User adjustable offsets

This reverts commit bfc24b8882.

frogpilot/assets/nnff_models/CHEVROLET_MALIBU_CC.json

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frogpilot/assets/nnff_models/CHEVROLET_MALIBU_HYBRID_CC.json

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frogpilot/assets/nnff_models/CHEVROLET_VOLT_2019.json

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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/common/frogpilot_variables.py

@@ -300,7 +300,7 @@ frogpilot_default_params: list[tuple[str, str | bytes, int, str]] = [
   ("NavSettingLeftSide", "0", 0, "0"),
   ("NavSettingTime24h", "0", 0, "0"),
   ("NewLongAPI", "0", 2, "1"),
-  ("NNFF", "0", 2, "0"),
+  ("NNFF", "1", 2, "0"),
   ("NNFFLite", "0", 2, "0"),
   ("NoLogging", "0", 2, "0"),
   ("NoUploads", "0", 2, "0"),
@@ -626,7 +626,7 @@ class FrogPilotVariables:
     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
+    ev_vehicle = toggle.car_make == "gm" and not (toggle.car_model.startswith("CHEVROLET_VOLT") and not toggle.car_model.endswith("_CC")) and CP.carFingerprint in GM_EV_CAR or toggle.car_make == "hyundai" and CP.carFingerprint in HYUNDAI_EV_CAR
     ev_vehicle |= CP.transmissionType == TransmissionType.direct
 
     if params.get("EVTuning") == b"":
@@ -1006,7 +1006,14 @@ 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

@@ -49,8 +49,8 @@ A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
 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_SPORT_EV =   [1.25, 1.25, 1.25, 1.25, 1.5, 1.5, 2.0]
-A_CRUISE_MAX_VALS_ECO_GAS =    [6.0, 1.40, 0.90, 0.65, 0.60, 0.55, 0.42]
+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 =  [6.0, 1.50, 1.00, 0.72, 0.65, 0.60, 0.45]
+A_CRUISE_MAX_VALS_SPORT_GAS =  [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
 
 def get_max_accel_eco(v_ego, ev_tuning=True):
   cruise_vals = A_CRUISE_MAX_VALS_ECO_EV if ev_tuning else A_CRUISE_MAX_VALS_ECO_GAS

frogpilot/controls/lib/neural_network_feedforward.py

@@ -215,6 +215,7 @@ class LatControlNNFF(LatControl):
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
+    pid_log.error = 0.0
     if not active:
       output_torque = 0.0
       pid_log.active = False
@@ -300,7 +301,7 @@ class LatControlNNFF(LatControl):
           torque_from_setpoint = self.lat_torque_nn_model.evaluate(nnff_setpoint_input)
           torque_from_measurement = self.lat_torque_nn_model.evaluate(nnff_measurement_input)
 
-          pid_log.error = torque_from_setpoint - torque_from_measurement
+          pid_log.error = float(torque_from_setpoint - torque_from_measurement)
 
           error_blend = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
           if error_blend > 0.0:  # blend in stronger error response when in high lat accel
@@ -316,7 +317,7 @@ class LatControlNNFF(LatControl):
 
           # apply friction override for cars with low NN friction response
           if self.nn_friction_override:
-            pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params)
+            pid_log.error += float(self.torque_from_lateral_accel(0.0, self.torque_params))
         else:
           torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params)
           torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params)

frogpilot/system/frogpilot_stats.py

@@ -120,14 +120,14 @@ def get_city_center(latitude, longitude):
 
 def update_branch_commits(now):
   points = []
-  for branch in ["FrogPilot", "FrogPilot-Staging", "FrogPilot-Testing"]:
+  branch = get_build_metadata().channel  # Current running branch
-    try:
+  try:
-      response = requests.get(f"https://api.github.com/repos/FrogAi/FrogPilot/commits/{branch}")
+    response = requests.get(f"https://api.github.com/repos/firestar5683/StarPilot/commits/{branch}")
-      response.raise_for_status()
+    response.raise_for_status()
-      sha = response.json()["sha"]
+    sha = response.json()["sha"]
-      points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
+    points.append(Point("branch_commits").field("commit", sha).tag("branch", branch).time(now))
-    except Exception as e:
+  except Exception as e:
-      print(f"Failed to fetch commit for {branch}: {e}")
+    print(f"Failed to fetch commit for {branch}: {e}")
 
   return points
 
@@ -180,19 +180,14 @@ def send_stats():
 
     user_point = (
       Point("user_stats")
-      .tag("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
-      .tag("car_model", frogpilot_toggles.car_model)
-      .tag("city", city)
-      .tag("country", country)
-      .tag("device", HARDWARE.get_device_type())
-      .tag("driving_model", clean_model_name(frogpilot_toggles.model_name))
-      .tag("state", state)
-      .tag("theme", selected_theme.title())
-      .tag("branch", build_metadata.channel)
-      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
-
       .field("blocked_user", frogpilot_toggles.block_user)
+      .field("car_make", "GM" if frogpilot_toggles.car_make == "gm" else frogpilot_toggles.car_make.title())
+      .field("car_model", frogpilot_toggles.car_model)
+      .field("city", city)
+      .field("country", country)
       .field("current_months_kilometers", int(frogpilot_stats.get("CurrentMonthsKilometers", 0)))
+      .field("device", HARDWARE.get_device_type())
+      .field("driving_model", clean_model_name(frogpilot_toggles.model_name))
       .field("event", 1)
       .field("frogpilot_drives", int(frogpilot_stats.get("FrogPilotDrives", 0)))
       .field("frogpilot_hours", float(frogpilot_stats.get("FrogPilotSeconds", 0)) / (60 * 60))
@@ -208,6 +203,8 @@ def send_stats():
       .field("longitude", longitude)
       .field("rainbow_path", frogpilot_toggles.rainbow_path)
       .field("random_events", frogpilot_toggles.random_events)
+      .field("state", state)
+      .field("theme", selected_theme.title())
       .field("total_aol_seconds", float(frogpilot_stats.get("AOLTime", 0)))
       .field("total_lateral_seconds", float(frogpilot_stats.get("LateralTime", 0)))
       .field("total_longitudinal_seconds", float(frogpilot_stats.get("LongitudinalTime", 0)))
@@ -216,6 +213,9 @@ def send_stats():
       .field("up_to_date", is_up_to_date(build_metadata))
       .field("using_stock_acc", not (frogpilot_toggles.has_cc_long or frogpilot_toggles.openpilot_longitudinal))
 
+      .tag("branch", build_metadata.channel)
+      .tag("dongle_id", params.get("FrogPilotDongleId", encoding="utf-8"))
+
       .time(now)
     )
 

frogpilot/ui/qt/offroad/frogpilot_settings.cc

@@ -281,7 +281,8 @@ void FrogPilotSettingsWindow::updateVariables() {
     isTorqueCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE;
     isToyota = carMake == "toyota";
     isTSK = CP.getSecOcRequired();
-    isVolt = carFingerprint == "CHEVROLET_VOLT";
+    isVolt = carFingerprint.find("CHEVROLET_VOLT") == 0;
+    if (isVolt) hasSNG = false;
     longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
     startAccel = CP.getStartAccel();
     steerActuatorDelay = CP.getSteerActuatorDelay();

panda/board/drivers/can_common.h

@@ -200,7 +200,7 @@ void ignition_can_hook(CANPacket_t *to_push) {
   if (bus == 0) {
     int addr = GET_ADDR(to_push);
     int len = GET_LEN(to_push);
-    
+
     // GM exception
     if ((addr == 0xC9) && (len == 8)) {
       // Matches SystemPowerMode (1=Run, 0=Off)
@@ -220,16 +220,6 @@ void ignition_can_hook(CANPacket_t *to_push) {
       ignition_can = (GET_BYTE(to_push, 0) >> 5) == 0x6U;
       ignition_can_cnt = 0U;
     }
-
-  } else if (bus == 2) {
-    int addr = GET_ADDR(to_push);
-    int len = GET_LEN(to_push);
-    // GM exception, SDGM cars have this message on bus 2
-    if ((addr == 0x1F1) && (len == 8)) {
-      // SystemPowerMode (2=Run, 3=Crank Request)
-      ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U;
-      ignition_can_cnt = 0U;
-    }
   }
 }
 

panda/board/safety/safety_gm.h

@@ -10,14 +10,14 @@ const SteeringLimits GM_STEERING_LIMITS = {
 };
 
 const LongitudinalLimits GM_ASCM_LONG_LIMITS = {
-  .max_gas = 7168,
+  .max_gas = 8191,
   .min_gas = 5500,
   .inactive_gas = 5500,
   .max_brake = 400,
 };
 
 const LongitudinalLimits GM_CAM_LONG_LIMITS = {
-  .max_gas = 7496,
+  .max_gas = 8848,
   .min_gas = 5610,
   .inactive_gas = 5650,
   .max_brake = 400,
@@ -40,35 +40,32 @@ const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, {0
                                  {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}, {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}, {0xBD, 0, 7}, {0x1F5, 0, 8}, // 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}};  // camera 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.
 RxCheck gm_rx_checks[] = {
   {.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
   {.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}},
-  {.msg = {{0x1E1, 0, 7, .frequency = 10U},   // Non-SDGM Car
+  {.msg = {{0x1E1, 0, 7, .frequency = 10U}, { 0 }, { 0 }}},
-           {0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car
+  {.msg = {{0xF1, 0, 6, .frequency = 10U}, { 0 }, { 0 }}},
-  {.msg = {{0xF1, 0, 6, .frequency = 10U},   // Non-SDGM Car
-           {0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car
   {.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
   {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}},
 };
 
 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;
 
 enum {
   GM_BTN_UNPRESS = 1,
@@ -90,30 +87,9 @@ bool gm_pedal_long = false;
 bool gm_cc_long = false;
 bool gm_skip_relay_check = false;
 bool gm_force_ascm = false;
-
+bool gm_force_brake_c9 = false;
-static void handle_gm_wheel_buttons(const CANPacket_t *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;
-}
 
 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);
 
@@ -131,18 +107,34 @@ 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.
+    // This allows SDGM/Traverse variants without 0xBE (ECMAcceleratorPos) to report brake correctly.
+    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)) {
-
-    if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) {
       brake_pressed = GET_BIT(to_push, 40U) != 0U;
     }
 
@@ -192,6 +184,18 @@ static void gm_rx_hook(const CANPacket_t *to_push) {
     }
     generic_rx_checks(stock_ecu_detected);
   }
+  // Cruise check for Gen2 Bolt (ASCMActiveCruiseControlStatus on bus 2)
+  int addr = GET_ADDR(to_push);
+  if ((addr == 0x370) && (GET_BUS(to_push) == 2U)) {
+    bool cruise_engaged = (GET_BYTE(to_push, 2) >> 7) != 0U;  // ACCCmdActive
+    // Align SDGM/camera PCM cruise behavior with ASCM path: when using stock PCM cruise,
+    // drive controls_allowed via pcm_cruise_check on ACC engaged edges.
+    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) {
@@ -246,8 +250,8 @@ 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
+    // For CC_LONG or PCM cruise vehicles, allow SET/RESUME when cruise is engaged
-    if (gm_cc_long) {
+    if (gm_cc_long || gm_pcm_cruise) {
       allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS);
     }
 
@@ -255,23 +259,6 @@ static bool gm_tx_hook(const CANPacket_t *to_send) {
       tx = false;
     }
   }
-
-  // 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;
 }
 
@@ -302,9 +289,10 @@ 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) {
+  const bool 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;
@@ -312,20 +300,21 @@ static safety_config gm_init(uint16_t param) {
 
   gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG);
 
-  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);
   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_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);
 
   safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   if (gm_hw == GM_CAM) {
@@ -336,8 +325,6 @@ 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

@@ -211,7 +211,6 @@ class Panda:
   FLAG_HYUNDAI_ALT_LIMITS = 64
   FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING = 128
   FLAG_HYUNDAI_LFA_BTN = 256
-  FLAG_HYUNDAI_TACO_TUNE_HACK = 512
 
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2
@@ -231,13 +230,15 @@ 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_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2

selfdrive/car/gm/carcontroller.py

@@ -1,7 +1,5 @@
-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
@@ -11,11 +9,10 @@ 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 CAR, DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CC_REGEN_PADDLE_CAR
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, 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
@@ -27,15 +24,7 @@ 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
@@ -51,11 +40,6 @@ 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.
@@ -64,15 +48,13 @@ class CarController(CarControllerBase):
     self.lka_icon_status_last = (False, False)
 
     self.params = CarControllerParams(self.CP)
-    self.params_ = Params()
+    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.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.params_ = Params()
-
 
     self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
@@ -82,85 +64,25 @@ class CarController(CarControllerBase):
     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
 
-    # Midpoint + overflow spoof accumulator and flags
+    return pedal_gas
-    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
-
-    # 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
@@ -169,138 +91,6 @@ class CarController(CarControllerBase):
 
     # Send CAN commands.
     can_sends = []
-    paddle_sends = []
-
-    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
-        cloudlog.error("PADDLE MID: Δafter=%.1fms Δbefore=%.1fms credits=%.3f timer=%d",
-                       (now_nanos - self.last_steer_ts_ns) * 1e-6,
-                       (now_nanos - self.prev_steer_ts_ns) * 1e-6,
-                       self.spoof_accum,
-                       self.regen_paddle_timer)
-        # 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))
-            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
-        cloudlog.error("PADDLE OFL: Δafter=%.1fms Δbefore=%.1fms credits=%.3f thresh=%.1f timer=%d",
-                       (now_nanos - self.last_steer_ts_ns) * 1e-6,
-                       (now_nanos - self.prev_steer_ts_ns) * 1e-6,
-                       self.spoof_accum,
-                       OVERFLOW_THRESH,
-                       self.regen_paddle_timer)
-        # 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))
-            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):
-          cloudlog.error("PADDLE OFF %d: Δafter=%.1fms Δto_slot=%.1fms timer=%d",
-                         i,
-                         (now_nanos - self.last_steer_ts_ns) * 1e-6,
-                         (now_nanos - t_ns) * 1e-6,
-                         self.regen_paddle_timer)
-          # 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))
-              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
@@ -333,32 +123,24 @@ class CarController(CarControllerBase):
       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 and not self.is_volt:
+          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
@@ -370,33 +152,66 @@ class CarController(CarControllerBase):
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = int(min(-100 * frogpilot_toggles.stopAccel, self.params.MAX_BRAKE))
         else:
-          if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+          # Normal operation
-            accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+          if self.is_volt:
+            if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+              volt_pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+            else:
+              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:
-            accel_due_to_pitch = 0.0
+            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
+            gas_max = self.params.MAX_GAS
-          accel_max = self.params.ACCEL_MAX
+            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
 
+            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)))
+
+            # 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 and self.apply_gas > self.params.INACTIVE_REGEN:
+              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, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
+            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)
 
         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
@@ -422,6 +237,8 @@ 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
@@ -435,7 +252,7 @@ class CarController(CarControllerBase):
           # 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_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
@@ -446,18 +263,22 @@ class CarController(CarControllerBase):
         accel += self.accel_g
 
       # Radar needs to know current speed and yaw rate (50hz),
-      # and that ADAS is alive (5hz, previously 10hz)
+      # and that ADAS is alive (10hz)
-      if not self.CP.radarUnavailable:
+      if not self.CP.radarUnavailable and self.CP.networkLocation != NetworkLocation.fwdCamera and self.CP.carFingerprint not in SDGM_CAR:
         tt = self.frame * DT_CTRL
-        time_and_headlights_step = 20
+        time_and_headlights_step = 10
         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))
+
+        speed_and_accelerometer_step = 2
+        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))
 
-      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % (self.params.ADAS_KEEPALIVE_STEP * 2) == 0:
+      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
         can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
       # TODO: integrate this with the code block below?
@@ -478,14 +299,11 @@ 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:
+          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
-            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
-          else:
-            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
 
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
-      if self.frame % 20 == 0:
+      if self.frame % 10 == 0:
         can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
 
     new_actuators = actuators.as_builder()

selfdrive/car/gm/carstate.py

@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, CC_REGEN_PADDLE_CAR, CAR
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR, ASCM_INT, CAR
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -39,27 +39,15 @@ class CarState(CarStateBase):
 
     self.prev_cruise_buttons = self.cruise_buttons
     self.prev_distance_button = self.distance_button
-    if self.CP.carFingerprint not in SDGM_CAR:
+    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-      self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
+    self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
-      self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
+    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
-      self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
-    else:
-      self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
-      self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
-      self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
     self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
     # This is to avoid a fault where you engage while still moving backwards after shifting to D.
     # An Equinox has been seen with an unsupported status (3), so only check if either wheel is in reverse (2)
     self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] == 2) or (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] == 2)
 
     # Variables used for avoiding LKAS faults
-
-    # 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
     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"]
@@ -78,20 +66,25 @@ class CarState(CarStateBase):
     # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
     ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
+    if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
+      ret.gearShifter = self.parse_gear_shifter("T")
+    else:
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
 
     if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
-      ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
+      ret.brake = pt_cp.vl.get("EBCMBrakePedalPosition", {}).get("BrakePedalPosition", 0) / 0xd0
     else:
-      ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
+      ret.brake = pt_cp.vl.get("ECMAcceleratorPos", {}).get("BrakePedalPos", 0)
-    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+
+    if (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
     else:
       # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe
       # 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 = 0.07 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:
@@ -117,32 +110,19 @@ class CarState(CarStateBase):
     ret.steerFaultTemporary = self.lkas_status == 2
     ret.steerFaultPermanent = self.lkas_status == 3
 
-    if self.CP.carFingerprint not in SDGM_CAR:
-      # 1 - open, 0 - closed
-      ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                      pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
-      # 1 - latched
+    # 1 - open, 0 - closed
-      ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
+    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
-      ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
+                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-      ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
-      ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
+    # 1 - latched
-    else:
+    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-      # 1 - open, 0 - closed
+    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-      ret.doorOpen = (cam_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
+    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
-                      cam_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
-                      cam_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
-                      cam_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)
 
-      # 1 - latched
+    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
-      ret.seatbeltUnlatched = cam_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
-      ret.leftBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
-      ret.rightBlinker = cam_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
-
-      ret.parkingBrake = cam_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -153,36 +133,23 @@ class CarState(CarStateBase):
     if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
       if self.CP.carFingerprint not in CC_ONLY_CAR:
         ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-      if self.CP.carFingerprint not in SDGM_CAR:
+      if self.CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
-      else:
-        ret.stockAeb = False
       # openpilot controls nonAdaptive when not pcmCruise
-      if self.CP.pcmCruise:
+      # 2016-2018 Volt won't identify non-adaptive cruise state since switchable cruise state was not introduced till 2019 model year / SDGM Global AAdd commentMore actions
+      if self.CP.pcmCruise and self.CP.carFingerprint not in ASCM_INT:
         ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
     if self.CP.carFingerprint in CC_ONLY_CAR:
       ret.accFaulted = False
       ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
-      # Try ECM first for cars that might have it (like most GMs), fall back to ASCM
+      ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
-      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:
+      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
-        ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
+      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
-        ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
-      else:
-        ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
-        ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
 
-    # FrogPilot CarState functions
     self.lkas_previously_enabled = self.lkas_enabled
-    if self.CP.carFingerprint in SDGM_CAR:
+    self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
-      self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
-    else:
-      self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
 
     self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
 
@@ -197,20 +164,11 @@ class CarState(CarStateBase):
       messages += [
         ("ASCMLKASteeringCmd", 10),
       ]
-      if CP.carFingerprint in SDGM_CAR:
+      if CP.carFingerprint not in (SDGM_CAR|ASCM_INT):
-        messages += [
-          ("BCMTurnSignals", 1),
-          ("BCMDoorBeltStatus", 10),
-          ("BCMGeneralPlatformStatus", 10),
-          ("ASCMSteeringButton", 33),
-        ]
-        if CP.enableBsm:
-          messages.append(("BCMBlindSpotMonitor", 10))
-      else:
         messages += [
           ("AEBCmd", 10),
         ]
-        # Include ASCMActiveCruiseControlStatus for all non-SDGM fwdCamera cars
+      if CP.carFingerprint not in CC_ONLY_CAR:
         messages += [
           ("ASCMActiveCruiseControlStatus", 25),
         ]
@@ -220,34 +178,25 @@ class CarState(CarStateBase):
   @staticmethod
   def get_can_parser(CP, FPCP):
     messages = [
+      ("BCMTurnSignals", 1),
+      ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
+      ("BCMDoorBeltStatus", 10),
+      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),
+      ("AcceleratorPedal2", 33),
+      ("ASCMSteeringButton", 33),
+      ("ECMEngineStatus", 100),
       ("PSCMSteeringAngle", 100),
       ("ECMAcceleratorPos", 80),
       ("SportMode", 0),
     ]
 
-    if CP.carFingerprint in SDGM_CAR:
+    if CP.enableBsm:
-      messages += [
+      messages.append(("BCMBlindSpotMonitor", 10))
-        ("ECMPRDNL2", 40),
-        ("AcceleratorPedal2", 40),
-        ("ECMEngineStatus", 80),
-      ]
-    else:
-      messages += [
-        ("ECMPRDNL2", 40),
-        ("AcceleratorPedal2", 33),
-        ("ECMEngineStatus", 100),
-        ("BCMTurnSignals", 1),
-        ("BCMDoorBeltStatus", 10),
-        ("BCMGeneralPlatformStatus", 10),
-        ("ASCMSteeringButton", 33),
-      ]
-      if CP.enableBsm:
-        messages.append(("BCMBlindSpotMonitor", 10))
 
     # Used to read back last counter sent to PT by camera
     if CP.networkLocation == NetworkLocation.fwdCamera:
@@ -260,7 +209,7 @@ class CarState(CarStateBase):
 
     if CP.transmissionType == TransmissionType.direct:
       messages += [
-        ("EBCMRegenPaddle", 40),
+        ("EBCMRegenPaddle", 50),
         ("EVDriveMode", 0),
       ]
 
@@ -274,6 +223,7 @@ class CarState(CarStateBase):
         ("GAS_SENSOR", 50),
       ]
 
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
 
   @staticmethod

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
   },
@@ -178,31 +195,50 @@ 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

@@ -66,6 +66,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
     "GasRegenFullStopActive": at_full_stop,
     "GasRegenAlwaysOne": 1,
     "GasRegenAlwaysOne2": 1,
+    "GasRegenAlwaysOne3": 1,
   }
 
   dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
@@ -176,33 +177,6 @@ def create_lka_icon_command(bus, active, critical, steer):
     dat = b"\x00\x00\x00"
   return make_can_msg(0x104c006c, dat, bus)
 
-def create_regen_paddle_command(packer, bus, press_regen_paddle):
-  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_prndl2_command(packer, bus, press_regen_paddle):
-  prndl2_value = 5 if press_regen_paddle else 6
-  manual_mode = 1 if press_regen_paddle else 0
-  values = {
-    "Byte0": 0x0C,
-    "Byte1": 0x0C,
-    "Byte2": 0x00,
-    "PRNDL2": prndl2_value,
-    "Byte4": 0x00,
-    "ManualMode": manual_mode,
-    "TransmissionState": 1,
-    "Byte7": 0x00
-  }
-  return packer.make_can_msg("ECMPRDNL2", bus, values)
 
 def create_gm_cc_spam_command(packer, controller, CS, actuators, frogpilot_toggles):
   accel = actuators.accel

selfdrive/car/gm/interface.py

@@ -7,10 +7,12 @@ 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
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LateralAccelFromTorqueCallbackType, get_friction_threshold
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
+
+
 ButtonType = car.CarState.ButtonEvent.Type
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -26,23 +28,25 @@ 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: {
+  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-    "left": [2.6531724862969748, 1.1, 0.1719764879840985, 0.0],
+  CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-    "right": [2.8531724862969748, 1.0, 0.1469764879840985, 0.0],
+  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  },
+  CAR.GMC_ACADIA_ASCM: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.CHEVROLET_BOLT_CC: {
+  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
-    "left": [2.6531724862969748, 1.1, 0.1719764879840985, 0.0],
-    "right": [2.8531724862969748, 1.0, 0.1469764879840985, 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],
-  },
 }
 
 
@@ -63,7 +67,7 @@ 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
@@ -76,9 +80,7 @@ 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"
-      # Left is positive
+      a, b, c, d = non_linear_torque_params
-      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) + d
@@ -120,7 +122,8 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles):
     ret.carName = "gm"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
+                         get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
     ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
 
@@ -130,7 +133,7 @@ class CarInterface(CarInterfaceBase):
 
     if PEDAL_MSG in fingerprint[0]:
       ret.enableGasInterceptor = True
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_GAS_INTERCEPTOR
       # When a pedal interceptor is present, always use normal longitudinal (block stock cruise)
       experimental_long = False
 
@@ -139,24 +142,32 @@ class CarInterface(CarInterfaceBase):
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.kiBP = [5., 35., 60.]
+    ret.longitudinalTuning.kiBP = [5., 35.]
 
-    if candidate in CAMERA_ACC_CAR:
+    if candidate in (CAMERA_ACC_CAR | SDGM_CAR | ASCM_INT) or candidate == CAR.CHEVROLET_VOLT_CAMERA:
-      # For ACC models with pedal interceptor, behave like CC_ONLY_CAR
+      ret.experimentalLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ASCM_INT | SDGM_CAR) or 0x2FF in fingerprint[CanBus.POWERTRAIN]
-      ret.experimentalLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptor
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.radarUnavailable = True  # no radar
+      ret.radarUnavailable = 0x460 not in fingerprint[CanBus.OBSTACLE]
-      # Only use pcmCruise if no pedal interceptor (bolt_cc style behavior)
+      ret.pcmCruise = True
-      ret.pcmCruise = not ret.enableGasInterceptor
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
-      # Use default minEnableSpeed for ACC models (will be overridden by pedal interceptor section if present)
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+      if candidate in SDGM_CAR:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_SDGM
+        # Use C9 brake bit only on SDGM variants that lack 0xBE (ECMAcceleratorPos)
+        if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
+          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_FORCE_BRAKE_C9
+          ret.flags |= GMFlags.FORCE_BRAKE_C9.value
+        ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+        ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+      elif candidate in ASCM_INT:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM
+        ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_ASCM_INT
+      else:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
+      ret.longitudinalTuning.kiV = [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
@@ -166,17 +177,7 @@ class CarInterface(CarInterfaceBase):
       if ret.experimentalLongitudinalAvailable and experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
-
-    elif candidate in SDGM_CAR:
-      ret.longitudinalTuning.kiV = [0., 0., 0.]  # TODO: tuning
-      ret.experimentalLongitudinalAvailable = False
-      ret.networkLocation = NetworkLocation.fwdCamera
-      ret.pcmCruise = True
-      ret.radarUnavailable = True
-      ret.minEnableSpeed = -1.  # engage speed is decided by ASCM
-      ret.minSteerSpeed = 30 * CV.MPH_TO_MS
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM
 
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = not frogpilot_toggles.disable_openpilot_long
@@ -188,11 +189,15 @@ class CarInterface(CarInterfaceBase):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
+      ret.longitudinalTuning.kiV = [0.5, 0.5]
+      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
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_ASCM_LONG
 
     # 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.]]
@@ -206,13 +211,14 @@ 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
 
     elif candidate == CAR.GMC_ACADIA:
@@ -220,6 +226,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.GMC_ACADIA_ASCM:
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     elif candidate == CAR.BUICK_LACROSSE:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
@@ -242,19 +253,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-      # Bolt-only lateral tuning overrides
+      if ret.enableGasInterceptor:
-      ret.lateralTuning.torque.kp = 1.03
+        # ACC Bolts use pedal for full longitudinal control, not just sng
-      ret.lateralTuning.torque.ki = 1.07
+        ret.flags |= GMFlags.PEDAL_LONG.value
-      ret.lateralTuning.torque.kd = 0.93
-      ret.lateralTuning.torque.kfDEPRECATED = 0.02
 
-    # Enable pedal interceptor for ACC models when detected
+    elif candidate == CAR.CHEVROLET_SILVERADO:
-    if candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor:
-      # ACC models with pedal interceptor get full pedal longitudinal control
-      ret.flags |= GMFlags.PEDAL_LONG.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
-
-    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
@@ -277,83 +280,100 @@ 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)
 
+    elif 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:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
+ 
-    elif candidate == CAR.CHEVROLET_MALIBU_CC:
-      ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-
     elif candidate == CAR.CHEVROLET_TRAX:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if ret.enableGasInterceptor and frogpilot_toggles.gm_pedal_longitudinal:
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
+      ret.safetyConfigs[-1].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 or (candidate in CAMERA_ACC_CAR and ret.enableGasInterceptor): #pedal interceptor tuning
+      if candidate in CC_ONLY_CAR:
         ret.flags |= GMFlags.PEDAL_LONG.value
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
         # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
-        ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
+        ret.longitudinalTuning.kiBP = [0.0, 5., 35.]
-        ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
+        ret.longitudinalTuning.kiV = [0.0, 0.35, 0.5]
-        ret.longitudinalTuning.kfDEPRECATED = 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
       else:  # Pedal used for SNG, ACC for longitudinal control otherwise
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
         ret.startingState = True
         ret.vEgoStopping = 0.25
         ret.vEgoStarting = 0.25
 
+
     elif candidate in CC_ONLY_CAR:
       ret.flags |= GMFlags.CC_LONG.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_CC_LONG
+      ret.safetyConfigs[-1].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
 
-      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
+      ret.stoppingDecelRate = 11.18
+
+      if candidate not in (CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC):
         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.deadzoneBP = [0., 1.]
         ret.longitudinalTuning.deadzoneV = [0.9, 0.9]  # == 2 km/h/s, 1.25 mph/s
         ret.longitudinalActuatorDelay = 1.  # TODO: measure this
+
+        ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
+        ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
         ret.longitudinalTuning.kiBP = [0.]
         ret.longitudinalTuning.kiV = [0.1]
-        ret.stoppingDecelRate = 11.18  # == 25 mph/s (.04 rate)
 
     if candidate in CC_ONLY_CAR:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_ACC
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_NO_ACC
 
     # Exception for flashed cars, or cars whose camera was removed
-    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in SDGM_CAR:
+    if (ret.networkLocation == NetworkLocation.fwdCamera or candidate in CC_ONLY_CAR) and CAM_MSG not in fingerprint[CanBus.CAMERA] and not candidate in (SDGM_CAR | ASCM_INT):
       ret.flags |= GMFlags.NO_CAMERA.value
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_NO_CAMERA
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_GM_NO_CAMERA
 
     if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
@@ -387,10 +407,11 @@ 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):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill and not self.CP.autoResumeSng:
       events.add(EventName.resumeRequired)
+
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(EventName.belowSteerSpeed)
 

selfdrive/car/gm/values.py

@@ -40,43 +40,39 @@ class CarControllerParams:
     # Gas/brake lookups
     self.ZERO_GAS = 6150  # Coasting
     self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen
+    self.BRAKE_SWITCH_MAX = self.ZERO_GAS
 
-    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
+    if CP.carFingerprint in (CAMERA_ACC_CAR | SDGM_CAR) and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
       self.MAX_GAS = 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.
+      self.max_regen_acceleration = 0.
-      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
-
-    elif CP.carFingerprint in SDGM_CAR:
-      self.MAX_GAS = 8191
-      self.MAX_GAS_PLUS = 8191
-      self.MAX_ACC_REGEN = 5500
-      self.INACTIVE_REGEN = 5500
-      max_regen_acceleration = 0.
-      self.BRAKE_SWITCH = self.ZERO_GAS
 
     else:
-      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
+      self.MAX_GAS = 8191  # 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_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 = -3. if CP.carFingerprint in EV_CAR else -0.1
+      self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
-      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
 
-    self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
+    if CP.carFingerprint in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_VOLT_CC):
-    self.GAS_LOOKUP_BP_PLUS = [max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
+      self.ZERO_GAS = 6150
+      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.]
+    else:
+      self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.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, 0.]
     self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]
-
     self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
     self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]
 
@@ -117,8 +113,7 @@ class GMPlatformConfig(PlatformConfig):
 @dataclass
 class GMASCMPlatformConfig(GMPlatformConfig):
   def init(self):
-    # ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
+    pass
-    self.car_docs = []
 
 
 class CAR(Platforms):
@@ -131,6 +126,16 @@ 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),
@@ -139,10 +144,19 @@ 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),
@@ -175,7 +189,7 @@ 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=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
+    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
   )
   CHEVROLET_EQUINOX = GMPlatformConfig(
     [GMCarDocs("Chevrolet Equinox 2019-22")],
@@ -230,10 +244,18 @@ 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),
@@ -242,10 +264,22 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
     CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
   )
+  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:
@@ -263,12 +297,12 @@ class AccState:
   STANDSTILL = 4
 
 class CanBus:
-  POWERTRAIN = 0
+  POWERTRAIN = 4
-  OBSTACLE = 1
+  OBSTACLE = 5
-  CAMERA = 2
+  CAMERA = 6
-  CHASSIS = 2
+  CHASSIS = 6
-  LOOPBACK = 128
+  LOOPBACK = 132
-  DROPPED = 192
+  DROPPED = 196
 
 class GMFlags(IntFlag):
   PEDAL_LONG = 1
@@ -328,17 +362,18 @@ FW_QUERY_CONFIG = FwQueryConfig(
   extra_ecus=[(Ecu.fwdCamera, 0x24b, None)],
 )
 
-EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
+EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_VOLT_ASCM, CAR.CHEVROLET_MALIBU_HYBRID_CC}
-CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
+CC_ONLY_CAR = {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_MALIBU_HYBRID_CC}
 # CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))
-CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
 
 # We're integrated at the Safety Data Gateway Module on these cars
-SDGM_CAR = {CAR.CADILLAC_XT4, CAR.CHEVROLET_TRAVERSE, CAR.BUICK_BABYENCLAVE}
+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_EUV, CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_TRAILBLAZER, CAR.CHEVROLET_TRAX, CAR.CHEVROLET_VOLT_CAMERA, CAR.CHEVROLET_BLAZER}
-CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC})
+CAMERA_ACC_CAR.update({CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC, CAR.CHEVROLET_MALIBU_HYBRID_CC})
 # CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 
 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 = 0.12
+FRICTION_THRESHOLD = 0.09
 
 def get_friction_threshold(v_ego):
-  # Interpolate friction threshold
+  # Interpolate friction threshold from 0.09 at 50 mph to 0.15 at 75 mph
   from openpilot.common.numpy_fast import interp
-  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.3])
+  return interp(v_ego, [1 * CV.MPH_TO_MS, 75 * CV.MPH_TO_MS], [0.12, 0.25])
 
 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

@@ -43,9 +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, 0.09]
+"CADILLAC_XT6" = [1.33, 1.9, 0.16]
-"CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
+"CHEVROLET_BOLT_EUV" = [1.0, 2.0, 0.175]
-"CHEVROLET_SILVERADO" = [2.014, 1.9, 0.125]
+"CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
+"CHEVROLET_BLAZER" = [1.33, 1.33, 0.18]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
 "CHEVROLET_TRAVERSE" = [1.33, 1.33, 0.18]
 "CHEVROLET_EQUINOX" = [2.5, 2.5, 0.05]

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

@@ -56,8 +56,15 @@ 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"
+"CHEVROLET_MALIBU_CC" = "CHEVROLET_VOLT"
 "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
+"CHEVROLET_VOLT_CAMERA" = "CHEVROLET_VOLT"
+"CHEVROLET_VOLT_ASCM" = "CHEVROLET_VOLT"
+"GMC_ACADIA_ASCM" = "GMC_ACADIA"
+"CHEVROLET_VOLT_2019" = "CHEVROLET_VOLT"
 "CHEVROLET_BOLT_CC" = "CHEVROLET_BOLT_EUV"
 "CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
 "CHEVROLET_SUBURBAN" = "CHEVROLET_SILVERADO"
@@ -66,7 +73,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_TRAX" = "CHEVROLET_VOLT"
 "CADILLAC_CT6_CC" = "CHEVROLET_VOLT"
 "CADILLAC_XT5_CC" = "GMC_ACADIA"
-
 "SKODA_FABIA_MK4" = "VOLKSWAGEN_GOLF_MK7"
 "SKODA_OCTAVIA_MK3" = "SKODA_SUPERB_MK3"
 "SKODA_KODIAQ_MK1" = "SKODA_SUPERB_MK3"

selfdrive/controls/controlsd.py

@@ -44,7 +44,7 @@ CAMERA_OFFSET = 0.04
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "micd", "soundd"}
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -117,6 +117,9 @@ class Controls:
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
+    # detect sound card presence and ensure successful init
+    sounds_available = HARDWARE.get_sound_card_online()
+
     car_recognized = self.CP.carName != 'mock'
 
     # cleanup old params
@@ -170,6 +173,8 @@ class Controls:
     else:
       self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
 
+    if not sounds_available:
+      self.events.add(EventName.soundsUnavailable, static=True)
     if not car_recognized:
       self.events.add(EventName.carUnrecognized, static=True)
       if len(self.CP.carFw) > 0:

selfdrive/controls/lib/events.py

@@ -779,6 +779,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
   },
 
+  EventName.soundsUnavailable: {
+    ET.PERMANENT: NormalPermanentAlert("Speaker not found", "Reboot your Device"),
+    ET.NO_ENTRY: NoEntryAlert("Speaker not found"),
+  },
+
   EventName.tooDistracted: {
     ET.NO_ENTRY: NoEntryAlert("Distraction Level Too High"),
   },
@@ -977,7 +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("Wrong Gear"),
+    ET.USER_DISABLE: ImmediateDisableAlert("Reverse Gear"),
     ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
   },
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -7,7 +7,6 @@ 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
 
@@ -22,8 +21,8 @@ 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 = 0.7
+KP = 0.6
-KI = 0.35
+KI = 0.3
 
 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]
@@ -37,12 +36,6 @@ 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_EUV, GM_CAR.CHEVROLET_BOLT_CC)
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI, dt):
@@ -62,21 +55,6 @@ 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
@@ -98,7 +76,6 @@ 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
@@ -117,10 +94,6 @@ 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)
@@ -137,25 +110,11 @@ 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
+      ff += get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, get_friction_threshold(CS.vEgo), self.torque_params)
-      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
-      friction = get_friction(error_with_lsf + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone,
-                              get_friction_threshold(CS.vEgo), self.torque_params)
-      ff += friction
-      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
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < self.low_speed_reset_threshold
-                           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)
 
@@ -170,12 +129,6 @@ 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 = -1.0
+A_CRUISE_MIN = -1.2
-A_CRUISE_MAX_BP = [0.0, 5., 10., 15., 20., 25., 40.]
+A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
-A_CRUISE_MAX_VALS = [1.125, 1.125, 1.125, 1.125, 1.25, 1.25, 1.5]
+A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.5
 MIN_ALLOW_THROTTLE_SPEED = 2.5

system/manager/manager.py

@@ -144,6 +144,16 @@ def manager_init() -> None:
     with open(nnfflite_migration_flag_file, "w") as f:
       f.write("migrated")
 
+  # One-time migration to force NNFF + NNFFLite off
+  nnff_reset_flag_file = "/data/media/0/frogpilot_nnff_reset.flag"
+  if not os.path.exists(nnff_reset_flag_file):
+    if params.get_bool("NNFF"):
+      params.put_bool("NNFF", False)
+    if params.get_bool("NNFFLite"):
+      params.put_bool("NNFFLite", False)
+    with open(nnff_reset_flag_file, "w") as f:
+      f.write("reset")
+
   # One-time migration for CEM settings
   cem_migration_flag_file = "/data/media/0/frogpilot_cem_migrated.flag"
   if not os.path.exists(cem_migration_flag_file):
@@ -180,6 +190,14 @@ 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: