_2022_2023" ||
+             carFingerprint == "CHEVROLET_BOLT_CC_2022_2023" ||
+             carFingerprint == "CHEVROLET_BOLT_CC_2019_2021" ||
+             carFingerprint == "CHEVROLET_BOLT_CC_2017";
     isGM = carMake == "gm";
     isHKG = carMake == "hyundai";
     isHKGCanFd = isHKG && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD;

frogpilot/ui/qt/offroad/longitudinal_settings.cc

@@ -103,6 +103,10 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
               "vehicle's detected powertrain type but can be overridden if the "
               "automatic choice doesn't match."),
            ""},
+          {"TruckTuning", tr("Truck Tuning"),
+           tr("<b>Use aggressive acceleration profiles tuned for trucks.</b> "
+              "Intended for heavy vehicles that need stronger throttle."),
+           ""},
           {"LongitudinalActuatorDelay",
            longitudinalActuatorDelay != 0
                ? QString(tr("Actuator Delay (Default: %1)"))
@@ -1125,6 +1129,21 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(
                      &FrogPilotLongitudinalPanel::updateToggles);
   }
 
+  QObject::connect(static_cast<ToggleControl *>(toggles["EVTuning"]),
+                   &ToggleControl::toggleFlipped, this, [this]() {
+                     if (params.getBool("EVTuning")) {
+                       params.putBool("TruckTuning", false);
+                     }
+                     updateToggles();
+                   });
+  QObject::connect(static_cast<ToggleControl *>(toggles["TruckTuning"]),
+                   &ToggleControl::toggleFlipped, this, [this]() {
+                     if (params.getBool("TruckTuning")) {
+                       params.putBool("EVTuning", false);
+                     }
+                     updateToggles();
+                   });
+
   FrogPilotParamValueControl *trafficFollowToggle =
       static_cast<FrogPilotParamValueControl *>(toggles["TrafficFollow"]);
   FrogPilotParamValueControl *trafficAccelerationToggle =
@@ -1636,6 +1655,12 @@ void FrogPilotLongitudinalPanel::updateToggles() {
       setVisible &= !isToyota || !params.getBool("FrogsGoMoosTweak");
     }
 
+    if (key == "EVTuning") {
+      toggle->setEnabled(!params.getBool("TruckTuning"));
+    } else if (key == "TruckTuning") {
+      toggle->setEnabled(!params.getBool("EVTuning"));
+    }
+
     toggle->setVisible(setVisible);
 
     if (setVisible) {

frogpilot/ui/qt/offroad/longitudinal_settings.h

@@ -40,7 +40,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
+  QSet<QString> advancedLongitudinalTuneKeys = {"EVTuning", "TruckTuning", "LongitudinalActuatorDelay", "StartAccel", "StopAccel", "StoppingDecelRate", "VEgoStarting", "VEgoStopping"};
   QSet<QString> aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveFollowHigh", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"};
   QSet<QString> conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "ShowCEMStatus"};
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};

frogpilot/ui/qt/offroad/theme_settings.cc

@@ -66,6 +66,11 @@ void deleteThemeAsset(QDir &directory, const QString &subFolder, const QString &
 }
 
 void downloadThemeAsset(const QString &input, const std::string &paramKey, const QString &assetParam, Params &params, Params &params_memory) {
+  if (paramKey == "BootLogoToDownload") {
+    params_memory.put(paramKey, input.trimmed().toStdString());
+    return;
+  }
+
   QString output = input;
   int tilde = output.indexOf("~");
   if (tilde >= 0) {
@@ -228,6 +233,7 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
 
   const std::vector<std::tuple<QString, QString, QString, QString>> themeToggles {
     {"PersonalizeOpenpilot", tr("Custom Themes"), tr("<b>The overall look and feel of openpilot.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), "../../frogpilot/assets/toggle_icons/icon_frog.png"},
+    {"BootLogo", tr("Boot Logo"), tr("<b>The boot logo shown while the device starts.</b>"), ""},
     {"CustomColors", tr("Color Scheme"), tr("<b>The color scheme used throughout openpilot.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), ""},
     {"CustomDistanceIcons", tr("Distance Button"), tr("<b>The distance button icons shown on the driving screen.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), ""},
     {"CustomIcons", tr("Icon Pack"), tr("<b>The icon style used across openpilot.</b> Use the \"Theme Maker\" in \"The Pond\" to create and share your own themes!"), ""},
@@ -252,6 +258,57 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
         themesLayout->setCurrentWidget(customThemesPanel);
       });
       themeToggle = personalizeOpenpilotToggle;
+    } else if (param == "BootLogo") {
+      manageBootLogosButton = new FrogPilotButtonsControl(title, desc, icon, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")});
+      QObject::connect(manageBootLogosButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
+        // Show all downloaded boot logos, including the currently selected one.
+        QStringList bootLogos = getThemeList(true, QDir(bootLogosDirectory.path()), "", "BootLogo", params);
+
+        if (id == 0) {
+          QString bootLogoToDelete = MultiOptionDialog::getSelection(tr("Select a boot logo to delete"), bootLogos, "", this);
+          if (!bootLogoToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Delete the \"%1\" boot logo?").arg(bootLogoToDelete), tr("Delete"), this)) {
+            bootLogosDownloaded = false;
+
+            deleteThemeAsset(bootLogosDirectory, "", "DownloadableBootLogos", bootLogoToDelete, params);
+          }
+        } else if (id == 1) {
+          if (bootLogoDownloading) {
+            cancellingDownload = true;
+
+            params_memory.putBool("CancelThemeDownload", true);
+
+            QTimer::singleShot(2500, [this]() {
+              bootLogoDownloading = false;
+              cancellingDownload = false;
+              themeDownloading = false;
+
+              params_memory.putBool("CancelThemeDownload", false);
+            });
+          } else {
+            QStringList downloadableBootLogos = QString::fromStdString(params.get("DownloadableBootLogos")).split(",");
+            bootLogoToDownload = MultiOptionDialog::getSelection(tr("Select a boot logo to download"), downloadableBootLogos, "", this);
+            if (!bootLogoToDownload.isEmpty()) {
+              manageBootLogosButton->setValue(storeThemeName(bootLogoToDownload, "BootLogo", params));
+
+              bootLogoDownloading = true;
+              themeDownloading = true;
+
+              params_memory.put("ThemeDownloadProgress", "Downloading...");
+
+              downloadThemeAsset(bootLogoToDownload, "BootLogoToDownload", "DownloadableBootLogos", params, params_memory);
+
+              downloadStatusLabel->setText("Downloading...");
+            }
+          }
+        } else if (id == 2) {
+          QString bootLogoToSelect = MultiOptionDialog::getSelection(tr("Select a boot logo"), bootLogos, getThemeName("BootLogo", params), this);
+          if (!bootLogoToSelect.isEmpty()) {
+            manageBootLogosButton->setValue(storeThemeName(bootLogoToSelect, "BootLogo", params));
+          }
+        }
+      });
+      manageBootLogosButton->setValue(getThemeName(param.toStdString(), params));
+      themeToggle = manageBootLogosButton;
     } else if (param == "CustomColors") {
       manageCustomColorsButton = new FrogPilotButtonsControl(title, desc, icon, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")});
       QObject::connect(manageCustomColorsButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
@@ -704,6 +761,7 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
 }
 
 void FrogPilotThemesPanel::showEvent(QShowEvent *event) {
+  bootLogosDownloaded = params.get("DownloadableBootLogos").empty();
   colorsDownloaded = params.get("DownloadableColors").empty();
   distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty();
   iconsDownloaded = params.get("DownloadableIcons").empty();
@@ -756,6 +814,7 @@ void FrogPilotThemesPanel::updateState(const UIState &s, const FrogPilotUIState
       finalizingDownload = true;
 
       QTimer::singleShot(2500, [this]() {
+        bootLogoDownloading = false;
         colorDownloading = false;
         distanceIconDownloading = false;
         finalizingDownload = false;
@@ -765,6 +824,7 @@ void FrogPilotThemesPanel::updateState(const UIState &s, const FrogPilotUIState
         themeDownloading = false;
         wheelDownloading = false;
 
+        bootLogosDownloaded = params.get("DownloadableBootLogos").empty();
         colorsDownloaded = params.get("DownloadableColors").empty();
         distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty();
         iconsDownloaded = params.get("DownloadableIcons").empty();
@@ -782,6 +842,11 @@ void FrogPilotThemesPanel::updateState(const UIState &s, const FrogPilotUIState
 
   bool parked = !s.scene.started || fs.frogpilot_scene.parked || fs.frogpilot_toggles.value("frogs_go_moo").toBool();
 
+  manageBootLogosButton->setText(1, bootLogoDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
+  manageBootLogosButton->setEnabledButtons(0, !themeDownloading);
+  manageBootLogosButton->setEnabledButtons(1, fs.frogpilot_scene.online && (!themeDownloading || bootLogoDownloading) && !cancellingDownload && !finalizingDownload && !bootLogosDownloaded && parked);
+  manageBootLogosButton->setEnabledButtons(2, !themeDownloading);
+
   manageCustomColorsButton->setText(1, colorDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
   manageCustomColorsButton->setEnabledButtons(0, !themeDownloading);
   manageCustomColorsButton->setEnabledButtons(1, fs.frogpilot_scene.online && (!themeDownloading || colorDownloading) && !cancellingDownload && !finalizingDownload && !colorsDownloaded && parked);

frogpilot/ui/qt/offroad/theme_settings.h

@@ -19,6 +19,8 @@ private:
   void updateToggles();
 
   bool cancellingDownload;
+  bool bootLogoDownloading = false;
+  bool bootLogosDownloaded = false;
   bool colorDownloading;
   bool colorsDownloaded;
   bool distanceIconDownloading;
@@ -40,10 +42,11 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> customThemeKeys = {"CustomColors", "CustomDistanceIcons", "CustomIcons", "CustomSignals", "CustomSounds", "DownloadStatusLabel", "WheelIcon"};
+  QSet<QString> customThemeKeys = {"BootLogo", "CustomColors", "CustomDistanceIcons", "CustomIcons", "CustomSignals", "CustomSounds", "DownloadStatusLabel", "WheelIcon"};
 
   QSet<QString> parentKeys;
 
+  FrogPilotButtonsControl *manageBootLogosButton;
   FrogPilotButtonsControl *manageCustomColorsButton;
   FrogPilotButtonsControl *manageCustomIconsButton;
   FrogPilotButtonsControl *manageCustomSignalsButton;
@@ -55,11 +58,13 @@ private:
 
   LabelControl *downloadStatusLabel;
 
+  QDir bootLogosDirectory{"/data/themes/bootlogos/"};
   QDir themePacksDirectory{"/data/themes/theme_packs/"};
   QDir wheelsDirectory{"/data/themes/steering_wheels/"};
 
   QJsonObject frogpilotToggleLevels;
 
+  QString bootLogoToDownload;
   QString colorSchemeToDownload;
   QString distanceIconPackToDownload;
   QString iconPackToDownload;

frogpilot/ui/qt/offroad/vehicle_settings.cc

@@ -1,6 +1,9 @@
 #include <QRegularExpression>
 #include <QTextStream>
 
+#include <chrono>
+#include <thread>
+
 #include "frogpilot/ui/qt/offroad/vehicle_settings.h"
 
 QStringList getCarNames(const QString &carMake, QMap<QString, QString> &carModels) {
@@ -170,6 +173,8 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     {"ExperimentalGMTune", tr("FrogsGoMoo's Experimental Tune"), tr("<b>Experimental GM tune by FrogsGoMoo</b> that attempts to smoothen stopping and takeoff control. Use at your own risk!"), ""},
     {"GMPedalLongitudinal", tr("Use Pedal for Longitudinal Control"), tr("<b>Use the pedal interceptor for longitudinal control</b> instead of camera ACC/Redneck when available."), ""},
     {"LongPitch", tr("Smooth Pedal Response on Hills"), tr("<b>Smoothen acceleration and braking</b> when driving downhill/uphill."), ""},
+    {"RedPanda", tr("Red Panda"), tr("<b>Enable Red Panda behavior</b> for GM (alternate safety config and bus numbering). Requires a reboot to take effect."), ""},
+    {"RemoteStartBootsComma", tr("Remote Start Boots Comma"), tr("<b>Use GM C9 SystemPowerMode</b> for ignition detection. Toggle requires a panda firmware update and a reboot to take effect."), ""},
     {"VoltSNG", tr("Stop-and-Go Hack"), tr("<b>Force stop-and-go</b> on the 2017 Chevy Volt."), ""},
 
     {"HKGToggles", tr("Hyundai/Kia/Genesis Settings"), tr("<b>FrogPilot features for Genesis, Hyundai, and Kia vehicles.</b>"), ""},
@@ -300,6 +305,25 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     });
   }
 
+  ParamControl *remoteStartToggle = static_cast<ParamControl*>(toggles["RemoteStartBootsComma"]);
+  QObject::connect(remoteStartToggle, &ToggleControl::toggleFlipped, [parent, remoteStartToggle, this](bool state) {
+    const QString prompt = tr("Remote Start requires a Panda firmware update. Flash the Panda now?");
+    if (!FrogPilotConfirmationDialog::yesorno(prompt, this)) {
+      params.putBool("RemoteStartBootsComma", !state);
+      remoteStartToggle->refresh();
+      return;
+    }
+
+    std::thread([parent, this]() {
+      parent->keepScreenOn = true;
+      params_memory.putBool("FlashPanda", true);
+      while (params_memory.getBool("FlashPanda")) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+      }
+      Hardware::reboot();
+    }).detach();
+  });
+
   openDescriptions(forceOpenDescriptions, toggles);
 
   QObject::connect(uiState(), &UIState::offroadTransition, [selectMakeButton, selectModelButton, this]() {

frogpilot/ui/qt/offroad/vehicle_settings.h

@@ -36,7 +36,7 @@ private:
 
   std::map<QString, AbstractControl*> toggles;
 
-  QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "VoltSNG"};
+  QSet<QString> gmKeys = {"ExperimentalGMTune", "GMPedalLongitudinal", "LongPitch", "RedPanda", "RemoteStartBootsComma", "VoltSNG"};
   QSet<QString> hkgKeys = {"NewLongAPI", "TacoTuneHacks"};
   QSet<QString> longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "SNGHack", "VoltSNG"};
   QSet<QString> toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "LockDoorsTimer", "SNGHack", "ToyotaDoors"};
@@ -50,6 +50,7 @@ private:
   ParamControl *forceFingerprint;
 
   Params params;
+  Params params_memory{"/dev/shm/params"};
   Params params_default{"/dev/shm/params_default"};
 
   QJsonObject frogpilotToggleLevels;

opendbc/gm_global_a_powertrain_generated.dbc

@@ -82,6 +82,12 @@ VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;
 
 BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
  SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
+ SG_ Byte1 : 8|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte2 : 16|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte3 : 24|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte4 : 32|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte5 : 40|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte6 : 48|8@1+ (1,0) [0|255] "" NEO
 
 BO_ 190 ECMAcceleratorPos: 6 K20_ECM
  SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
@@ -165,6 +171,7 @@ 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_ ACCHiddenBit : 30|1@0+ (1,0) [0|1] "" 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
@@ -192,10 +199,15 @@ BO_ 500 SportMode: 6 XXX
  SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX
 
 BO_ 501 ECMPRDNL2: 8 K20_ECM
- SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
+ SG_ Byte0 : 0|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte1 : 8|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte2 : 16|8@1+ (1,0) [0|255] "" NEO
  SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
+ SG_ Byte4 : 32|8@1+ (1,0) [0|255] "" NEO
  SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
-
+ SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
+ SG_ Byte7 : 56|8@1+ (1,0) [0|255] "" NEO
+ 
 BO_ 532 BRAKE_RELATED: 6 XXX
  SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX
 
@@ -370,6 +382,6 @@ VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
 VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
 VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
 VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;
-VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting";
+VAL_ 501 PRNDL2 7 "L2" 6 "L" 5 "L3" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting";
 VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged";
 VAL_ 501 ManualMode 1 "Active" 0 "Inactive"

panda/.gitignore

@@ -13,6 +13,11 @@ a.out
 dist/
 pandacan.egg-info/
 obj/
+!board/obj/
+!board/obj/bootstub.panda_remote.bin
+!board/obj/bootstub.panda_h7_remote.bin
+!board/obj/panda_remote.bin.signed
+!board/obj/panda_h7_remote.bin.signed
 examples/output.csv
 .DS_Store
 .vscode*

panda/board/drivers/can_common.h

@@ -33,6 +33,7 @@ extern bool can_loopback;
 // Ignition detected from CAN meessages
 bool ignition_can = false;
 uint32_t ignition_can_cnt = 0U;
+extern bool gm_remote_start_boots_comma;
 
 #define ALL_CAN_SILENT 0xFF
 #define ALL_CAN_LIVE 0
@@ -202,10 +203,22 @@ void ignition_can_hook(CANPacket_t *to_push) {
     int len = GET_LEN(to_push);
     
     // GM exception
-    if ((addr == 0x1F1) && (len == 8)) {
+    #ifdef PANDA_GM_REMOTE_START_C9
-      // SystemPowerMode (2=Run, 3=Crank Request)
+    if (true) {
-      ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
+    #else
-      ignition_can_cnt = 0U;
+    if (gm_remote_start_boots_comma) {
+    #endif
+      if ((addr == 0xC9) && (len == 8)) {
+        // Matches SystemPowerMode (1=Run, 0=Off)
+        ignition_can = (GET_BYTE(to_push, 6) & 0x10U) != 0U;
+        ignition_can_cnt = 0U;
+      }
+    } else {
+      if ((addr == 0x1F1) && (len == 8)) {
+        // SystemPowerMode (2=Run, 3=Crank Request)
+        ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
+        ignition_can_cnt = 0U;
+      }
     }
 
     // Tesla exception

panda/board/obj/gitversion.h

@@ -1 +1 @@
-const uint8_t gitversion[] = "DEV-87d2f6ab-DEBUG";
+const uint8_t gitversion[] = "DEV-4d1efbb2-DEBUG";

panda/board/safety.h

@@ -88,7 +88,7 @@ int safety_fwd_hook(int bus_num, int addr) {
 }
 
 bool get_longitudinal_allowed(void) {
-  return controls_allowed && !gas_pressed_prev;
+  return controls_allowed && !gas_pressed;
 }
 
 // Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8

panda/board/safety/safety_gm.h

@@ -9,43 +9,55 @@ const SteeringLimits GM_STEERING_LIMITS = {
   .type = TorqueDriverLimited,
 };
 
+const SteeringLimits GM_BOLT_2017_STEERING_LIMITS = {
+  .max_steer = 450,
+  .max_rate_up = 15,
+  .max_rate_down = 34,
+  .driver_torque_allowance = 78,
+  .driver_torque_factor = 6,
+  .max_rt_delta = 345,
+  .max_rt_interval = 200000,
+  .type = TorqueDriverLimited,
+};
+
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 3072,
+  .max_gas = 8191,
-  .min_gas = 1404,
+  .min_gas = 5500,
-  .inactive_gas = 1404,
+  .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 3400,
+  .max_gas = 8848,
-  .min_gas = 1514,
+  .min_gas = 5610,
-  .inactive_gas = 1554,
+  .inactive_gas = 5650,
   .max_brake = 400,
 };
 
+const SteeringLimits *gm_steer_limits;
 const LongitudinalLimits *gm_long_limits;
 
 const int GM_STANDSTILL_THRSLD = 10;  // 0.311kph
 
 // panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches
 // If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state
-const int GM_GAS_INTERCEPTOR_THRESHOLD = 515; // (675 + 355) / 2 ratio between offset and gain from dbc file
+const int GM_GAS_INTERCEPTOR_THRESHOLD = 595; // (675 + 355) / 2 ratio between offset and gain from dbc file
 #define GM_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks
 
-const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6},  // pt bus
+const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
                                   {0xA1, 1, 7}, {0x306, 1, 8}, {0x308, 1, 7}, {0x310, 1, 2},   // obs bus
                                   {0x315, 2, 5}};  // ch bus
 
-const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7},  // pt bus
+const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
                                  {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6},  // pt bus
+const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, {0xBD, 0, 7}, {0x1F5, 0, 8},   // pt bus
-                                      {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
+                                      {0x315, 2, 5}, {0x1E1, 2, 7}, {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
+const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // pt bus
                                   {0x184, 2, 8}};  // camera bus
 
-const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7},  // pt bus
+const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, {0xBD, 0, 7}, {0x1F5, 0, 8},  // pt bus
                                      {0x184, 2, 8}, {0x1E1, 2, 7}};  // camera bus
 
 // TODO: do checksum and counter checks. Add correct timestep, 0.1s for now.
@@ -62,13 +74,18 @@ RxCheck gm_rx_checks[] = {
 
 const uint16_t GM_PARAM_HW_CAM = 1;
 const uint16_t GM_PARAM_HW_CAM_LONG = 2;
-const uint16_t GM_PARAM_HW_SDGM = 4;
+const uint16_t GM_PARAM_CC_LONG = 4;
-const uint16_t GM_PARAM_CC_LONG = 8;
+const uint16_t GM_PARAM_HW_ASCM_LONG = 8;
-const uint16_t GM_PARAM_HW_ASCM_LONG = 16;
+const uint16_t GM_PARAM_NO_CAMERA = 16;
-const uint16_t GM_PARAM_NO_CAMERA = 32;
+const uint16_t GM_PARAM_NO_ACC = 32;
-const uint16_t GM_PARAM_NO_ACC = 64;
+const uint16_t GM_PARAM_PEDAL_LONG = 64;  // TODO: this can be inferred
-const uint16_t GM_PARAM_PEDAL_LONG = 128;  // TODO: this can be inferred
+const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 128;
-const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256;
+const uint16_t GM_PARAM_ASCM_INT = 256;
+const uint16_t GM_PARAM_FORCE_BRAKE_C9 = 512;
+const uint16_t GM_PARAM_HW_SDGM = 1024;
+const uint16_t GM_PARAM_BOLT_2017 = 2048;
+const uint16_t GM_PARAM_BOLT_2022_PEDAL = 4096;
+const uint16_t GM_PARAM_REMOTE_START_BOOTS_COMMA = 8192;
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -90,30 +107,12 @@ bool gm_pedal_long = false;
 bool gm_cc_long = false;
 bool gm_skip_relay_check = false;
 bool gm_force_ascm = false;
-
+bool gm_bolt_2022_pedal = false;
-static void handle_gm_wheel_buttons(const CANPacket_t *to_push) {
+bool gm_ascm_int = false;
-  int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
+bool gm_force_brake_c9 = false;
-
+bool gm_remote_start_boots_comma = false;
-  // enter controls on falling edge of set or rising edge of resume (avoids fault)
-  bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
-  bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
-  if (set || res) {
-    controls_allowed = true;
-  }
-
-  // exit controls on cancel press
-  if (button == GM_BTN_CANCEL) {
-    controls_allowed = false;
-  }
-
-  cruise_button_prev = button;
-}
 
 static void gm_rx_hook(const CANPacket_t *to_push) {
-  if ((GET_BUS(to_push) == 2U) && (GET_ADDR(to_push) == 0x1E1) && (gm_hw == GM_SDGM)) {
-    // SDGM buttons are on bus 2
-    handle_gm_wheel_buttons(to_push);
-  }
   if (GET_BUS(to_push) == 0U) {
     int addr = GET_ADDR(to_push);
 
@@ -131,19 +130,34 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD);
     }
 
-    // ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM)
+    // ACC steering wheel buttons (GM_CAM is tied to the PCM)
-    if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long) && (gm_hw != GM_SDGM)) {
+    if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long)) {
-      handle_gm_wheel_buttons(to_push);
+      int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
+
+      // enter controls on falling edge of set or rising edge of resume (avoids fault)
+      bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET);
+      bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME);
+      if (set || res) {
+        controls_allowed = true;
+      }
+
+      // exit controls on cancel press
+      if (button == GM_BTN_CANCEL) {
+        controls_allowed = false;
+      }
+
+      cruise_button_prev = button;
     }
 
     // Reference for brake pressed signals:
     // https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py
-    if ((addr == 0xBE) && (gm_hw == GM_ASCM)) {
+    // Prefer 0xC9 (ECMEngineStatus) when gm_force_brake_c9 is set, otherwise keep legacy behavior.
+    if ((addr == 0xC9) && gm_force_brake_c9) {
+      brake_pressed = GET_BIT(to_push, 40U) != 0U;
+    } else if ((addr == 0xBE) && ((gm_hw == GM_ASCM) || (gm_hw == GM_SDGM))) {
       brake_pressed = GET_BYTE(to_push, 1) >= 8U;
-    }
+    } else if ((addr == 0xC9) && (gm_hw == GM_CAM)) {
-
+      brake_pressed = GET_BIT(to_push, 40U) != 0U;
-    if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
-      brake_pressed = GET_BIT(to_push, 40U);
     }
 
     if (addr == 0xC9) {
@@ -162,6 +176,11 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
       }
     }
 
+    // Cruise check for ACC models with pedal interceptor - block stock ACC
+    if ((addr == 0x1C4) && gm_has_acc && enable_gas_interceptor && gm_bolt_2022_pedal) {
+      cruise_engaged_prev = false;
+    }
+
     // Cruise check for CC only cars
     if ((addr == 0x3D1) && !gm_has_acc) {
       bool cruise_engaged = (GET_BYTE(to_push, 4) >> 7) != 0U;
@@ -192,6 +211,19 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
     generic_rx_checks(stock_ecu_detected);
   }
+
+  // Cruise check for ASCMActiveCruiseControlStatus on bus 2.
+  // Keep kaofui behavior for non-Bolt paths; Bolt pedal path keeps local tracking.
+  if ((GET_ADDR(to_push) == 0x370) && (GET_BUS(to_push) == 2U)) {
+    bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U;  // ACCCmdActive
+    if (gm_bolt_2022_pedal) {
+      cruise_engaged_prev = cruise_engaged;
+    } else if (gm_pcm_cruise && gm_has_acc) {
+      pcm_cruise_check(cruise_engaged);
+    } else {
+      cruise_engaged_prev = cruise_engaged;
+    }
+  }
 }
 
 static bool gm_tx_hook(const CANPacket_t *to_send) {
@@ -214,7 +246,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
 
     bool steer_req = GET_BIT(to_send, 3U);
 
-    if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) {
+    if (steer_torque_cmd_checks(desired_torque, steer_req, *gm_steer_limits)) {
       tx = false;
     }
   }
@@ -229,7 +261,7 @@ 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
@@ -246,8 +278,11 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U;
 
     bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev;
-    // For standard CC, allow spamming of SET / RESUME
+    if (gm_hw == GM_CAM && enable_gas_interceptor && gm_bolt_2022_pedal && button == GM_BTN_CANCEL) {
-    if (gm_cc_long) {
+      allowed_btn = true;
+    }
+    // For CC_LONG or PCM cruise vehicles, allow SET/RESUME when cruise is engaged
+    if (gm_cc_long || gm_pcm_cruise) {
       allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
     }
 
@@ -256,6 +291,22 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
     }
   }
 
+  // REGEN PADDLE
+  if (addr == 0xBD) {
+    bool regen_apply = GET_BIT(to_send, 7) || GET_BIT(to_send, 6) || GET_BIT(to_send, 5) || GET_BIT(to_send, 4);
+    if (!controls_allowed && regen_apply) {
+      tx = false;
+    }
+  }
+
+  // PRNDL2 regen check (7 for Gen0, Gen1. 5 For Gen2)
+  if (addr == 0x1F5) {
+    uint8_t prndl2 = GET_BYTE(to_send, 3) & 0xF;
+    bool prndl_apply = (prndl2 == 7) || (prndl2 == 5);
+    if (!controls_allowed && prndl_apply) {
+      tx = false;
+    }
+  }
   return tx;
 }
 
@@ -272,10 +323,20 @@ static int gm_fwd_hook(int bus_num, int addr) {
     }
 
     if (bus_num == 2) {
-      // block lkas message and acc messages if gm_cam_long, forward all others
       bool is_lkas_msg = (addr == 0x180);
-      bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
+      bool block_msg = false;
-      bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+      if (gm_bolt_2022_pedal) {
+        // Block 0x370 only for experimental long without pedal interceptor
+        bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB);
+        if (gm_cam_long && !enable_gas_interceptor) {
+          is_acc_msg = is_acc_msg || (addr == 0x370);
+        }
+        block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+      } else {
+        // block lkas message and acc messages if gm_cam_long, forward all others
+        bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370);
+        block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long);
+      }
       if (!block_msg) {
         bus_fwd = 0;
       }
@@ -286,30 +347,35 @@ 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_ascm_int = GET_FLAG(param, GM_PARAM_ASCM_INT);
+  if (GET_FLAG(param, GM_PARAM_HW_CAM)) {
     gm_hw = GM_CAM;
-  } else if GET_FLAG(param, GM_PARAM_HW_SDGM) {
+  } else if (GET_FLAG(param, GM_PARAM_HW_SDGM)) {
     gm_hw = GM_SDGM;
   } else {
     gm_hw = GM_ASCM;
   }
 
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
+  gm_steer_limits = GET_FLAG(param, GM_PARAM_BOLT_2017) ? &GM_BOLT_2017_STEERING_LIMITS : &GM_STEERING_LIMITS;
 
-  if (gm_hw == GM_ASCM || gm_force_ascm) {
+  if (gm_hw == GM_ASCM || gm_force_ascm || gm_ascm_int) {
-    gm_long_limits = &GM_ASCM_LONG_LIMITS;
+      gm_long_limits = &GM_ASCM_LONG_LIMITS;
   } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) {
-    gm_long_limits = &GM_CAM_LONG_LIMITS;
+      gm_long_limits = &GM_CAM_LONG_LIMITS;
   } else {
   }
 
   gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG);
   gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG);
+  enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
   gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long;
-  gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM);
+  gm_bolt_2022_pedal = GET_FLAG(param, GM_PARAM_BOLT_2022_PEDAL);
+  gm_pcm_cruise = (((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long);
   gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA);
   gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC);
-  enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR);
+  gm_force_brake_c9 = GET_FLAG(param, GM_PARAM_FORCE_BRAKE_C9);
+  gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
 
   safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   if (gm_hw == GM_CAM) {
@@ -320,8 +386,6 @@ static safety_config gm_init(uint16_t param) {
     } else {
       ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
     }
-  } else if (gm_hw == GM_SDGM) {
-    ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS);
   }
   return ret;
 }

panda/python/__init__.py

@@ -231,13 +231,18 @@ class Panda:
 
   FLAG_GM_HW_CAM = 1
   FLAG_GM_HW_CAM_LONG = 2
-  FLAG_GM_HW_SDGM = 4
+  FLAG_GM_CC_LONG = 4
-  FLAG_GM_CC_LONG = 8
+  FLAG_GM_HW_ASCM_LONG = 8
-  FLAG_GM_HW_ASCM_LONG = 16
+  FLAG_GM_NO_CAMERA = 16
-  FLAG_GM_NO_CAMERA = 32
+  FLAG_GM_NO_ACC = 32
-  FLAG_GM_NO_ACC = 64
+  FLAG_GM_PEDAL_LONG = 64  # TODO: This can be inferred
-  FLAG_GM_PEDAL_LONG = 128  # TODO: This can be inferred
+  FLAG_GM_GAS_INTERCEPTOR = 128
-  FLAG_GM_GAS_INTERCEPTOR = 256
+  FLAG_GM_ASCM_INT = 256
+  FLAG_GM_FORCE_BRAKE_C9 = 512
+  FLAG_GM_HW_SDGM = 1024
+  FLAG_GM_BOLT_2017 = 2048
+  FLAG_GM_BOLT_2022_PEDAL = 4096
+  FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
 
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2

selfdrive/car/car_helpers.py

@@ -11,12 +11,14 @@ from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, al
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
+from openpilot.selfdrive.car.gm.values import CAR as GM_CAR, CanBus as GMCanBus
 from openpilot.common.swaglog import cloudlog
 import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
 from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
+SOURCE_BRANCH_FILE = "/data/media/0/starpilot_source_branch"
 
 EventName = car.CarEvent.EventName
 FrogPilotEventName = custom.FrogPilotCarEvent.EventName
@@ -188,6 +190,64 @@ def get_car_interface(CP, FPCP):
   CarInterface, CarController, CarState = interfaces[CP.carFingerprint]
   return CarInterface(CP, FPCP, CarController, CarState)
 
+def get_cached_car_fingerprint(params: Params) -> str | None:
+  for key in ("CarParamsPersistent", "CarParamsCache", "CarParams"):
+    cp_bytes = params.get(key)
+    if cp_bytes is None:
+      continue
+    try:
+      with car.CarParams.from_bytes(cp_bytes) as cached_cp:
+        if cached_cp.carFingerprint:
+          return cached_cp.carFingerprint
+    except Exception:
+      continue
+  return None
+
+def clear_stale_car_params(params: Params, candidate: str) -> None:
+  cached_fingerprint = get_cached_car_fingerprint(params)
+  if cached_fingerprint is None or cached_fingerprint == candidate:
+    return
+
+  stale_keys = (
+    "CarParams",
+    "CarParamsCache",
+    "CarParamsPersistent",
+    "FrogPilotCarParams",
+    "FrogPilotCarParamsPersistent",
+    "CarModelName",
+  )
+  for key in stale_keys:
+    params.remove(key)
+
+  cloudlog.warning("cleared stale car params after fingerprint change: %s -> %s", cached_fingerprint, candidate)
+
+def migrate_legacy_bolt_candidate(candidate: str) -> str:
+  source_branch = ""
+  try:
+    with open(SOURCE_BRANCH_FILE, encoding="utf-8") as f:
+      source_branch = f.read().strip()
+  except OSError:
+    pass
+
+  migration_branch = source_branch or get_build_metadata().channel
+  replacements = {}
+  if migration_branch in {"TorqueTune", "TorquePedal"}:
+    replacements = {
+      "CHEVROLET_BOLT_EUV": GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+      "CHEVROLET_BOLT_CC": GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+    }
+  elif migration_branch in {"TotallyTune", "StarPilot-2017", "StarPilot 2017"}:
+    replacements = {
+      "CHEVROLET_BOLT_CC": GM_CAR.CHEVROLET_BOLT_CC_2017,
+    }
+  elif migration_branch in {"StarPilot"}:
+    replacements = {
+      "CHEVROLET_BOLT_CC": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
+    }
+
+  normalized_candidate = candidate[4:] if candidate.startswith("CAR.") else candidate
+  return replacements.get(normalized_candidate, normalized_candidate)
+
 
 def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, frogpilot_toggles=None):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
@@ -202,10 +262,80 @@ def get_car(logcan, sendcan, experimental_long_allowed, params, num_pandas=1, fr
     params.put_nonblocking("CarMake", candidate.split('_')[0].title())
     params.put_nonblocking("CarModel", candidate)
 
+  # Branch migration can leave legacy Bolt candidate names active in params/cache.
+  # Remap the selected candidate itself so fingerprint selection and params stay in sync.
+  migrated_candidate = migrate_legacy_bolt_candidate(candidate)
+  if candidate != migrated_candidate:
+    cloudlog.warning("legacy Bolt candidate migration: %s -> %s", candidate, migrated_candidate)
+    candidate = migrated_candidate
+    params.put_nonblocking("CarMake", candidate.split('_')[0].title())
+    params.put_nonblocking("CarModel", candidate)
+    params.remove("CarModelName")
+
+  # VIN-based Bolt year mapping (selfdrive-only, bolt variants only)
+  if not frogpilot_toggles.force_fingerprint and is_valid_vin(vin):
+    bolt_variants = {
+      "CHEVROLET_BOLT_EUV",
+      "CHEVROLET_BOLT_CC",
+      "CAR.CHEVROLET_BOLT_EUV",
+      "CAR.CHEVROLET_BOLT_CC",
+      GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+      GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+      GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+      GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
+      GM_CAR.CHEVROLET_BOLT_CC_2017,
+    }
+    if candidate in bolt_variants:
+      year_code = vin[9:10]
+      year_map = {
+        "H": GM_CAR.CHEVROLET_BOLT_CC_2017,       # 2017
+        "J": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,  # 2018
+        "K": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,  # 2019
+        "L": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,  # 2020
+        "M": GM_CAR.CHEVROLET_BOLT_CC_2019_2021,  # 2021
+        "N": GM_CAR.CHEVROLET_BOLT_ACC_2022_2023, # 2022
+        "P": GM_CAR.CHEVROLET_BOLT_ACC_2022_2023, # 2023
+      }
+      if year_code in year_map:
+        vin_candidate = year_map[year_code]
+        if vin_candidate == GM_CAR.CHEVROLET_BOLT_ACC_2022_2023:
+          has_acc_msg = (
+            0x370 in fingerprints.get(GMCanBus.CAMERA, {}) or
+            0x370 in fingerprints.get(GMCanBus.POWERTRAIN, {})
+          )
+          has_pedal_msg = 0x201 in fingerprints.get(GMCanBus.POWERTRAIN, {})
+          if has_acc_msg:
+            vin_candidate = GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL if has_pedal_msg else GM_CAR.CHEVROLET_BOLT_ACC_2022_2023
+          else:
+            vin_candidate = GM_CAR.CHEVROLET_BOLT_CC_2022_2023
+        if candidate != vin_candidate:
+          prev_candidate = candidate
+          candidate = vin_candidate
+          params.put_nonblocking("CarMake", candidate.split('_')[0].title())
+          params.put_nonblocking("CarModel", candidate)
+          params.remove("CarModelName")
+          cloudlog.warning("VIN Bolt override: %s -> %s", prev_candidate, candidate)
+
+  # Always prefer live fingerprint naming for Bolt variants to avoid stale manual labels.
+  if candidate in {
+    GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+    GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+    GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
+    GM_CAR.CHEVROLET_BOLT_CC_2017,
+    "CHEVROLET_BOLT_EUV",
+    "CHEVROLET_BOLT_CC",
+    "CAR.CHEVROLET_BOLT_EUV",
+    "CAR.CHEVROLET_BOLT_CC",
+  }:
+    params.remove("CarModelName")
+
   if frogpilot_toggles.block_user:
     candidate = MOCK.MOCK
     sentry.capture_block()
 
+  clear_stale_car_params(params, candidate)
+
   CarInterface, _, _ = interfaces[candidate]
   CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, frogpilot_toggles, docs=False)
   FPCP = CarInterface.get_frogpilot_params(candidate, fingerprints, car_fw, CP, frogpilot_toggles)

selfdrive/car/fingerprints.py

@@ -158,7 +158,7 @@ MIGRATION = {
   "CADILLAC ESCALADE 2017": GM.CADILLAC_ESCALADE,
   "CADILLAC ESCALADE ESV 2016": GM.CADILLAC_ESCALADE_ESV,
   "CADILLAC ESCALADE ESV 2019": GM.CADILLAC_ESCALADE_ESV_2019,
-  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_EUV,
+  "CHEVROLET BOLT EUV 2022": GM.CHEVROLET_BOLT_ACC_2022_2023,
   "CHEVROLET SILVERADO 1500 2020": GM.CHEVROLET_SILVERADO,
   "CHEVROLET EQUINOX 2019": GM.CHEVROLET_EQUINOX,
   "CHEVROLET TRAILBLAZER 2021": GM.CHEVROLET_TRAILBLAZER,

selfdrive/car/gm/carcontroller.py

@@ -1,3 +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
@@ -7,10 +11,11 @@ from openpilot.common.params_pyx import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
+from openpilot.selfdrive.car.gm.values import CAR, DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, ASCM_INT, EV_CAR, CC_REGEN_PADDLE_CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.swaglog import cloudlog
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -22,7 +27,15 @@ TransmissionType = car.CarParams.TransmissionType
 CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
 MIN_STEER_MSG_INTERVAL_MS = 15
-
+# Two‑sided spacing tuned for ~33 Hz steer; target a 10 ms wide window per interval
+# Paddle spoofing and scheduling constants
+PADDLE_STEER_GAP_MIN_NS = 5_000_000   # ≥5 ms each side (EPS guard)
+PADDLE_STEER_GAP_MAX_NS = 12_000_000  # cap for long intervals
+PADDLE_GAP_TARGET_NS    = 5_000_000   # aim per‑side gap even if interval//2 − early is larger
+PADDLE_NONBLOCK_GAP_NS  = 1_000_000   # ≥1 ms since last paddle send
+PADDLE_SLOT_EARLY_NS    = 1_000_000   # allow firing up to 1 ms before slot
+OVERFLOW_THRESH         = 1.00        # fire one extra slot whenever credits ≥ 1.0
+PADDLE_TARGET_HZ        = 42.0        # desired paddle rate (Hz) when regen active; steer is ~33 Hz
 # Constants for pitch compensation
 BRAKE_PITCH_FACTOR_BP = [5., 10.]  # [m/s] smoothly revert to planned accel at low speeds
 BRAKE_PITCH_FACTOR_V = [0., 1.]  # [unitless in [0,1]]; don't touch
@@ -38,6 +51,11 @@ class CarController(CarControllerBase):
     self.apply_speed = 0
     self.frame = 0
     self.last_steer_frame = 0
+    self.last_steer_ts_ns = 0
+    self.last_regen_active = False
+    self.prev_steer_ts_ns = 0
+    self.last_spoof_ts_ns = 0
+    self.last_paddle_ts_ns = 0
     self.last_button_frame = 0
     self.cancel_counter = 0
     self.pedal_steady = 0.
@@ -46,35 +64,126 @@ class CarController(CarControllerBase):
     self.lka_icon_status_last = (False, False)
 
     self.params = CarControllerParams(self.CP)
+    self.is_volt = self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC)
+    self.pedal_scale = 1.0
     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.malibu_cancel_phase = 0
+    self.malibu_cancel_last_ts = 0.0
+    self.malibu_cancel_frame = 0
+    self.malibu_button_phase = 0
+
     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
+    self.aego = 0.0
+    self.regen_paddle_timer = 0
+    self.planner_regen_hold = False
 
-  @staticmethod
-  def calc_pedal_command(accel: float, long_active: bool) -> 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.)
-    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
 
-    return pedal_gas
+    # Midpoint + overflow spoof accumulator and flags
+    self.spoof_accum = 0.0
+    self.spoof_mid_sent = False
+    self.spoof_over_sent = False
+    self.last_interval_ns = 0
+
+  def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
+    if not long_active:
+      self.planner_regen_hold = False
+      return 0., False
+
+    # Regen paddle hysteresis (frame-based): hold 10 frames, with decrement dead-zone
+    if not hasattr(self, 'regen_paddle_timer'):
+      self.regen_paddle_timer = 0  # frames
+
+    # Regen paddle hysteresis (frame‑based): count frames when decelerating hard, decrement only when truly released
+    if self.aego < -0.7:
+      self.regen_paddle_timer += 1
+    elif self.aego > -0.3:
+      self.regen_paddle_timer = max(self.regen_paddle_timer - 1, 0)
+    # else: hold timer between -0.7 and -0.3
+
+    # Base paddle press hysteresis
+    self.regen_paddle_pressed = self.regen_paddle_timer >= 10  # 10 frames
+    press_regen_paddle = self.regen_paddle_pressed or self.planner_regen_hold
+
+
+    # Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
+    speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
+                 11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
+                 22.939, 24.058, 25.177, 26.296]
+    regen_gain_ratio = [
+      1.000000, 1.057308, 1.131123, 1.220611, 1.270247, 1.300253, 1.339543, 1.361002,
+      1.388410, 1.403253, 1.414721, 1.430949, 1.420289, 1.436787, 1.434116, 1.436805,
+      1.417508, 1.402213, 1.395360, 1.360921, 1.342030, 1.292219, 1.270048, 1.239172
+    ]
+
+    gain = interp(car_velocity, speed_mps, regen_gain_ratio)
+    pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
+
+    # Compute raw pedal gas
+    raw_pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0) if press_regen_paddle else clip((pedaloffset + accel * 0.6), 0.0, 1.0)
+
+    # --- Immediate application of raw pedal gas, no blending ---
+    pedal_gas = raw_pedal_gas
+    # Safety cap: ramp from 22% at 0 m/s to 37.25% at 10 mph (4.47 m/s), then allow full throttle
+    pedal_gas_max = interp(car_velocity, [0.0, 4.47, 4.48], [0.22, 0.3725, 1.0])
+    pedal_gas = clip(pedal_gas, 0.0, pedal_gas_max)
+    return pedal_gas, press_regen_paddle
 
 
   def update(self, CC, CS, now_nanos, frogpilot_toggles):
+    self.CS = CS
+    self.aego = CS.out.aEgo
     actuators = CC.actuators
     accel = brake_accel = actuators.accel
+    press_regen_paddle = False
+    kaofui_cars = SDGM_CAR | ASCM_INT | {
+      CAR.CHEVROLET_VOLT,
+      CAR.CHEVROLET_VOLT_2019,
+      CAR.CHEVROLET_VOLT_ASCM,
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+      CAR.CHEVROLET_MALIBU_CC,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    volt_like = {
+      CAR.CHEVROLET_VOLT,
+      CAR.CHEVROLET_VOLT_2019,
+      CAR.CHEVROLET_VOLT_ASCM,
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+    }
+
+    # Planner-driven regen hold: gate by car support and OP long active, use commanded accel thresholds
+    if (self.CP.enableGasInterceptor and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR
+        and self.CP.openpilotLongitudinalControl and CC.longActive):
+      # Match original hysteresis intent: vehicle can usually stop without paddle up to ~1.0 m/s^2
+      # Use the same thresholds as the aEgo-based hysteresis, but on commanded accel for preemption
+      planner_press_threshold = -0.7
+      planner_release_threshold = -0.3
+      if accel <= planner_press_threshold:
+        self.planner_regen_hold = True
+      elif accel >= planner_release_threshold:
+        self.planner_regen_hold = False
+    else:
+      self.planner_regen_hold = False
+
     hud_control = CC.hudControl
     hud_alert = hud_control.visualAlert
     hud_v_cruise = hud_control.setSpeed
@@ -83,6 +192,129 @@ class CarController(CarControllerBase):
 
     # Send CAN commands.
     can_sends = []
+    paddle_sends = []
+
+    if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+      phase_map = gmcan.malibu_phase_map_for_acc(CS.cruise_buttons)
+      if phase_map and CS.steering_button_checksum in phase_map:
+        phase = (phase_map[CS.steering_button_checksum] + 1) % 4
+        self.malibu_cancel_phase = phase
+        self.malibu_button_phase = phase
+
+    raw_regen_active = (
+      self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
+      self.CP.openpilotLongitudinalControl and
+      CC.longActive and
+      self.CP.enableGasInterceptor and
+      (self.regen_paddle_timer >= 10 or self.planner_regen_hold)  # hysteresis or planner hint
+    )
+    regen_active = raw_regen_active
+
+    # === Spoof scheduling: midpoint + overflow (~target Hz) ===
+    # Rising-edge reset on regen start
+    if raw_regen_active and not self.last_regen_active:
+      self.prev_steer_ts_ns = self.last_steer_ts_ns
+      self.last_spoof_ts_ns = 0
+      self.spoof_accum = 0.0
+      self.spoof_mid_sent = False
+      self.spoof_over_sent = False
+
+    if raw_regen_active:
+      # Interval between last two bus-0 steer sends
+      interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
+
+      # Adaptive two‑sided gap sized to the current steer interval, but capped to a target so the window stays wide enough
+      gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
+                max(PADDLE_STEER_GAP_MIN_NS,
+                    min(PADDLE_STEER_GAP_MAX_NS,
+                        min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
+
+      # New steer interval? clear per-interval flags and add credits to reach target Hz
+      if interval_ns != self.last_interval_ns:
+        self.spoof_mid_sent = False
+        self.spoof_over_sent = False
+        self.last_interval_ns = interval_ns
+        # Add credits once per new steer interval to reach the desired paddle rate
+        if interval_ns > 0:
+          steer_hz = 1e9 / float(interval_ns)
+          extra_needed = max(0.0, (PADDLE_TARGET_HZ / steer_hz) - 1.0)  # e.g., 42/33 − 1 ≈ 0.2727
+          self.spoof_accum += extra_needed
+
+      # Midpoint spoof: one per interval
+      if not self.spoof_mid_sent and interval_ns > 0:
+        midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
+        # Compute spacing to last and next steer (two-sided guard)
+        next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
+        delta_after_ns = now_nanos - self.last_steer_ts_ns
+        delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
+        if (CS.out.vEgo > 2.68
+            and now_nanos >= (midpoint_ns - PADDLE_SLOT_EARLY_NS)
+            and delta_after_ns >= gap_ns
+            and delta_before_ns >= gap_ns):
+          # Non-blocking 1 ms spacing for paddle frames
+          if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
+            paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True, self.CP))
+            paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
+            self.last_paddle_ts_ns = now_nanos
+          self.last_spoof_ts_ns = now_nanos
+          self.spoof_mid_sent = True
+
+      # Overflow spoof: insert extra when accumulator allows
+      if self.spoof_accum >= OVERFLOW_THRESH and not self.spoof_over_sent and interval_ns > 0:
+        slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
+        # Two-sided spacing relative to steer
+        next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
+        delta_after_ns = now_nanos - self.last_steer_ts_ns
+        delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
+        if (CS.out.vEgo > 2.68
+            and now_nanos >= (slot2_ns - PADDLE_SLOT_EARLY_NS)
+            and delta_after_ns >= gap_ns
+            and delta_before_ns >= gap_ns):
+          # Non-blocking 1 ms spacing for paddle frames
+          if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
+            paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True, self.CP))
+            paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
+            self.last_paddle_ts_ns = now_nanos
+          self.last_spoof_ts_ns = now_nanos
+          self.spoof_over_sent = True
+          self.spoof_accum -= OVERFLOW_THRESH
+    # === End Spoof scheduling ===
+
+    # === Off-pulse scheduling on regen release ===
+    if not raw_regen_active and self.last_regen_active:
+      # schedule two off-slots at 1/3 and 2/3 of the last steer interval
+      if self.prev_steer_ts_ns and self.last_steer_ts_ns:
+        intv = self.last_steer_ts_ns - self.prev_steer_ts_ns
+        self.off_schedule_ns = [
+          self.prev_steer_ts_ns + intv // 3,
+          self.prev_steer_ts_ns + (2 * intv) // 3
+        ]
+        self.off_sent = [False, False]
+
+    if hasattr(self, "off_schedule_ns"):
+      for i, t_ns in enumerate(self.off_schedule_ns):
+        if not self.off_sent[i] and now_nanos >= (t_ns - PADDLE_SLOT_EARLY_NS):
+          # Two-sided spacing to steer before sending
+          interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
+          gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
+                    max(PADDLE_STEER_GAP_MIN_NS,
+                        min(PADDLE_STEER_GAP_MAX_NS,
+                            min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
+          next_steer_ts_ns = self.last_steer_ts_ns + interval_ns if interval_ns > 0 else 0
+          delta_after_ns = now_nanos - self.last_steer_ts_ns
+          delta_before_ns = (next_steer_ts_ns - now_nanos) if interval_ns > 0 else 1_000_000_000
+          if (delta_after_ns >= gap_ns and delta_before_ns >= gap_ns):
+            # Non-blocking 1 ms spacing for paddle frames
+            if now_nanos - self.last_paddle_ts_ns >= PADDLE_NONBLOCK_GAP_NS:
+              paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False, self.CP))
+              paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
+              self.last_paddle_ts_ns = now_nanos
+            self.off_sent[i] = True
+      # clean up once both off pulses are sent
+      if hasattr(self, "off_sent") and all(self.off_sent):
+        del self.off_schedule_ns
+        del self.off_sent
+    # === End off-pulse scheduling ===
 
     # Steering (Active: 50Hz, inactive: 10Hz)
     steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
@@ -112,24 +344,35 @@ class CarController(CarControllerBase):
       else:
         apply_steer = 0
 
+      if (self.CP.flags & GMFlags.CC_LONG.value) and CC.enabled and not CS.out.cruiseState.enabled: # Send 0 so Panda doesn't error
+        apply_steer = 0
+
+      # shift previous steer timestamp
+      self.prev_steer_ts_ns = self.last_steer_ts_ns
+      self.last_steer_ts_ns = now_nanos
       self.last_steer_frame = self.frame
       self.apply_steer_last = apply_steer
       idx = self.lka_steering_cmd_counter % 4
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
 
+    # Update regen_active state and last_regen_paddle_pressed for next loop
+    self.last_regen_active = regen_active
+    self.last_regen_paddle_pressed = self.regen_paddle_pressed or self.planner_regen_hold
+
+    if paddle_sends:
+      interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
+      flush_gap_ns = (PADDLE_STEER_GAP_MIN_NS if interval_ns <= 0 else
+                      max(PADDLE_STEER_GAP_MIN_NS,
+                          min(PADDLE_STEER_GAP_MAX_NS,
+                              min((interval_ns // 2) - PADDLE_SLOT_EARLY_NS, PADDLE_GAP_TARGET_NS))))
+      if now_nanos - self.last_steer_ts_ns >= flush_gap_ns:
+        can_sends.extend(paddle_sends)
+
     if self.CP.openpilotLongitudinalControl:
       # Gas/regen, brakes, and UI commands - all at 25Hz
       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
@@ -141,21 +384,61 @@ 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
+          if self.is_volt:
-          if self.CP.carFingerprint in EV_CAR:
+            if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
-            self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
+              volt_pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
-            self.apply_gas = int(round(interp(accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            else:
-            self.apply_brake = int(round(interp(brake_accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+              volt_pitch_accel = 0.0
+
+            aero_drag_accel = (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2) / self.mass
+            accel += aero_drag_accel + volt_pitch_accel
+            brake_accel = actuators.accel + aero_drag_accel + volt_pitch_accel * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
+            accel = clip(accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+            brake_accel = clip(brake_accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+
+            if self.CP.carFingerprint in EV_CAR:
+              self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
+              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)))
+            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)))
+
+            # Clamp within message-valid ranges to avoid ASCM faults from overshoot or rounding
+            self.apply_gas = int(round(clip(self.apply_gas, self.params.MAX_ACC_REGEN, self.params.MAX_GAS)))
+            self.apply_brake = int(round(clip(self.apply_brake, 0, self.params.MAX_BRAKE)))
+
+            if self.apply_brake > 0:
+              # Volt should never present positive torque alongside friction braking
+              self.apply_gas = self.params.INACTIVE_REGEN
           else:
-            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
+
+            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, press_regen_paddle = 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
@@ -168,7 +451,16 @@ class CarController(CarControllerBase):
         if self.CP.flags & GMFlags.CC_LONG.value:
           if CC.longActive and CS.out.cruiseState.enabled and CS.out.vEgo > self.CP.minEnableSpeed:
             # Using extend instead of append since the message is only sent intermittently
-            can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators))
+            can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, frogpilot_toggles))
+          elif (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and
+                CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise):
+            if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+              can_sends.append(gmcan.create_buttons_malibu(
+                self.packer_pt, CanBus.POWERTRAIN, CruiseButtons.DECEL_SET,
+                self.malibu_button_phase, CS.steering_button_prefix))
+              self.malibu_button_phase = (self.malibu_button_phase + 1) % 4
+            else:
+              can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET))
         if self.CP.enableGasInterceptor:
           can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
         if self.CP.carFingerprint not in CC_ONLY_CAR:
@@ -178,6 +470,8 @@ 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
@@ -189,9 +483,10 @@ class CarController(CarControllerBase):
             acc_engaged = CC.enabled
 
           # 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))
+          can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop,
+                                                          include_always_one3=self.CP.carFingerprint in kaofui_cars))
           can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
-                                                             idx, CC.enabled, near_stop, at_full_stop, self.CP))
+                                                               idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
           # Send dashboard UI commands (ACC status)
           send_fcw = hud_alert == VisualAlert.fcw
@@ -202,32 +497,57 @@ class CarController(CarControllerBase):
         accel += self.accel_g
 
       # Radar needs to know current speed and yaw rate (50hz),
-      # and that ADAS is alive (10hz)
+      # and that ADAS is alive (5hz, previously 10hz)
       if not self.CP.radarUnavailable:
-        tt = self.frame * DT_CTRL
+        send_adas = True
-        time_and_headlights_step = 10
+        if self.CP.carFingerprint in kaofui_cars:
-        if self.frame % time_and_headlights_step == 0:
+          send_adas = (self.CP.networkLocation != NetworkLocation.fwdCamera) and (self.CP.carFingerprint not in SDGM_CAR)
-          idx = (self.frame // time_and_headlights_step) % 4
-          can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-          can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
 
-        speed_and_accelerometer_step = 2
+        if send_adas:
-        if self.frame % speed_and_accelerometer_step == 0:
+          tt = self.frame * DT_CTRL
-          idx = (self.frame // speed_and_accelerometer_step) % 4
+          if self.CP.carFingerprint in kaofui_cars:
-          can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+            time_and_headlights_step = 10
-          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+            speed_and_accelerometer_step = 2
+            if self.frame % time_and_headlights_step == 0:
+              idx = (self.frame // time_and_headlights_step) % 4
+              can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+              can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+            if self.frame % speed_and_accelerometer_step == 0:
+              idx = (self.frame // speed_and_accelerometer_step) % 4
+              can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+              can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+          else:
+            time_and_headlights_step = 20
+            if self.frame % time_and_headlights_step == 0:
+              idx = (self.frame // time_and_headlights_step) % 4
+              can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+              can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+              can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+              can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
 
-      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
+      if self.CP.networkLocation == NetworkLocation.gateway and (self.frame % (self.params.ADAS_KEEPALIVE_STEP if self.CP.carFingerprint in kaofui_cars else self.params.ADAS_KEEPALIVE_STEP * 2)) == 0:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
       # TODO: integrate this with the code block below?
+      stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
+      if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
+        stock_cc_active = CS.out.cruiseState.enabled
       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
-      ) and CS.out.cruiseState.enabled:
+      ) and stock_cc_active:
-        if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
+        if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-          self.last_button_frame = self.frame
+          # Match 33 Hz cadence (every 3 frames) and align phase to the last seen checksum.
-          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))
+          if self.malibu_cancel_frame % 3 == 0:
+            can_sends.append(gmcan.create_buttons_malibu_cancel(
+              CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
+            self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
+          self.malibu_cancel_frame += 1
+        else:
+          if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
+            self.last_button_frame = self.frame
+            cancel_bus = CanBus.CAMERA if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL else CanBus.POWERTRAIN
+            can_sends.append(gmcan.create_buttons(self.packer_pt, cancel_bus, (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.
@@ -238,7 +558,13 @@ 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
-          if self.CP.carFingerprint in SDGM_CAR:
+          if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+            if self.malibu_cancel_frame % 3 == 0:
+              can_sends.append(gmcan.create_buttons_malibu_cancel(
+                CanBus.POWERTRAIN, self.malibu_cancel_phase, CS.steering_button_prefix))
+              self.malibu_cancel_phase = (self.malibu_cancel_phase + 1) % 4
+            self.malibu_cancel_frame += 1
+          elif self.CP.carFingerprint in SDGM_CAR and self.CP.carFingerprint not in (volt_like | {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE}):
             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))

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, CC_REGEN_PADDLE_CAR, ASCM_INT, CAR
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -26,6 +26,8 @@ class CarState(CarStateBase):
     self.pt_lka_steering_cmd_counter = 0
     self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
+    self.steering_button_checksum = 0
+    self.steering_button_prefix = 0x01
 
     self.prev_distance_button = 0
     self.distance_button = 0
@@ -36,13 +38,25 @@ class CarState(CarStateBase):
   def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_toggles):
     ret = car.CarState.new_message()
     fp_ret = custom.FrogPilotCarState.new_message()
+    volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
+    kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
+      CAR.CHEVROLET_BLAZER,
+      CAR.CHEVROLET_MALIBU_SDGM,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    sdgm_non_volt = self.CP.carFingerprint in SDGM_CAR and \
+                    self.CP.carFingerprint not in kaofui_state_cars
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_distance_button = self.distance_button
-    if self.CP.carFingerprint not in SDGM_CAR:
+    if not sdgm_non_volt:
       self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
       self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
       self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
+      self.steering_button_checksum = pt_cp.vl["ASCMSteeringButton"]["SteeringButtonChecksum"]
+      acc_always_one = pt_cp.vl["ASCMSteeringButton"]["ACCAlwaysOne"]
+      acc_hidden_bit = pt_cp.vl["ASCMSteeringButton"].get("ACCHiddenBit", 0)
+      self.steering_button_prefix = (int(acc_always_one) & 1) | ((int(acc_hidden_bit) & 1) << 6)
     else:
       self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
       self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
@@ -56,6 +70,13 @@ class CarState(CarStateBase):
     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"]
+    if self.CP.carFingerprint in CC_REGEN_PADDLE_CAR:
+      self.regen_paddle_ts_nanos = pt_cp.ts_nanos["EBCMRegenPaddle"]["RegenPaddle"]
+    else:
+      self.regen_paddle_ts_nanos = 0
     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"]
@@ -77,26 +98,42 @@ class CarState(CarStateBase):
       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
+      if self.CP.carFingerprint in kaofui_state_cars:
+        ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
+      else:
+        ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
     else:
-      ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
+      if self.CP.carFingerprint in kaofui_state_cars:
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+        ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
+      else:
+        ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
+    if self.CP.carFingerprint == CAR.CHEVROLET_BLAZER:
+      # Blazer can miss light taps on analog threshold; include digital brake switch.
+      ret.brakePressed = (pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0) or (ret.brake >= 0.7)
+    elif self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_CC:
+      # Malibu CC: keep strict opgm behavior using BrakePedalPos >= 8.
+      ret.brakePressed = ret.brake >= 8
+    elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or (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
-      ret.brakePressed = ret.brake >= 8
+      analog_thresh = 0.15 if (self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value) else 8
+      ret.brakePressed = ret.brake >= analog_thresh
 
     # 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_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_CC_2022_2023) 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.
-      threshold = 10 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.
+      threshold = 23 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 595 threshold = 23.65. Set lower to avoid panda blocking messages and GasInterceptor faulting.
       ret.gasPressed = ret.gas > threshold
     else:
       ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -113,7 +150,7 @@ class CarState(CarStateBase):
     ret.steerFaultTemporary = self.lkas_status == 2
     ret.steerFaultPermanent = self.lkas_status == 3
 
-    if self.CP.carFingerprint not in SDGM_CAR:
+    if not sdgm_non_volt:
       # 1 - open, 0 - closed
       ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
                       pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
@@ -149,20 +186,30 @@ 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:
+      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
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
-      ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+      if self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
+        try:
+          ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
+        except:
+          ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+      else:
+        # Most CC paths use ECM first.
+        try:
+          ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
+        except:
+          ret.cruiseState.enabled = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCmdActive"] != 0
 
     if self.CP.enableBsm:
-      if self.CP.carFingerprint not in SDGM_CAR:
+      if not sdgm_non_volt:
         ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
         ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
       else:
@@ -171,7 +218,7 @@ class CarState(CarStateBase):
 
     # FrogPilot CarState functions
     self.lkas_previously_enabled = self.lkas_enabled
-    if self.CP.carFingerprint in SDGM_CAR:
+    if sdgm_non_volt:
       self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
     else:
       self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
@@ -186,10 +233,18 @@ class CarState(CarStateBase):
   def get_cam_can_parser(CP, FPCP):
     messages = []
     if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
+      volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
+      kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
+        CAR.CHEVROLET_BLAZER,
+        CAR.CHEVROLET_MALIBU_SDGM,
+        CAR.CHEVROLET_MALIBU_HYBRID_CC,
+      }
+      sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
+                      CP.carFingerprint not in kaofui_state_cars
       messages += [
         ("ASCMLKASteeringCmd", 10),
       ]
-      if CP.carFingerprint in SDGM_CAR:
+      if sdgm_non_volt:
         messages += [
           ("BCMTurnSignals", 1),
           ("BCMDoorBeltStatus", 10),
@@ -198,11 +253,11 @@ class CarState(CarStateBase):
         ]
         if CP.enableBsm:
           messages.append(("BCMBlindSpotMonitor", 10))
-      else:
+      elif CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
         messages += [
           ("AEBCmd", 10),
         ]
-      if CP.carFingerprint not in CC_ONLY_CAR:
+      if CP.carFingerprint not in CC_ONLY_CAR or CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
         messages += [
           ("ASCMActiveCruiseControlStatus", 25),
         ]
@@ -222,15 +277,24 @@ class CarState(CarStateBase):
       ("SportMode", 0),
     ]
 
-    if CP.carFingerprint in SDGM_CAR:
+    volt_like = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC}
+    kaofui_state_cars = volt_like | SDGM_CAR | ASCM_INT | {
+      CAR.CHEVROLET_BLAZER,
+      CAR.CHEVROLET_MALIBU_SDGM,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    prndl2_rate = 10 if CP.carFingerprint in kaofui_state_cars else 40
+    sdgm_non_volt = CP.carFingerprint in SDGM_CAR and \
+                    CP.carFingerprint not in kaofui_state_cars
+    if sdgm_non_volt:
       messages += [
-        ("ECMPRDNL2", 40),
+        ("ECMPRDNL2", prndl2_rate),
         ("AcceleratorPedal2", 40),
         ("ECMEngineStatus", 80),
       ]
     else:
       messages += [
-        ("ECMPRDNL2", 10),
+        ("ECMPRDNL2", prndl2_rate),
         ("AcceleratorPedal2", 33),
         ("ECMEngineStatus", 100),
         ("BCMTurnSignals", 1),
@@ -251,8 +315,9 @@ class CarState(CarStateBase):
         messages.append(("EBCMBrakePedalPosition", 100))
 
     if CP.transmissionType == TransmissionType.direct:
+      regen_paddle_rate = 50 if CP.carFingerprint in kaofui_state_cars else 40
       messages += [
-        ("EBCMRegenPaddle", 50),
+        ("EBCMRegenPaddle", regen_paddle_rate),
         ("EVDriveMode", 0),
       ]
 

selfdrive/car/gm/fingerprints.py

@@ -26,6 +26,20 @@ 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: 7
+  # }
+  ],
+  CAR.CHEVROLET_VOLT_CAMERA: [
+  # Volt Premier 2017 w/ flashed firmware, cam harness + pedal (no 0x170/0x171 on PT bus)
+  {
+  #  189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 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, 513: 6, 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, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7
+  }],
+  CAR.GMC_ACADIA_ASCM: [
+  # Causes errors with normal OBD install
+  ],
   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
   }],
@@ -52,6 +66,9 @@ FINGERPRINTS = {
   CAR.CHEVROLET_MALIBU: [{
     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, 328: 1, 352: 5, 381: 6, 384: 4, 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, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 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, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
   }],
+  CAR.CHEVROLET_MALIBU_ASCM: [{
+    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, 328: 1, 352: 5, 381: 6, 384: 4, 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, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 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, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7, 1930: 7, 2016: 8, 2024: 8
+  }],
   CAR.GMC_ACADIA: [{
     190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 7, 368: 8, 381: 8, 384: 8, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 458: 8, 460: 4, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 512: 3, 530: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 568: 2, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 801: 8, 803: 8, 804: 3, 805: 8, 832: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7
   },
@@ -67,14 +84,34 @@ FINGERPRINTS = {
   CAR.CADILLAC_ESCALADE_ESV_2019: [{
     715: 8, 840: 5, 717: 5, 869: 4, 880: 6, 289: 8, 454: 8, 842: 5, 460: 5, 463: 3, 801: 8, 170: 8, 190: 6, 241: 6, 201: 8, 417: 7, 211: 2, 419: 1, 398: 8, 426: 7, 487: 8, 442: 8, 451: 8, 452: 8, 453: 6, 479: 3, 311: 8, 500: 6, 647: 6, 193: 8, 707: 8, 197: 8, 209: 7, 199: 4, 455: 7, 313: 8, 481: 7, 485: 8, 489: 8, 249: 8, 393: 7, 407: 7, 413: 8, 422: 4, 431: 8, 501: 8, 499: 3, 810: 8, 508: 8, 381: 8, 462: 4, 532: 6, 562: 8, 386: 8, 761: 7, 573: 1, 554: 3, 719: 5, 560: 8, 1279: 4, 388: 8, 288: 5, 1005: 6, 497: 8, 844: 8, 961: 8, 967: 4, 977: 8, 979: 8, 985: 5, 1001: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 510: 8, 866: 4, 304: 1, 969: 8, 384: 4, 1033: 7, 1009: 8, 1034: 7, 1296: 4, 1930: 7, 1105: 5, 1013: 5, 1225: 7, 1919: 7, 320: 3, 534: 2, 352: 5, 298: 8, 1223: 2, 1233: 8, 608: 8, 1265: 8, 609: 6, 1267: 1, 1417: 8, 610: 6, 1906: 7, 611: 6, 612: 8, 613: 8, 208: 8, 564: 5, 309: 8, 1221: 5, 1280: 4, 1249: 8, 1907: 7, 1257: 6, 1300: 8, 1920: 7, 563: 5, 1322: 6, 1323: 4, 1328: 4, 1917: 7, 328: 1, 1912: 7, 1914: 7, 804: 3, 1918: 7
   }],
-  CAR.CHEVROLET_BOLT_EUV: [{
+  CAR.CHEVROLET_BOLT_ACC_2022_2023: [{
     189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
-  CAR.CHEVROLET_BOLT_CC: [
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL: [{
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  }],
+  CAR.CHEVROLET_BOLT_CC_2022_2023: [{
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 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, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  }],
+  CAR.CHEVROLET_BOLT_CC_2017: [
   # Bolt Premier w/o ACC 2017
   {
     170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
   },
+  # Bolt EV Premier 2017
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Bolt EV Premier 2017 w Pedal
+  { # pylint: disable=duplicate-key
+    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 # pylint: disable=duplicate-key # noqa: F601
+  },
+  # Bolt EV Premier 2017 2 w Pedal
+  {
+    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 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: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
+  }],
+  CAR.CHEVROLET_BOLT_CC_2019_2021: [
+  # Chevy Bolt EV 2019-2021
   # Bolt Premier no ACC 2018 + Pedal
   {
     170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 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: 6, 567: 5, 568: 1, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1616: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 2020: 8, 2023: 8, 2028: 8, 2031: 8
@@ -95,18 +132,6 @@ FINGERPRINTS = {
   {
     170: 8, 188: 8, 189: 7, 190: 6, 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, 322: 7, 328: 1, 352: 5, 353: 3, 368: 3, 381: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 512: 6, 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, 568: 2, 569: 3, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 872: 1, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1037: 5, 1105: 5, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
   },
-  # Bolt EV Premier 2017
-  {
-    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
-  },
-  # Bolt EV Premier 2017 w Pedal
-  { # pylint: disable=duplicate-key
-    170: 8, 188: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 201: 6, 209: 7, 211: 2, 241: 6, 289: 1, 290: 1, 298: 8, 304: 8, 309: 8, 311: 8, 313: 8, 320: 8, 322: 7, 328: 1, 352: 5, 353: 3, 368: 8, 381: 6, 384: 8, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 512: 3, 512: 6, 513: 6, 514: 2, 516: 4, 519: 2, 521: 3, 528: 5, 530: 8, 532: 7, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 8, 566: 6, 567: 5, 568: 1, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 832: 8, 840: 6, 842: 6, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1601: 8, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1927: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8 # pylint: disable=duplicate-key # noqa: F601
-  },
-  # Bolt EV Premier 2017 2 w Pedal
-  {
-    170: 8, 188: 8, 189: 7, 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 390: 7, 407: 7, 417: 7, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 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: 6, 567: 5, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 717: 5, 753: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1904: 7, 1905: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7
-  },
   # Bolt EV Premier no ACC 2023
   {
     170: 8, 188: 8, 189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 308: 4, 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, 390: 7, 398: 8, 407: 7, 417: 8, 419: 1, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 8, 567: 5, 568: 2, 569: 3, 573: 1, 577: 8, 592: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 711: 6, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 866: 4, 869: 4, 872: 1, 880: 6, 961: 8, 967: 4, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1010: 8, 1013: 6, 1015: 1, 1017: 8, 1019: 2, 1020: 8, 1037: 5, 1105: 5, 1187: 5, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1265: 8, 1275: 3, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1601: 8, 1616: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1913: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2023: 8, 2024: 8, 2028: 8, 2031: 8
@@ -178,31 +203,51 @@ 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, 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
+    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, 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
   }],
   CAR.CADILLAC_XT5_CC: [
   # TRain's 2017 XT5
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 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, 454: 8, 455: 7, 462: 4, 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, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 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: 3, 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, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
   }],
+  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
   {
-    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
+    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, 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
+  }],
+  CAR.CHEVROLET_MALIBU_SDGM: [
+  # Chevy Malibu w/ SDGM Harness 2019
+  {
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 5, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 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, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 767: 4, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 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, 1353: 8, 1355: 8, 1611: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1843: 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, 1916: 7, 1920: 8, 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, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 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, 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
+    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, 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
   }],
   CAR.CHEVROLET_MALIBU_CC: [
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 409: 8, 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, 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, 717: 5, 730: 4, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 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, 1037: 5, 1105: 5, 1187: 6, 1189: 1, 1195: 3, 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, 1273: 3, 1279: 4, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1919: 7
   }],
+  CAR.CHEVROLET_MALIBU_HYBRID_CC: [
+  {
+    193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 352: 5, 386: 8, 451: 8, 452: 8, 453: 6, 481: 7, 485: 8, 489: 8, 493: 8, 500: 6, 560: 8, 562: 8, 566: 6, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4
+  }],
   CAR.CHEVROLET_TRAX: [
   {
     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, 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

@@ -6,6 +6,56 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import make_can_msg
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CanBus
 
+MALIBU_BUTTON_TABLE = {
+  0: [0x2FBC, 0x25DE, 0x15EE, 0x1FCC],
+  1: [0x55AE, 0x5F8C, 0x6F7C, 0x659E],
+  4: [0x2ACD, 0x20EF, 0x1ADD, 0x10FF],
+  5: [0x50BF, 0x5A9D, 0x60AF, 0x6A8D],
+}
+
+MALIBU_BUTTON_MAP = {
+  CruiseButtons.UNPRESS: 0,
+  CruiseButtons.RES_ACCEL: 1,
+  CruiseButtons.MAIN: 4,
+  CruiseButtons.CANCEL: 5,
+}
+
+
+def malibu_phase_map_for_button(button):
+  key = MALIBU_BUTTON_MAP.get(button, None)
+  if key is None or key not in MALIBU_BUTTON_TABLE:
+    return None
+  return {v: i for i, v in enumerate(MALIBU_BUTTON_TABLE[key])}
+
+
+def malibu_phase_map_for_acc(acc_value):
+  seq = MALIBU_BUTTON_TABLE.get(acc_value)
+  if not seq:
+    return None
+  return {v: i for i, v in enumerate(seq)}
+
+
+def create_buttons_malibu(packer, bus, button, phase, prefix=0x41):
+  key = MALIBU_BUTTON_MAP.get(button, None)
+  if key is None or key not in MALIBU_BUTTON_TABLE:
+    # fallback to standard checksum for unsupported buttons
+    return create_buttons(packer, bus, 0, button)
+
+  values = {
+    "ACCButtons": button,
+    "RollingCounter": 0,
+    "ACCAlwaysOne": 1,
+    "DistanceButton": 0,
+  }
+  dat = packer.make_can_msg("ASCMSteeringButton", bus, values)[2]
+  data = bytearray(dat)
+  data[3] = prefix & 0xFF
+
+  seq = MALIBU_BUTTON_TABLE[key]
+  val = seq[phase % len(seq)]
+  data[5] = (val >> 8) & 0xFF
+  data[6] = val & 0xFF
+  return make_can_msg(0x1e1, bytes(data), bus)
 
 def create_buttons(packer, bus, idx, button):
   values = {
@@ -23,6 +73,17 @@ def create_buttons(packer, bus, idx, button):
   values["SteeringButtonChecksum"] = checksum
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
+def create_buttons_malibu_cancel(bus, phase, prefix=0x41):
+  # Malibu Hybrid CC cancel frames use a 4-value pattern in the last 2 bytes.
+  data = bytearray(7)
+  data[3] = prefix & 0xFF
+  data[4] = 0x00
+  cancel_bytes = (0x60, 0xAF, 0x65, 0x9E, 0x6A, 0x8D, 0x6F, 0x7C)
+  idx = ((phase + 2) % 4) * 2
+  data[5] = cancel_bytes[idx]
+  data[6] = cancel_bytes[idx + 1]
+  return make_can_msg(0x1e1, bytes(data), bus)
+
 
 def create_pscm_status(packer, bus, pscm_status):
   values = {s: pscm_status[s] for s in [
@@ -57,7 +118,7 @@ def create_adas_keepalive(bus):
   return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
 
 
-def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
+def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop, include_always_one3=False):
   values = {
     "GasRegenCmdActive": enabled,
     "RollingCounter": idx,
@@ -66,8 +127,9 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
     "GasRegenFullStopActive": at_full_stop,
     "GasRegenAlwaysOne": 1,
     "GasRegenAlwaysOne2": 1,
-    "GasRegenAlwaysOne3": 1,
   }
+  if include_always_one3:
+    values["GasRegenAlwaysOne3"] = 1
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
   values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
@@ -81,7 +143,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
   mode = 0x1
 
   # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake
-  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV,):
+  if enabled and CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023,):
     mode = 0x9
 
   if apply_brake > 0:
@@ -177,47 +239,81 @@ 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, CP):
-def create_gm_cc_spam_command(packer, controller, CS, actuators):
+  if CP.carFingerprint in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_CC_2022_2023):
-  if controller.params_.get_bool("IsMetric"):
+    prndl2_value = 5 if press_regen_paddle else 6
-    _CV = CV.MS_TO_KPH
-    RATE_UP_MAX = 0.04
-    RATE_DOWN_MAX = 0.04
   else:
-    _CV = CV.MS_TO_MPH
+    prndl2_value = 7 if press_regen_paddle else 6
-    RATE_UP_MAX = 0.2
+  manual_mode = 1 if press_regen_paddle else 0
-    RATE_DOWN_MAX = 0.2
+  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)
 
-  accel = actuators.accel * _CV  # m/s/s to mph/s
+def create_regen_paddle_command(packer, bus, press_regen_paddle):
-  speedSetPoint = int(round(CS.out.cruiseState.speed * _CV))
+  regen_paddle_value = 2 if press_regen_paddle else 0
+  values = {
+    "RegenPaddle": regen_paddle_value,
+    "Byte1": 0,
+    "Byte2": 0,
+    "Byte3": 0,
+    "Byte4": 0,
+    "Byte5": 0,
+    "Byte6": 0
+  }
+  return packer.make_can_msg("EBCMRegenPaddle", bus, values)
+
+def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggles):
+  accel = actuators.accel
+  Vego = CS.out.vEgo
 
   cruiseBtn = CruiseButtons.INIT
-  if speedSetPoint == CS.CP.minEnableSpeed and accel < -1:
+  if abs(accel) <= 0.15:
+    rate = 1
+  else:
+    rate = 0.2
+
+  MS_CONVERT = CV.MS_TO_KPH if frogpilot_toggles.is_metric else CV.MS_TO_MPH
+
+  speedSetPoint = int(round(CS.out.cruiseState.speed * MS_CONVERT))
+
+  if accel > 0:
+    DesiredSetPoint = int(round((Vego * 1.01 + 3 * accel) * MS_CONVERT)) # 1.01 factor to match cluster speed better
+  else: # accel <= 0
+    DesiredSetPoint = int(round((Vego * 1.01 + 3 * accel) * MS_CONVERT))
+
+  if CS.CP.minEnableSpeed - (DesiredSetPoint /  MS_CONVERT) > 3.25:
     cruiseBtn = CruiseButtons.CANCEL
     controller.apply_speed = 0
-    rate = 0.04
+  elif DesiredSetPoint < speedSetPoint and speedSetPoint > CS.CP.minEnableSpeed * MS_CONVERT + 1:
-  elif accel < 0:
     cruiseBtn = CruiseButtons.DECEL_SET
-    if speedSetPoint > (CS.out.vEgo * _CV) + 3.0:  # If accel is changing directions, bring set speed to current speed as fast as possible
-      rate = RATE_DOWN_MAX
-    else:
-      rate = max(-1 / accel, RATE_DOWN_MAX)
     controller.apply_speed = speedSetPoint - 1
-  elif accel > 0:
+  elif DesiredSetPoint > speedSetPoint:
     cruiseBtn = CruiseButtons.RES_ACCEL
-    if speedSetPoint < (CS.out.vEgo * _CV) - 3.0:
-      rate = RATE_UP_MAX
-    else:
-      rate = max(1 / accel, RATE_UP_MAX)
     controller.apply_speed = speedSetPoint + 1
   else:
+    cruiseBtn = CruiseButtons.INIT
     controller.apply_speed = speedSetPoint
-    rate = float('inf')
 
   # Check rlogs closely - our message shouldn't show up on the pt bus for us
   # Or bus 2, since we're forwarding... but I think it does
+  # TODO: Cleanup the timing - normal is every 30ms...
   if (cruiseBtn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
     controller.last_button_frame = controller.frame
+    if CS.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+      phase_map = malibu_phase_map_for_button(cruiseBtn)
+      if phase_map:
+        msgs = [create_buttons_malibu(packer, CanBus.POWERTRAIN, cruiseBtn, controller.malibu_button_phase,
+                                      CS.steering_button_prefix)]
+        controller.malibu_button_phase = (controller.malibu_button_phase + 1) % 4
+        return msgs
     idx = (CS.buttons_counter + 1) % 4  # Need to predict the next idx for '22-23 EUV
     return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)]
   else:

selfdrive/car/gm/interface.py

@@ -7,7 +7,7 @@ from panda import Panda
 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, set_red_panda_canbus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
@@ -26,11 +26,48 @@ CAM_MSG = 0x320  # AEBCmd
                  # TODO: Is this always linked to camera presence?
 ACCELERATOR_POS_MSG = 0xbe
 
+VOLT_LIKE_CARS = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_CC,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_MALIBU,
+  CAR.CHEVROLET_MALIBU_ASCM,
+  CAR.CHEVROLET_MALIBU_SDGM,
+  CAR.CHEVROLET_MALIBU_CC,
+  CAR.CHEVROLET_MALIBU_HYBRID_CC,
+}
+
 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.CHEVROLET_BOLT_ACC_2022_2023: {
-  CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+    "left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
-  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
+    "right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
-  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+  },
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL: {
+    "left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
+    "right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_CC_2022_2023: {
+    "left": [2.6531724862969748, 1.1, 0.1919764879840985, 0.0],
+    "right": [2.7031724862969748, 1.0, 0.1469764879840985, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_CC_2019_2021: {
+    "left": [1.8, 1.1, 0.27, 0.0],
+    "right": [2.0, 1.0, 0.205, 0.0],
+  },
+  CAR.CHEVROLET_BOLT_CC_2017: {
+    "left": [2.15, 1.0, 0.21, 0.0],
+    "right": [2.15, 1.0, 0.21, 0.0],
+  },
+  CAR.GMC_ACADIA: {
+    "left": [4.78003305, 1.0, 0.3122, 0.05591772],
+    "right": [4.78003305, 1.0, 0.3122, 0.05591772],
+  },
+  CAR.CHEVROLET_SILVERADO: {
+    "left": [3.8, 0.81, 0.24, 0.0465122],
+    "right": [3.8, 0.81, 0.24, 0.0465122],
+  },
 }
 
 
@@ -51,7 +88,7 @@ class CarInterface(CarInterfaceBase):
     return 0.10006696 * sigmoid * (v_ego + 3.12485927)
 
   def get_steer_feedforward_function(self):
-    if self.CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
+    if self.CP.carFingerprint in VOLT_LIKE_CARS:
       return self.get_steer_feedforward_volt
     else:
       return CarInterfaceBase.get_steer_feedforward_default
@@ -64,10 +101,12 @@ class CarInterface(CarInterfaceBase):
       # This has big effect on the stability about 0 (noise when going straight)
       non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
       assert non_linear_torque_params, "The params are not defined"
-      a, b, c, _ = non_linear_torque_params
+      # Left is positive
+      side_key = "left" if lateral_acceleration >= 0 else "right"
+      a, b, c, d = non_linear_torque_params[side_key]
       sig_input = a * lateral_acceleration
       sig = np.sign(sig_input) * (1 / (1 + exp(-fabs(sig_input))) - 0.5)
-      steer_torque = (sig * b) + (lateral_acceleration * c)
+      steer_torque = (sig * b) + (lateral_acceleration * c) + d
       return float(steer_torque)
 
     lataccel_values = np.arange(-5.0, 5.0, 0.01)
@@ -106,73 +145,184 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles):
     ret.carName = "gm"
+    red_panda = getattr(frogpilot_toggles, "red_panda", False)
+    set_red_panda_canbus(red_panda)
+
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    if red_panda:
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), ret.safetyConfigs[0]]
+    gm_safety_cfg = ret.safetyConfigs[-1] if red_panda else ret.safetyConfigs[0]
     ret.autoResumeSng = False
-    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
+    ret.enableBsm = 0x142 in fingerprint.get(CanBus.POWERTRAIN, {})
+
+    def has_sascm(fingerprint):
+      return 0x2FF in fingerprint.get(CanBus.POWERTRAIN, {})
 
     # Detect Beartech SASCM allows openpilot longitudinal control on SDGM and ASCM_INT vehicles
-    if 0x2FF in fingerprint[0]:
+    if has_sascm(fingerprint):
       ret.flags |= GMFlags.SASCM.value
 
-    if PEDAL_MSG in fingerprint[0]:
+    if PEDAL_MSG in fingerprint.get(CanBus.POWERTRAIN, {}):
       ret.enableGasInterceptor = True
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
+      if candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023:
+        # Hard-block pedal interceptor for ACC fingerprinted Bolts
+        ret.enableGasInterceptor = False
+        gm_safety_cfg.safetyParam &= ~Panda.FLAG_GM_GAS_INTERCEPTOR
+      else:
+        # When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
+        experimental_long = False
 
     if candidate in EV_CAR:
       ret.transmissionType = TransmissionType.direct
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.kiBP = [5., 35.]
+    kaofui_cars = SDGM_CAR | ASCM_INT | VOLT_LIKE_CARS | {CAR.CHEVROLET_MALIBU_HYBRID_CC}
+    ret.longitudinalTuning.kiBP = [5., 35.] if candidate in kaofui_cars else [5., 35., 60.]
 
-    if candidate in CAMERA_ACC_CAR:
+    is_bolt_2022_2023_pedal = candidate == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL and ret.enableGasInterceptor
-      ret.experimentalLongitudinalAvailable = candidate not in CC_ONLY_CAR
+
+    kaofui_camera_cars = {
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    bolt_cc_camera_cars = {
+      CAR.CHEVROLET_BOLT_CC_2017,
+      CAR.CHEVROLET_BOLT_CC_2019_2021,
+      CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+      CAR.CHEVROLET_BOLT_CC_2022_2023,
+    }
+    is_camera_acc = candidate in CAMERA_ACC_CAR and candidate not in kaofui_cars and \
+                    (candidate not in CC_ONLY_CAR or candidate in bolt_cc_camera_cars)
+    if candidate in kaofui_camera_cars:
+      # Keep Volt/Malibu camera path functionally aligned with kaofui.
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.radarUnavailable = True  # no radar
+      ret.radarUnavailable = 0x460 not in fingerprint.get(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
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [2.0, 1.5]
+      ret.longitudinalTuning.kiV = [0.5, 0.5]
-      ret.vEgoStopping = 0.1
+      ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
-      ret.vEgoStarting = 0.1
-
-      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
+      ret.stopAccel = -0.25
 
       if ret.experimentalLongitudinalAvailable and experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
-
+    elif is_camera_acc:
-    elif candidate in SDGM_CAR:
+      # TorqueTune camera-ACC behavior
-      ret.longitudinalTuning.kiV = [0., 0.]  # TODO: tuning
+      ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
-      ret.experimentalLongitudinalAvailable = False
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.pcmCruise = True
+      ret.radarUnavailable = True  # no radar
-      ret.radarUnavailable = True
+      ret.pcmCruise = not ret.enableGasInterceptor
-      ret.minEnableSpeed = -1.  # engage speed is decided by ASCM
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
-      ret.minSteerSpeed = 30 * CV.MPH_TO_MS
+      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
+      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
+      # Tuning for experimental long
+      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 = -0.25
+
+      if ret.experimentalLongitudinalAvailable and experimental_long:
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = True
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+    elif candidate in SDGM_CAR:
+      # kaofui parity: SDGM cars require SASCM for experimental long
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or has_sascm(fingerprint)
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
+      ret.pcmCruise = True
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_SDGM
+      # Use C9 brake bit on Blazer and SDGM variants that lack 0xBE (ECMAcceleratorPos),
+      # so panda brake_pressed source matches carstate on light taps.
+      if candidate == CAR.CHEVROLET_BLAZER or ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
+        ret.flags |= GMFlags.FORCE_BRAKE_C9.value
+
+      # Tuning for experimental long
+      ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [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 = -0.25
+
+      if ret.experimentalLongitudinalAvailable and experimental_long:
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = True
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+      if is_bolt_2022_2023_pedal:
+        ret.experimentalLongitudinalAvailable = False
+        ret.pcmCruise = False
+    elif candidate in ASCM_INT and has_sascm(fingerprint):
+      ret.experimentalLongitudinalAvailable = True
+      ret.networkLocation = NetworkLocation.fwdCamera
+      ret.radarUnavailable = 0x460 not in fingerprint.get(CanBus.OBSTACLE, {})
+      ret.pcmCruise = True
+      ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_ASCM_INT
+
+      # Tuning for experimental long
+      ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [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 = -0.25
+
+      if ret.experimentalLongitudinalAvailable and experimental_long:
+        ret.pcmCruise = False
+        ret.openpilotLongitudinalControl = True
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+      if is_bolt_2022_2023_pedal:
+        ret.experimentalLongitudinalAvailable = False
+        ret.pcmCruise = False
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       ret.networkLocation = NetworkLocation.gateway
-      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint.get(CanBus.OBSTACLE, {}) and not docs
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
       # supports stop and go, but initial engage must (conservatively) be above 18mph
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kiV = [2.4, 1.5]
+      ret.longitudinalTuning.kiV = [0.5, 0.5] if candidate in kaofui_cars else [0.5, 0.5, 0.5]
+      if candidate in kaofui_cars:
+        ret.stoppingDecelRate = 3
+        ret.vEgoStopping = 0.75
+        ret.vEgoStarting = 0.75
+        ret.stopAccel = -1.5
 
       if ret.enableGasInterceptor:
         # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
+
+    if getattr(frogpilot_toggles, "remote_start_boots_comma", False):
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_REMOTE_START_BOOTS_COMMA
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
     ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@@ -186,14 +336,17 @@ class CarInterface(CarInterfaceBase):
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
     ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
-    if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC):
+    if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA):
       ret.minEnableSpeed = -1
-      ret.lateralTuning.pid.kpBP = [0., 40.]
+
-      ret.lateralTuning.pid.kpV = [0., 0.17]
+    if candidate == CAR.CHEVROLET_VOLT_2019 and not ret.openpilotLongitudinalControl:
-      ret.lateralTuning.pid.kiBP = [0.]
+      ret.minEnableSpeed = -1
-      ret.lateralTuning.pid.kiV = [0.]
+
-      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
+    if candidate in VOLT_LIKE_CARS:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
       ret.steerActuatorDelay = 0.2
+      if candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC and ret.enableGasInterceptor:
+        ret.flags |= GMFlags.PEDAL_LONG.value
 
     elif candidate == CAR.GMC_ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
@@ -218,15 +371,30 @@ class CarInterface(CarInterfaceBase):
         ret.steerActuatorDelay = 0.2
         CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
+    elif candidate in (CAR.CHEVROLET_BOLT_ACC_2022_2023, CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, CAR.CHEVROLET_BOLT_CC_2022_2023, CAR.CHEVROLET_BOLT_CC_2019_2021, CAR.CHEVROLET_BOLT_CC_2017):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+      # Bolt-only lateral tuning overrides
+      ret.lateralTuning.torque.kp = 1.03
+      ret.lateralTuning.torque.ki = 1.07
+      ret.lateralTuning.torque.kd = 0.93
+      ret.lateralTuning.torque.kfDEPRECATED = 0.02
+
+      if candidate == CAR.CHEVROLET_BOLT_CC_2017:
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2017
+
       if ret.enableGasInterceptor:
         # ACC Bolts use pedal for full longitudinal control, not just sng
         ret.flags |= GMFlags.PEDAL_LONG.value
 
-    elif candidate == CAR.CHEVROLET_SILVERADO:
+    # Enable pedal interceptor for ACC models when detected
+    if is_bolt_2022_2023_pedal:
+      ret.flags |= GMFlags.PEDAL_LONG.value
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_ACC
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_BOLT_2022_PEDAL
+
+    if candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
       # with foot on brake to allow engagement, but this platform only has that check in the camera.
       # TODO: check if this is split by EV/ICE with more platforms in the future
@@ -249,22 +417,34 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.CADILLAC_XT6:
+      ret.steerActuatorDelay = 0.2
+      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     elif candidate == CAR.CADILLAC_XT4:
       ret.steerActuatorDelay = 0.2
+      if not ret.openpilotLongitudinalControl:
+        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:
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    elif candidate == CAR.CHEVROLET_TRAVERSE:
+    elif candidate in (CAR.CHEVROLET_TRAVERSE, CAR.CHEVROLET_BLAZER):
       ret.steerActuatorDelay = 0.2
-      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+      if not ret.openpilotLongitudinalControl:
+        ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      if candidate == CAR.CHEVROLET_BLAZER:
+        ret.minEnableSpeed = 5 * CV.KPH_TO_MS
 
     elif candidate == CAR.BUICK_BABYENCLAVE:
       ret.steerActuatorDelay = 0.2
-      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+      if not ret.openpilotLongitudinalControl:
+        ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.CADILLAC_CT6_CC:
@@ -279,56 +459,80 @@ class CarInterface(CarInterfaceBase):
 
     if ret.enableGasInterceptor and frogpilot_toggles.gm_pedal_longitudinal:
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = -1
       ret.pcmCruise = False
       ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       ret.stoppingControl = True
       ret.autoResumeSng = True
 
-      if candidate in CC_ONLY_CAR:
+      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
+        gm_safety_cfg.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.]
+        if candidate in (CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
-        ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
+          ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-        ret.longitudinalTuning.kfDEPRECATED = 0.15
+          ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
-        ret.stoppingDecelRate = 0.8
+          ret.longitudinalTuning.kfDEPRECATED = 0.15
+          ret.stoppingDecelRate = 0.8
+          ret.minEnableSpeed = -1
+          ret.pcmCruise = False
+          ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+        else:
+          ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
+          ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
+          ret.longitudinalTuning.kfDEPRECATED = 0.25
+          ret.stoppingDecelRate = 0.8
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        gm_safety_cfg.safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
         ret.startingState = True
         ret.vEgoStopping = 0.25
         ret.vEgoStarting = 0.25
 
-    elif candidate in CC_ONLY_CAR:
+    if ret.enableGasInterceptor and candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
+      ret.flags |= GMFlags.PEDAL_LONG.value
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_PEDAL_LONG
+      ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
+      ret.longitudinalTuning.kiV = [0.0, 0.18, 0.25]
+      ret.longitudinalTuning.kfDEPRECATED = 0.15
+      ret.stoppingDecelRate = 0.8
+      ret.minEnableSpeed = -1
+      ret.pcmCruise = False
+      ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
+
+    elif candidate in CC_ONLY_CAR and not ret.enableGasInterceptor:
       ret.flags |= GMFlags.CC_LONG.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_CC_LONG
       ret.radarUnavailable = True
       ret.experimentalLongitudinalAvailable = False
       ret.minEnableSpeed = 24 * CV.MPH_TO_MS
       ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
       ret.pcmCruise = False
 
-      ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
+      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
-
+        if candidate == CAR.CHEVROLET_MALIBU_HYBRID_CC:
-      ret.longitudinalTuning.deadzoneBP = [0.]
+          pass
-      ret.longitudinalTuning.deadzoneV = [0.56]  # == 2 km/h/s, 1.25 mph/s
+        else:
-      ret.longitudinalActuatorDelay = 1.  # TODO: measure this
+          ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
-
+          ret.longitudinalTuning.kpV = [0., 5., 2.]  # set lower end to 0 since we can't drive below that speed
-      ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
+          ret.longitudinalTuning.deadzoneBP = [0., 1.]
-      ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
+          ret.longitudinalTuning.deadzoneV = [0.9, 0.9]  # == 2 km/h/s, 1.25 mph/s
-      ret.longitudinalTuning.kiBP = [0.]
+          ret.longitudinalActuatorDelay = 1.  # TODO: measure this
-      ret.longitudinalTuning.kiV = [0.1]
+          if candidate == CAR.CHEVROLET_MALIBU_CC:
+            ret.longitudinalTuning.kpV = [0., 20., 20.]
+          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
+      gm_safety_cfg.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.get(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
+      gm_safety_cfg.safetyParam |= Panda.FLAG_GM_NO_CAMERA
 
-    if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
+    if ACCELERATOR_POS_MSG not in fingerprint.get(CanBus.POWERTRAIN, {}):
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
 
     return ret
@@ -360,7 +564,8 @@ 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 and not self.CP.carFingerprint in SDGM_CAR)):
+                                       (self.CP.networkLocation == NetworkLocation.fwdCamera and
+                                        (self.CP.carFingerprint in VOLT_LIKE_CARS or self.CP.carFingerprint in {CAR.CHEVROLET_BLAZER, CAR.CHEVROLET_MALIBU_SDGM, CAR.CHEVROLET_TRAVERSE} or self.CP.carFingerprint not in SDGM_CAR))):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill and not self.CP.autoResumeSng:
       events.add(EventName.resumeRequired)
@@ -373,10 +578,14 @@ class CarInterface(CarInterfaceBase):
 
     if (self.CP.flags & GMFlags.PEDAL_LONG.value) and \
       self.CP.transmissionType == TransmissionType.direct and \
+      self.CP.carFingerprint != CAR.CHEVROLET_MALIBU_HYBRID_CC and \
       not self.CS.single_pedal_mode and \
       c.longActive:
       events.add(FrogPilotEventName.pedalInterceptorNoBrake)
 
+    if self.CS.lkas_status == 3:
+      events.add(EventName.steerUnavailable)
+
     ret.events = events.to_msg()
 
     return ret, fp_ret

selfdrive/car/gm/values.py

@@ -33,41 +33,115 @@ class CarControllerParams:
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
   ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MAX_PLUS = 4.  # m/s^2
   ACCEL_MIN = -4.  # m/s^2
 
   def __init__(self, CP):
+    self.STEER_MAX = CarControllerParams.STEER_MAX
+    self.STEER_STEP = CarControllerParams.STEER_STEP
+    self.INACTIVE_STEER_STEP = CarControllerParams.INACTIVE_STEER_STEP
+    self.STEER_DELTA_UP = CarControllerParams.STEER_DELTA_UP
+    self.STEER_DELTA_DOWN = CarControllerParams.STEER_DELTA_DOWN
+    self.STEER_DRIVER_ALLOWANCE = CarControllerParams.STEER_DRIVER_ALLOWANCE
+    self.STEER_DRIVER_MULTIPLIER = CarControllerParams.STEER_DRIVER_MULTIPLIER
+    self.STEER_DRIVER_FACTOR = CarControllerParams.STEER_DRIVER_FACTOR
+
+    if CP.carFingerprint == CAR.CHEVROLET_BOLT_CC_2017:
+      self.STEER_MAX = 450
+      self.STEER_DELTA_UP = 15
+      self.STEER_DELTA_DOWN = 34
+      self.STEER_DRIVER_ALLOWANCE = 78
+      self.STEER_DRIVER_MULTIPLIER = 6
+      self.STEER_DRIVER_FACTOR = 100
+
     # Gas/brake lookups
-    self.ZERO_GAS = 2048  # 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:
+    kaofui_cars = SDGM_CAR | ASCM_INT | {
-      self.MAX_GAS = 3400
+      CAR.CHEVROLET_VOLT,
-      self.MAX_ACC_REGEN = 1514
+      CAR.CHEVROLET_VOLT_2019,
-      self.INACTIVE_REGEN = 1554
+      CAR.CHEVROLET_VOLT_ASCM,
-      # Camera ACC vehicles have no regen while enabled.
+      CAR.CHEVROLET_VOLT_CAMERA,
-      # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
+      CAR.CHEVROLET_VOLT_CC,
-      max_regen_acceleration = 0.
+      CAR.CHEVROLET_MALIBU_CC,
+      CAR.CHEVROLET_MALIBU_HYBRID_CC,
+    }
+    volt_like = {
+      CAR.CHEVROLET_VOLT,
+      CAR.CHEVROLET_VOLT_ASCM,
+      CAR.CHEVROLET_VOLT_CAMERA,
+      CAR.CHEVROLET_VOLT_CC,
+    }
 
-    elif CP.carFingerprint in SDGM_CAR:
+    if CP.carFingerprint in kaofui_cars:
-      self.MAX_GAS = 3400
+      if (CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and
-      self.MAX_ACC_REGEN = 1514
+          CP.carFingerprint not in CC_ONLY_CAR and
-      self.INACTIVE_REGEN = 1554
+          CP.carFingerprint != CAR.CHEVROLET_BOLT_ACC_2022_2023):
-      max_regen_acceleration = 0.
+        self.MAX_GAS = 8848
+        self.MAX_GAS_PLUS = 8848
+        self.MAX_ACC_REGEN = 5610
+        self.INACTIVE_REGEN = 5650
+        # Camera ACC vehicles have no regen while enabled.
+        # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
+        max_regen_acceleration = 0.
+      else:
+        self.MAX_GAS = 8191  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+        self.MAX_GAS_PLUS = 8191
+        self.MAX_ACC_REGEN = 5500  # 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
+        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
+      if CP.carFingerprint in volt_like:
+        self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
+      else:
+        self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
 
     else:
-      self.MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+      if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
-      self.MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
+        self.MAX_GAS = 8848
-      self.INACTIVE_REGEN = 1404
+        self.MAX_GAS_PLUS = 8848
-      # ICE has much less engine braking force compared to regen in EVs,
+        self.MAX_ACC_REGEN = 5610
-      # lower threshold removes some braking deadzone
+        self.INACTIVE_REGEN = 5650
-      max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
+        # Camera ACC vehicles have no regen while enabled.
+        # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
+        max_regen_acceleration = 0.
+        self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
 
-    self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+      elif CP.carFingerprint in SDGM_CAR:
+        self.MAX_GAS = 8191
+        self.MAX_GAS_PLUS = 8191
+        self.MAX_ACC_REGEN = 5500
+        self.INACTIVE_REGEN = 5500
+        max_regen_acceleration = 0.
+        self.BRAKE_SWITCH_MAX = self.ZERO_GAS
+
+      else:
+        self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+        self.MAX_GAS_PLUS = 7168 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
+        self.MAX_ACC_REGEN = 5500  # 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
+        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.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
+
+    self.max_regen_acceleration = max_regen_acceleration
+    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, max_regen_acceleration]
     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
@@ -76,10 +150,11 @@ class CarControllerParams:
 
   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):
   package: str = "Adaptive Cruise Control (ACC)"
@@ -118,6 +193,16 @@ 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 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')
+  )
+  CHEVROLET_VOLT_CAMERA = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Volt 2017-18 Camera Harness", "Flashed camera-forward integration with ACC")],
+    CHEVROLET_VOLT.specs,
+    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),
@@ -126,10 +211,19 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Malibu Premier 2017")],
     GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
   )
+  CHEVROLET_MALIBU_ASCM = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Malibu 2017-19 ASCM Harness")],
+    CHEVROLET_MALIBU.specs,
+  )
   GMC_ACADIA = GMASCMPlatformConfig(
     [GMCarDocs("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
     GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
   )
+  GMC_ACADIA_ASCM = GMPlatformConfig(
+    [GMCarDocs("GMC Acadia 2018 ASCM Harness", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
+    GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
+    dbc_dict=dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
+  )
   BUICK_LACROSSE = GMASCMPlatformConfig(
     [GMCarDocs("Buick LaCrosse 2017-19", "Driver Confidence Package 2")],
     GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
@@ -150,10 +244,10 @@ class CAR(Platforms):
     [GMCarDocs("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS")],
     CADILLAC_ESCALADE_ESV.specs,
   )
-  CHEVROLET_BOLT_EUV = GMPlatformConfig(
+  CHEVROLET_BOLT_ACC_2022_2023 = GMPlatformConfig(
     [
-      GMCarDocs("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
+      GMCarDocs("Chevrolet Bolt ACC 2022-2023", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
-      GMCarDocs("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
+      GMCarDocs("Chevrolet Bolt EV ACC 2022-2023", "2LT Trim with Adaptive Cruise Control Package"),
     ],
     GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
   )
@@ -162,7 +256,7 @@ 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")],
@@ -178,12 +272,26 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Volt 2017-18 - No-ACC", min_enable_speed=0)],
     CHEVROLET_VOLT.specs,
   )
-  CHEVROLET_BOLT_CC = GMPlatformConfig(
+  CHEVROLET_BOLT_CC_2019_2021 = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Bolt EV 2019-2021 - No-ACC")],
+    CHEVROLET_BOLT_ACC_2022_2023.specs,
+  )
+  CHEVROLET_BOLT_ACC_2022_2023_PEDAL = GMPlatformConfig(
     [
-      GMCarDocs("Chevrolet Bolt EUV 2022-23 - No-ACC"),
+      GMCarDocs("Chevrolet Bolt EV 2022-2023 ACC w Pedal"),
-      GMCarDocs("Chevrolet Bolt EV 2017-23 - No-ACC"),
     ],
-    CHEVROLET_BOLT_EUV.specs,
+    CHEVROLET_BOLT_ACC_2022_2023.specs,
+  )
+  CHEVROLET_BOLT_CC_2022_2023 = GMPlatformConfig(
+    [
+      GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
+      GMCarDocs("Chevrolet Bolt EV 2022-2023 - No-ACC"),
+    ],
+    CHEVROLET_BOLT_ACC_2022_2023.specs,
+  )
+  CHEVROLET_BOLT_CC_2017 = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Bolt EV 2017 - No-ACC")],
+    CHEVROLET_BOLT_ACC_2022_2023.specs,
   )
   CHEVROLET_EQUINOX_CC = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
@@ -217,22 +325,42 @@ 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),
   )
+  CHEVROLET_MALIBU_SDGM = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Malibu 2019", "SDGM Harness (Optional SASCM)")],
+    CHEVROLET_MALIBU.specs,
+  )
   BUICK_BABYENCLAVE = GMPlatformConfig(
     [GMCarDocs("Buick Baby Enclave 2020-23", "Driver Assist Package")],
     CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
   )
   CHEVROLET_MALIBU_CC = GMPlatformConfig(
     [GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
+    CarSpecs(mass=1450, wheelbase=2.8, steerRatio=18.25, centerToFrontRatio=0.4, tireStiffnessFactor=0.997),
+  )
+  CHEVROLET_MALIBU_HYBRID_CC = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Malibu Hybrid 2017 - No-ACC")],
     CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
   )
   CHEVROLET_TRAX = GMPlatformConfig(
     [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),
+  )
+  CADILLAC_XT6 = GMPlatformConfig(
+    [GMCarDocs("Cadillac XT6 2020", "Driver Assist Package")],
+    GMCarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.5, centerToFrontRatio=0.4),
+  )
 
 
 class CruiseButtons:
@@ -257,6 +385,22 @@ class CanBus:
   LOOPBACK = 128
   DROPPED = 192
 
+def set_red_panda_canbus(enabled: bool) -> None:
+  if enabled:
+    CanBus.POWERTRAIN = 4
+    CanBus.OBSTACLE = 5
+    CanBus.CAMERA = 6
+    CanBus.CHASSIS = 6
+    CanBus.LOOPBACK = 132
+    CanBus.DROPPED = 196
+  else:
+    CanBus.POWERTRAIN = 0
+    CanBus.OBSTACLE = 1
+    CanBus.CAMERA = 2
+    CanBus.CHASSIS = 2
+    CanBus.LOOPBACK = 128
+    CanBus.DROPPED = 192
+
 class GMFlags(IntFlag):
   PEDAL_LONG = 1
   CC_LONG = 2
@@ -315,16 +459,62 @@ 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 = {
-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}
+  CAR.CHEVROLET_VOLT,
-# CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.CHEVROLET_VOLT_CC,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2017,
+  CAR.CHEVROLET_MALIBU_HYBRID_CC,
+}
+CC_ONLY_CAR = {
+  CAR.CHEVROLET_VOLT_CC,
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2017,
+  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,
+  CAR.CHEVROLET_MALIBU_HYBRID_CC,
+}
+CC_REGEN_PADDLE_CAR = {
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2017,
+}
 
 # We're integrated at the Safety Data Gateway Module on these cars
-SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
+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, CAR.CHEVROLET_MALIBU_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 = {CAR.CHEVROLET_BOLT_ACC_2022_2023, 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})
+CAMERA_ACC_CAR.update({
+  CAR.CHEVROLET_VOLT_CC,
+  CAR.CHEVROLET_BOLT_CC_2019_2021,
+  CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+  CAR.CHEVROLET_BOLT_CC_2017,
+  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)
 
 STEER_THRESHOLD = 1.0

selfdrive/car/interfaces.py

@@ -37,12 +37,12 @@ EventName = car.CarEvent.EventName
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
 ACCEL_MIN = -3.5
-FRICTION_THRESHOLD = 0.09
+FRICTION_THRESHOLD = 0.12
 
 def get_friction_threshold(v_ego):
-  # Interpolate friction threshold from 0.09 at 50 mph to 0.15 at 75 mph
+  # Interpolate friction threshold
   from openpilot.common.numpy_fast import interp
-  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.25])
+  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.3])
 
 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.toml')
 TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.toml')

selfdrive/car/torque_data/override.toml

@@ -43,8 +43,10 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
 "CADILLAC_XT4" = [1.45, 1.6, 0.2]
-"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
+"CADILLAC_XT6" = [1.33, 1.9, 0.16]
-"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
+"CHEVROLET_BOLT_ACC_2022_2023" = [2.0, 2.0, 0.09]
+"CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
+"CHEVROLET_MALIBU_CC" = [1.58, 1.8422651988094612, 0.205]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
 "CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]

selfdrive/car/torque_data/params.toml

@@ -5,6 +5,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "AUDI_A3_MK3" = [1.5122414863077502, 1.7443517531719404, 0.15194151892450905]
 "AUDI_Q3_MK2" = [1.4439223359448605, 1.2254955789112076, 0.1413798895978097]
 "CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
+"CHEVROLET_MALIBU_HYBRID_CC" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
 "CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
 "CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
 "CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]

selfdrive/car/torque_data/substitute.toml

@@ -56,9 +56,18 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE_ESV" = "CHEVROLET_VOLT"
 "CADILLAC_ATS" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
+"CHEVROLET_MALIBU_ASCM" = "CHEVROLET_VOLT"
+"CHEVROLET_MALIBU_SDGM" = "CHEVROLET_VOLT"
 "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
-"CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
+"CHEVROLET_VOLT_CAMERA" = "CHEVROLET_VOLT"
+"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
+"GMC_ACADIA_ASCM" = "GMC_ACADIA"
+"CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
+"CHEVROLET_BOLT_CC_2019_2021" = "CHEVROLET_BOLT_ACC_2022_2023"
+"CHEVROLET_BOLT_ACC_2022_2023_PEDAL" = "CHEVROLET_BOLT_ACC_2022_2023"
+"CHEVROLET_BOLT_CC_2022_2023" = "CHEVROLET_BOLT_ACC_2022_2023"
+"CHEVROLET_BOLT_CC_2017" = "CHEVROLET_BOLT_ACC_2022_2023"
 "CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
 "CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO"
 "CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"

selfdrive/controls/controlsd.py

@@ -199,7 +199,7 @@ class Controls:
 
     self.event_names_to_clear = set()
 
-    self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value or self.CP.carFingerprint in CC_ONLY_CAR)
+    self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value)
 
     self.frogpilot_AM = AlertManager()
     self.frogpilot_events = Events(frogpilot=True)

selfdrive/controls/lib/events.py

@@ -357,8 +357,8 @@ def forcing_stop_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMas
 def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   holiday_messages = {
     "new_years": "Happy New Year! 🎉",
-    "valentines": "Happy Valentine's Day! ❤️",
+    "valentines_day": "Happy Valentine's Day! ❤️",
-    "st_patricks": "Happy St. Patrick's Day! 🍀",
+    "st_patricks_day": "Happy St. Patrick's Day! 🍀",
     "world_frog_day": "Happy World Frog Day! 🐸",
     "april_fools": "Happy April Fool's Day! 🤡",
     "easter_week": "Happy Easter! 🐰",
@@ -372,7 +372,7 @@ def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
   }
 
   return Alert(
-    holiday_messages.get(frogpilot_toggles.current_holiday_theme),
+    holiday_messages.get(frogpilot_toggles.current_holiday_theme, "Happy Holidays!"),
     "",
     AlertStatus.normal, AlertSize.small,
     Priority.LOWEST, VisualAlert.none, FrogPilotAudibleAlert.startup, 5.)
@@ -982,7 +982,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       "",
       AlertStatus.normal, AlertSize.full,
       Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
-    ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"),
+    ET.USER_DISABLE: ImmediateDisableAlert("Wrong Gear"),
     ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
   },
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -7,6 +7,7 @@ from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD, get_friction_
 from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED, get_friction
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
+from openpilot.selfdrive.car.gm.values import CAR as GM_CAR
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
@@ -21,8 +22,8 @@ from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_G
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 0.6
+KP = 0.7
-KI = 0.3
+KI = 0.35
 
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
@@ -36,6 +37,17 @@ JERK_LOOKAHEAD_SECONDS = 0.19
 JERK_GAIN = 0.22
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
 VERSION = 2
+DEBUG_TORQUE_TUNE = False
+FF_SCALE_BLEND_LAT_ACCEL = 0.05
+DEADZONE_BOOST_LAT_ACCEL = 0.08
+UNWIND_D_DES_THRESHOLD = -1.0
+UNWIND_LAT_ACCEL_NEAR_ZERO = 0.3
+
+BOLT_CARS = (
+  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+  GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+  GM_CAR.CHEVROLET_BOLT_CC_2019_2021,
+)
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
@@ -55,6 +67,21 @@ class LatControlTorque(LatControl):
     self.previous_measurement = 0.0
     self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
     self.low_speed_reset_threshold = max(CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED)
+    self.debug_counter = 0
+    self.prev_desired_lateral_accel = 0.0
+
+    self.is_bolt = CP.carFingerprint in BOLT_CARS
+    self.torque_ff_scale_pos = 1.0
+    self.torque_ff_scale_neg = 1.0
+    self.torque_deadzone_boost_neg = 0.0
+    self.torque_ki_mult = 1.0
+    if self.is_bolt:
+      self.torque_ff_scale_pos = float(self.torque_params.kp)
+      self.torque_ff_scale_neg = float(self.torque_params.ki)
+      self.torque_ki_mult = float(self.torque_params.kd)
+      self.torque_deadzone_boost_neg = float(getattr(self.torque_params, "kfDEPRECATED", 0.0))
+      if self.torque_ki_mult > 0.0 and self.torque_ki_mult != 1.0:
+        self.pid._k_i = [self.pid._k_i[0], [k * self.torque_ki_mult for k in self.pid._k_i[1]]]
 
   def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
     self.torque_params.latAccelFactor = latAccelFactor
@@ -76,6 +103,7 @@ class LatControlTorque(LatControl):
       self.previous_measurement = 0.0
       self.measurement_rate_filter.x = 0.0
       self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
+      self.prev_desired_lateral_accel = 0.0
     else:
       if self.prev_steering_pressed and not CS.steeringPressed:
         self.pid.i *= self.steer_release_i_decay
@@ -94,6 +122,10 @@ class LatControlTorque(LatControl):
       desired_lateral_jerk = np.clip(self.jerk_filter.update(raw_lateral_jerk), -MAX_LAT_JERK_UP, MAX_LAT_JERK_UP)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
       setpoint = expected_lateral_accel + desired_lateral_jerk * lat_delay
+      desired_lateral_accel_rate = (setpoint - self.prev_desired_lateral_accel) / self.dt
+      unwind_detected = (desired_lateral_accel_rate < UNWIND_D_DES_THRESHOLD and
+                         abs(setpoint) < UNWIND_LAT_ACCEL_NEAR_ZERO)
+      self.prev_desired_lateral_accel = setpoint
 
       measurement = measured_curvature * CS.vEgo ** 2
       measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
@@ -110,11 +142,23 @@ class LatControlTorque(LatControl):
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
+      ff_scale = 1.0
+      if self.is_bolt:
+        ff_scale = np.interp(ff, [-FF_SCALE_BLEND_LAT_ACCEL, 0.0, FF_SCALE_BLEND_LAT_ACCEL],
+                             [self.torque_ff_scale_neg, 1.0, self.torque_ff_scale_pos])
+        ff *= ff_scale
       ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
+      deadzone_boost_active = False
+      if self.is_bolt and self.torque_deadzone_boost_neg > 0.0 and gravity_adjusted_future_lateral_accel < 0.0:
+        if abs(gravity_adjusted_future_lateral_accel) < DEADZONE_BOOST_LAT_ACCEL:
+          boost_scale = np.interp(abs(gravity_adjusted_future_lateral_accel), [0.0, DEADZONE_BOOST_LAT_ACCEL], [1.0, 0.0])
+          ff -= self.torque_deadzone_boost_neg * boost_scale
+          deadzone_boost_active = True
 
       if CS.vEgo < self.low_speed_reset_threshold:
         self.pid.reset()
-      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
+      freeze_integrator = (steer_limited_by_safety or CS.steeringPressed or
+                           CS.vEgo < self.low_speed_reset_threshold or unwind_detected)
       output_lataccel = self.pid.update(pid_log.error, error_rate=-measurement_rate, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
@@ -129,6 +173,12 @@ class LatControlTorque(LatControl):
       pid_log.desiredLateralJerk = float(desired_lateral_jerk)
       pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
+      if DEBUG_TORQUE_TUNE and self.is_bolt:
+        self.debug_counter += 1
+        if self.debug_counter % 50 == 0:
+          print(f"bolt_torque ff_scale={ff_scale:.3f} pos={self.torque_ff_scale_pos:.3f} "
+                f"neg={self.torque_ff_scale_neg:.3f} deadzone_boost_active={deadzone_boost_active}")
+
     self.prev_steering_pressed = CS.steeringPressed
 
     # TODO left is positive in this convention

selfdrive/controls/lib/longitudinal_planner.py

@@ -17,9 +17,9 @@ from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_UNSET, CONTR
 from openpilot.common.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
-A_CRUISE_MIN = -1.2
+A_CRUISE_MIN = -1.0
-A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
+A_CRUISE_MAX_BP = [0.0, 5., 10., 15., 20., 25., 40.]
-A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+A_CRUISE_MAX_VALS = [1.125, 1.125, 1.125, 1.125, 1.25, 1.25, 1.5]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.5
 MIN_ALLOW_THROTTLE_SPEED = 2.5

selfdrive/pandad/panda.cc

@@ -118,7 +118,7 @@ std::optional<std::string> Panda::get_serial() {
 
 bool Panda::up_to_date() {
   if (auto fw_sig = get_firmware_version()) {
-    for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
+    for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed", "panda_remote.bin.signed", "panda_h7_remote.bin.signed" }) {
       auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
       if (content.size() >= fw_sig->size() &&
           memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {

selfdrive/pandad/pandad.py

@@ -13,15 +13,25 @@ from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
 
-def get_expected_signature(panda: Panda) -> bytes:
+def get_expected_firmware_path(panda: Panda, remote_start: bool) -> str:
+  app_fn = panda.get_mcu_type().config.app_fn
+  if remote_start:
+    remote_fn = "panda_h7_remote.bin.signed" if app_fn == "panda_h7.bin.signed" else "panda_remote.bin.signed"
+    remote_path = os.path.join(FW_PATH, remote_fn)
+    if os.path.isfile(remote_path):
+      return remote_path
+    cloudlog.warning(f"Remote-start panda firmware not found: {remote_path}, falling back to default")
+  return os.path.join(FW_PATH, app_fn)
+
+def get_expected_signature(panda: Panda, remote_start: bool) -> bytes:
   try:
-    fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
+    fn = get_expected_firmware_path(panda, remote_start)
     return Panda.get_signature_from_firmware(fn)
   except Exception:
     cloudlog.exception("Error computing expected signature")
     return b""
 
-def flash_panda(panda_serial: str) -> Panda:
+def flash_panda(panda_serial: str, remote_start: bool) -> Panda:
   try:
     panda = Panda(panda_serial)
   except PandaProtocolMismatch:
@@ -29,7 +39,8 @@ def flash_panda(panda_serial: str) -> Panda:
     HARDWARE.recover_internal_panda()
     raise
 
-  fw_signature = get_expected_signature(panda)
+  fw_path = get_expected_firmware_path(panda, remote_start)
+  fw_signature = get_expected_signature(panda, remote_start)
   internal_panda = panda.is_internal()
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
@@ -38,7 +49,7 @@ def flash_panda(panda_serial: str) -> Panda:
 
   if panda.bootstub or panda_signature != fw_signature:
     cloudlog.info("Panda firmware out of date, update required")
-    panda.flash()
+    panda.flash(fn=fw_path)
     cloudlog.info("Done flashing")
 
   if panda.bootstub:
@@ -105,8 +116,9 @@ def main() -> NoReturn:
 
       # Flash pandas
       pandas: list[Panda] = []
+      remote_start = params.get_bool("RemoteStartBootsComma")
       for serial in panda_serials:
-        pandas.append(flash_panda(serial))
+        pandas.append(flash_panda(serial, remote_start))
 
       # Ensure internal panda is present if expected
       internal_pandas = [panda for panda in pandas if panda.is_internal()]
@@ -158,6 +170,12 @@ def main() -> NoReturn:
     first_run = False
 
     # run pandad with all connected serials as arguments
+    # BOARDD_SKIP_FW_CHECK is needed for remote-start alternate panda firmware on
+    # precompiled builds where native pandad may not include updated allowlist entries yet.
+    if params.get_bool("RemoteStartBootsComma"):
+      os.environ["BOARDD_SKIP_FW_CHECK"] = "1"
+    else:
+      os.environ.pop("BOARDD_SKIP_FW_CHECK", None)
     os.environ['MANAGER_DAEMON'] = 'pandad'
     os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
     subprocess.run(["./pandad", *panda_serials], check=True)

selfdrive/ui/qt/home.cc

@@ -2,6 +2,7 @@
 
 #include <QHBoxLayout>
 #include <QMouseEvent>
+#include <QSet>
 #include <QStackedWidget>
 #include <QVBoxLayout>
 
@@ -172,6 +173,22 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
 
   main_layout->addLayout(header_layout);
 
+  branch_merge_banner = new QLabel(this);
+  branch_merge_banner->setAlignment(Qt::AlignCenter);
+  branch_merge_banner->setWordWrap(true);
+  branch_merge_banner->setAttribute(Qt::WA_TransparentForMouseEvents, true);
+  branch_merge_banner->setVisible(false);
+  branch_merge_banner->setStyleSheet(R"(
+    background-color: #E22C2C;
+    color: white;
+    border-radius: 16px;
+    padding: 24px;
+    font-size: 44px;
+    font-weight: 700;
+  )");
+  branch_merge_banner->setText(tr("Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch."));
+  main_layout->addWidget(branch_merge_banner);
+
   // main content
   main_layout->addSpacing(25);
   center_layout = new QStackedLayout();
@@ -268,10 +285,21 @@ void OffroadHome::hideEvent(QHideEvent *event) {
 }
 
 void OffroadHome::refresh() {
+  static const QSet<QString> deprecated_branches = {
+    "TorqueTune",
+    "TorquePedal",
+    "Kaofui",
+    "Red-Kao",
+    "TotallyTune",
+    "StarPilot-2017",
+    "TRX",
+  };
+
   date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
   date->setVisible(util::system_time_valid());
 
   version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + processModelName(frogpilotUIState()->frogpilot_toggles.value("model_name").toString()));
+  branch_merge_banner->setVisible(deprecated_branches.contains(QString::fromStdString(params.get("GitBranch"))));
 
   bool updateAvailable = update_widget->refresh();
   int alerts = alerts_widget->refresh();

selfdrive/ui/qt/home.h

@@ -41,6 +41,7 @@ private:
   OffroadAlert* alerts_widget;
   QPushButton* alert_notif;
   QPushButton* update_notif;
+  QLabel* branch_merge_banner;
 
   // FrogPilot variables
   ElidedLabel* date;

selfdrive/ui/translations/main_ar.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>CANCEL</source>
         <translation type="gpt-5-generated">إلغاء</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4756,6 +4808,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source> ALERT</source>
         <translation> تنبيه</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_caveman.ts

@@ -2136,6 +2136,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3368,6 +3376,30 @@ Developer - Many custom setting for seasoned enthusiast</translation>
         <source>CANCEL</source>
         <translation type="gpt-5-generated">CANCEL</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3818,6 +3850,22 @@ Developer - Many custom setting for seasoned enthusiast</translation>
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3826,6 +3874,10 @@ Developer - Many custom setting for seasoned enthusiast</translation>
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4758,6 +4810,10 @@ Developer - Many custom setting for seasoned enthusiast</translation>
         <source> ALERT</source>
         <translation type="gpt-5-generated">ALERT</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_de.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
         <source>CANCEL</source>
         <translation type="gpt-5-generated">ABBRECHEN</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4752,6 +4804,10 @@ Entwickler – Hochgradig anpassbare Einstellungen für versierte Enthusiasten</
         <source> ALERT</source>
         <translation> HINWEIS</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_duck.ts

@@ -2136,6 +2136,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3366,6 +3374,30 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
         <source>CANCEL</source>
         <translation type="gpt-5-generated">QUACK-CANCEL</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3816,6 +3848,22 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3824,6 +3872,10 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4754,6 +4806,10 @@ Developer - Ultra-custom settings for seasoned duckthusiasts</translation>
         <source> ALERT</source>
         <translation type="gpt-5-generated">QUACK ALERT</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_es.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3363,6 +3371,30 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
         <source>CANCEL</source>
         <translation type="gpt-5-generated">CANCELAR</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3813,6 +3845,22 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3821,6 +3869,10 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Desarrollador: configuración altamente personalizable para entusiastas veterano
         <source> ALERT</source>
         <translation> ALERTA</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_fr.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3363,6 +3371,30 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
         <source>CANCEL</source>
         <translation type="gpt-5-generated">ANNULER</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3813,6 +3845,22 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3821,6 +3869,10 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Développeur – Paramètres hautement personnalisables pour passionnés chevron
         <source> ALERT</source>
         <translation> ALERTE</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_frog.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
         <source>CANCEL</source>
         <translation type="gpt-5-generated">Ribbit! CANCEL croak!</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4752,6 +4804,10 @@ Developer - Highly customizable settings for seasoned swamp pros</translation>
         <source> ALERT</source>
         <translation type="gpt-5-generated">Ribbit! ALERT!</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_ja.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3362,6 +3370,30 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
         <source>CANCEL</source>
         <translation type="gpt-5-generated">キャンセル</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3812,6 +3844,22 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3820,6 +3868,10 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4749,6 +4801,10 @@ Developer - こだわりのある上級者向けの高度にカスタマイズ
         <source> ALERT</source>
         <translation> 警告</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_ko.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3363,6 +3371,30 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>CANCEL</source>
         <translation type="gpt-5-generated">취소</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3813,6 +3845,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3821,6 +3869,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4750,6 +4802,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source> ALERT</source>
         <translation> 알림</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_pirate.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
         <source>CANCEL</source>
         <translation type="gpt-5-generated">AVAST</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4752,6 +4804,10 @@ Developer - Highly customizable riggin’s fer seasoned enthusiasts</translation
         <source> ALERT</source>
         <translation type="gpt-5-generated">ALERT, arrr!</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
         <source>CANCEL</source>
         <translation type="gpt-5-generated">CANCELAR</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4752,6 +4804,10 @@ Desenvolvedor - Configurações altamente personalizáveis para entusiastas expe
         <source> ALERT</source>
         <translation> ALERTA</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_shakespearean.ts

@@ -2140,6 +2140,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3372,6 +3380,30 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
         <source>CANCEL</source>
         <translation type="gpt-5-generated">CANCEL</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3824,6 +3856,22 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3832,6 +3880,10 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4764,6 +4816,10 @@ Developer - Most customizable settings for well-tried enthusiasts</translation>
         <source> ALERT</source>
         <translation type="gpt-5-generated">ALERT</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_th.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>CANCEL</source>
         <translation type="gpt-5-generated">ยกเลิก</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source> ALERT</source>
         <translation> การแจ้งเตือน</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_tr.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3363,6 +3371,30 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
         <source>CANCEL</source>
         <translation type="gpt-5-generated">İPTAL</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3813,6 +3845,22 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3821,6 +3869,10 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4750,6 +4802,10 @@ Geliştirici - Tecrübeli meraklılar için yüksek özelleştirilebilir ayarlar
         <source> ALERT</source>
         <translation> UYARI</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>CANCEL</source>
         <translation type="gpt-5-generated">取消</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Developer - Highly customizable settings for seasoned enthusiasts</source>
         <source> ALERT</source>
         <translation> 警报</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -2134,6 +2134,14 @@
         <source>&lt;b&gt;Use acceleration profiles tuned for EVs.&lt;/b&gt; Defaults to the vehicle's detected powertrain type but can be overridden if the automatic choice doesn't match.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Truck Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use aggressive acceleration profiles tuned for trucks.&lt;/b&gt; Intended for heavy vehicles that need stronger throttle.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>High Speed Following Distance</source>
         <translation type="unfinished"></translation>
@@ -3364,6 +3372,30 @@ Developer - 為資深愛好者提供高度自訂的設定</translation>
         <source>CANCEL</source>
         <translation type="gpt-5-generated">取消</translation>
     </message>
+    <message>
+        <source>Boot Logo</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;The boot logo shown while the device starts.&lt;/b&gt;</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to delete</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Delete the "%1" boot logo?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo to download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a boot logo</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotUtilitiesPanel</name>
@@ -3814,6 +3846,22 @@ Developer - 為資深愛好者提供高度自訂的設定</translation>
         <source>&lt;b&gt;Use the pedal interceptor for longitudinal control&lt;/b&gt; instead of camera ACC/Redneck when available.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Red Panda</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Enable Red Panda behavior&lt;/b&gt; for GM (alternate safety config and bus numbering). Requires a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remote Start Boots Comma</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>&lt;b&gt;Use GM C9 SystemPowerMode&lt;/b&gt; for ignition detection. Toggle requires a panda firmware update and a reboot to take effect.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>SASCM Support</source>
         <translation type="unfinished"></translation>
@@ -3822,6 +3870,10 @@ Developer - 為資深愛好者提供高度自訂的設定</translation>
         <source>&lt;b&gt;Does your vehicle support "SASCMs"?&lt;/b&gt;</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Remote Start requires a Panda firmware update. Flash the Panda now?</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>FrogPilotVisualsPanel</name>
@@ -4751,6 +4803,10 @@ Developer - 為資深愛好者提供高度自訂的設定</translation>
         <source> ALERT</source>
         <translation> 提醒</translation>
     </message>
+    <message>
+        <source>Branch Merge Notice: This branch is deprecated and has been merged into StarPilot. Please switch to the StarPilot branch.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>OnroadAlerts</name>

system/manager/manager.py

@@ -92,6 +92,65 @@ def manager_init() -> None:
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
 
+  # Legacy Bolt fingerprint migration after branch consolidation
+  bolt_source_branch_file = "/data/media/0/starpilot_source_branch"
+  bolt_fingerprint_migration_flag_file = "/data/media/0/frogpilot_bolt_fingerprint_migrated.flag"
+  if not os.path.exists(bolt_fingerprint_migration_flag_file):
+    source_branch = ""
+    try:
+      if os.path.exists(bolt_source_branch_file):
+        with open(bolt_source_branch_file, encoding="utf-8") as f:
+          source_branch = f.read().strip()
+    except OSError:
+      cloudlog.exception("failed reading StarPilot source branch file")
+
+    migration_branch = source_branch or build_metadata.channel
+    replacements = {}
+    if migration_branch in {"TorqueTune", "TorquePedal"}:
+      replacements = {
+        "CHEVROLET_BOLT_EUV": "CHEVROLET_BOLT_ACC_2022_2023",
+        "CHEVROLET_BOLT_CC": "CHEVROLET_BOLT_CC_2022_2023",
+      }
+    elif migration_branch in {"TotallyTune", "StarPilot-2017", "StarPilot 2017"}:
+      replacements = {
+        "CHEVROLET_BOLT_CC": "CHEVROLET_BOLT_CC_2017",
+      }
+    elif migration_branch in {"StarPilot"}:
+      replacements = {
+        "CHEVROLET_BOLT_CC": "CHEVROLET_BOLT_CC_2019_2021",
+      }
+
+    migrated_values = []
+    if replacements:
+      for param_key in ("CarModel", "CarModelName"):
+        current_value = params.get(param_key, encoding='utf-8')
+        normalized_value = current_value[4:] if current_value is not None and current_value.startswith("CAR.") else current_value
+        if normalized_value in replacements:
+          new_value = replacements[normalized_value]
+          params.put(param_key, new_value)
+          params_cache.put(param_key, new_value)
+          migrated_values.append(f"{param_key}: {current_value} -> {new_value}")
+
+    if migrated_values:
+      cloudlog.info(f"migrated legacy bolt fingerprint values from branch '{migration_branch}' (source='{source_branch}'): {', '.join(migrated_values)}")
+
+    # Keep Bolt display label aligned with live fingerprint selection
+    bolt_models = {
+      "CHEVROLET_BOLT_EUV",
+      "CHEVROLET_BOLT_CC",
+      "CHEVROLET_BOLT_ACC_2022_2023",
+      "CHEVROLET_BOLT_ACC_2022_2023_PEDAL",
+      "CHEVROLET_BOLT_CC_2022_2023",
+      "CHEVROLET_BOLT_CC_2019_2021",
+      "CHEVROLET_BOLT_CC_2017",
+    }
+    if (params.get("CarModel", encoding='utf-8') or "") in bolt_models:
+      params.remove("CarModelName")
+      params_cache.remove("CarModelName")
+
+    with open(bolt_fingerprint_migration_flag_file, "w") as f:
+      f.write(migration_branch or "unknown")
+
   # One-time migration to align FrogPilot defaults after install
   frogpilot_migration_flag_file = "/data/media/0/frogpilot_migrated.flag"
   if not os.path.exists(frogpilot_migration_flag_file):
@@ -180,6 +239,14 @@ def manager_init() -> None:
     with open(lateral_tuning_migration_flag_file, "w") as f:
       f.write("migrated")
 
+  # One-time migration for MaxDesiredAcceleration to 4
+  max_desired_acceleration_migration_flag_file = "/data/media/0/frogpilot_max_desired_acceleration_migrated.flag"
+  if not os.path.exists(max_desired_acceleration_migration_flag_file):
+    if params.get_float("MaxDesiredAcceleration") != 4.0:
+      params.put_float("MaxDesiredAcceleration", 4.0)
+    with open(max_desired_acceleration_migration_flag_file, "w") as f:
+      f.write("migrated")
+
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res:

system/updated/updated.py

@@ -36,6 +36,19 @@ OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init"))
 
 DAYS_NO_CONNECTIVITY_MAX = 14     # do not allow to engage after this many days
 DAYS_NO_CONNECTIVITY_PROMPT = 10  # send an offroad prompt after this many days
+MIGRATED_TARGET_BRANCH = "StarPilot"
+MIGRATION_DONE_FILE = "/data/starpilot_branch_migrated"
+MIGRATION_SOURCE_BRANCH_FILE = "/data/media/0/starpilot_source_branch"
+MIGRATION_EXCLUDED_BRANCHES = {"Dom"}
+MIGRATION_SOURCE_BRANCHES = {
+  "TorqueTune",
+  "TorquePedal",
+  "Kaofui",
+  "Red-Kao",
+  "TotallyTune",
+  "StarPilot-2017",
+  "TRX",
+}
 
 class UserRequest:
   NONE = 0
@@ -280,6 +293,7 @@ class Updater:
     self.params = Params()
     self.branches = defaultdict(str)
     self._has_internet: bool = False
+    self._migrate_target_branch()
 
   @property
   def has_internet(self) -> bool:
@@ -292,6 +306,31 @@ class Updater:
       b = self.get_branch(BASEDIR)
     return b
 
+  def _migrate_target_branch(self) -> None:
+    target_branch: str | None = self.params.get("UpdaterTargetBranch", encoding='utf-8')
+    current_branch = self.get_branch(BASEDIR)
+    if current_branch in MIGRATION_EXCLUDED_BRANCHES or target_branch in MIGRATION_EXCLUDED_BRANCHES:
+      cloudlog.info(f"skipping StarPilot branch migration on excluded branch: current={current_branch}, target={target_branch}")
+      return
+    if current_branch not in MIGRATION_SOURCE_BRANCHES and target_branch not in MIGRATION_SOURCE_BRANCHES:
+      cloudlog.info(f"skipping StarPilot branch migration on unmanaged branch: current={current_branch}, target={target_branch}")
+      return
+
+    if current_branch != MIGRATED_TARGET_BRANCH:
+      try:
+        Path(MIGRATION_SOURCE_BRANCH_FILE).write_text(current_branch, encoding='utf-8')
+      except OSError:
+        cloudlog.exception(f"failed to persist source branch for migration: {MIGRATION_SOURCE_BRANCH_FILE}")
+
+    if target_branch != MIGRATED_TARGET_BRANCH or current_branch != MIGRATED_TARGET_BRANCH:
+      self.params.put("UpdaterTargetBranch", MIGRATED_TARGET_BRANCH)
+      cloudlog.info(f"migrated updater target branch to {MIGRATED_TARGET_BRANCH} from target={target_branch}, current={current_branch}")
+
+    try:
+      Path(MIGRATION_DONE_FILE).touch()
+    except OSError:
+      cloudlog.exception(f"failed to write migration flag file: {MIGRATION_DONE_FILE}")
+
   @property
   def update_ready(self) -> bool:
     consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))